{"id":6032,"query_id":"Q01207","question":"An off-road vehicle starts from a patch of grassy, uneven ground with scattered shrubs and needs to reach another similar patch of grassy, uneven ground with scattered shrubs. The terrain includes only two types of surfaces: one is grassy, uneven ground with scattered shrubs, and the other is cultivated, soft soil with planted crops. The grassy ground is traversable but slower due to its roughness and vegetation, while the cultivated soil is traversable because it has been recently plowed and compacted, making it firm enough for vehicle passage. You must avoid all other surfaces such as paved areas, roads, water bodies, buildings, bare sand or rocks, and wooded areas. What is the fastest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"grassy, uneven ground with scattered shrubs","task_description":"What is the fastest path to your destination?","task_type":"Fastest","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,2,0],"image_name":"wallace_4.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":116,"start_point":[303,789],"end_point":[446,941],"distance":208.6935552430884},{"start_region_id":116,"end_region_id":93,"start_point":[446,941],"end_point":[303,789],"distance":208.6935552430884}],"complexity_score":0.6607198914440967}
{"id":15746,"query_id":"Q03150","question":"An aerial survey drone begins its mission on a grassy, open field with scattered low vegetation. It needs to reach a flat, hard-surfaced area with artificial ground cover. The drone can fly over all types of terrain including loose soil, grassy areas, paved surfaces, vegetated zones, liquid bodies, and cultivated fields, but must avoid dense vertical obstacles like tall vegetation clusters. What is the most direct route to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest path from the starting grassy field to the destination hard-surfaced area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"wallace_4.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":136,"start_point":[874,818],"end_point":[110,44],"distance":1087.5532170887088},{"start_region_id":124,"end_region_id":136,"start_point":[610,975],"end_point":[110,44],"distance":1056.769132781612},{"start_region_id":90,"end_region_id":136,"start_point":[908,726],"end_point":[110,44],"distance":1049.727583709221},{"start_region_id":10,"end_region_id":221,"start_point":[926,158],"end_point":[76,808],"distance":1070.046727951635},{"start_region_id":110,"end_region_id":136,"start_point":[729,879],"end_point":[110,44],"distance":1039.4161822869605}],"complexity_score":0.6607198914440967}
{"id":3321,"query_id":"Q00665","question":"A family sedan starts from a smooth, paved road surface and needs to reach a cultivated field with soft, tilled soil. The vehicle requires a stable, even surface to maintain ride comfort, so only hard, compacted surfaces and the designated soft agricultural area are allowed; loose, sandy, or rocky ground, grassy or shrub-covered areas, water bodies, trees, and buildings are not permitted. What is the most comfortable path to the destination?","agent_category":"Car","specific_agent":"family sedan","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the most comfortable path to the destination?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"ngaoundere_11.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":458,"end_region_id":626,"start_point":[671,106],"end_point":[74,831],"distance":939.1666518781425},{"start_region_id":458,"end_region_id":630,"start_point":[671,106],"end_point":[462,946],"distance":865.6101894039834},{"start_region_id":458,"end_region_id":632,"start_point":[671,106],"end_point":[549,934],"distance":836.9396632971818},{"start_region_id":459,"end_region_id":619,"start_point":[457,606],"end_point":[923,286],"distance":565.2928444620541},{"start_region_id":459,"end_region_id":626,"start_point":[457,606],"end_point":[74,831],"distance":444.2004052226877}],"complexity_score":0.6607454213404519}
{"id":9552,"query_id":"Q01911","question":"A hiker starts from a paved area and needs to reach a cultivated field. The terrain includes hard, compacted surfaces; loose, sandy ground; grassy and shrub-covered areas; and soft, tilled soil. The hiker can traverse all these surfaces, but must avoid any liquid bodies, vertical structures, and areas with dense tree cover. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"cultivated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_11.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":626,"start_point":[908,69],"end_point":[74,831],"distance":1129.6902230257638},{"start_region_id":425,"end_region_id":619,"start_point":[20,832],"end_point":[923,286],"distance":1055.2369402176935},{"start_region_id":142,"end_region_id":630,"start_point":[908,69],"end_point":[462,946],"distance":983.8927787111764},{"start_region_id":263,"end_region_id":626,"start_point":[958,409],"end_point":[74,831],"distance":979.5611262192881},{"start_region_id":142,"end_region_id":632,"start_point":[908,69],"end_point":[549,934],"distance":936.5393745059521}],"complexity_score":0.6607454213404519}
{"id":17069,"query_id":"Q03414","question":"A quadcopter drone is hovering above a grassy, uneven field with scattered shrubs and loose soil. It needs to reach a flat, paved area with hard, stable surface. The drone can only travel across grassy fields, paved surfaces, and vehicle lanes. The grassy fields, paved surfaces, and vehicle lanes are all accessible for aerial navigation. The drone must avoid any water bodies, buildings, wooded areas, agricultural fields, and bare rocky ground. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, uneven field with scattered shrubs and loose soil","end_land_type":"A flat, paved area with hard, stable surface","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"ngaoundere_11.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":147,"start_point":[983,949],"end_point":[121,169],"distance":1162.516236445754},{"start_region_id":27,"end_region_id":425,"start_point":[977,210],"end_point":[20,832],"distance":1141.3732956399497},{"start_region_id":122,"end_region_id":137,"start_point":[983,949],"end_point":[312,60],"distance":1113.8051894294622},{"start_region_id":123,"end_region_id":142,"start_point":[308,968],"end_point":[908,69],"distance":1080.8334746851617},{"start_region_id":122,"end_region_id":277,"start_point":[983,949],"end_point":[57,486],"distance":1035.2994735824027}],"complexity_score":0.6607454213404519}
{"id":4147,"query_id":"Q00830","question":"An aerial surveillance drone starts from a vegetated area with tall vertical obstacles and needs to reach another vegetated area with tall vertical obstacles. The drone can fly over hard, paved surfaces and open ground, but must navigate carefully around tall vertical obstacles. The goal is to complete the route as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall vertical obstacles","end_land_type":"another vegetated area with tall vertical obstacles","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"niamey_13.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":394,"start_point":[172,47],"end_point":[139,977],"distance":930.585299690469},{"start_region_id":394,"end_region_id":255,"start_point":[139,977],"end_point":[172,47],"distance":930.585299690469},{"start_region_id":394,"end_region_id":258,"start_point":[139,977],"end_point":[350,112],"distance":890.3628473830206},{"start_region_id":258,"end_region_id":394,"start_point":[350,112],"end_point":[139,977],"distance":890.3628473830206},{"start_region_id":255,"end_region_id":373,"start_point":[172,47],"end_point":[176,828],"distance":781.0102432106764}],"complexity_score":0.6607592218291136}
{"id":3750,"query_id":"Q00750","question":"A hiker starts from a cultivated field and needs to reach a paved area. The terrain includes loose soil and rocks, grassy and shrubby vegetation, hard artificial surfaces, vehicle lanes, individual trees or wooded patches, and cultivated plots. The loose soil and rocks are dry and firm enough to walk on. The grassy and shrubby vegetation is sparse and low, allowing passage. The cultivated plots are currently fallow with no crops, so you can walk across them. The trees are widely spaced with clear ground between them, making them passable. The hard artificial surfaces and vehicle lanes are accessible as usual. What is the shortest route to the paved area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest route to the paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"kyoto_69.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":155,"end_region_id":52,"start_point":[162,215],"end_point":[28,953],"distance":750.066663703967},{"start_region_id":155,"end_region_id":53,"start_point":[162,215],"end_point":[116,959],"distance":745.4206865924771},{"start_region_id":159,"end_region_id":42,"start_point":[661,992],"end_point":[79,605],"distance":698.9227425116455},{"start_region_id":159,"end_region_id":52,"start_point":[661,992],"end_point":[28,953],"distance":634.2002838220747},{"start_region_id":155,"end_region_id":46,"start_point":[162,215],"end_point":[146,769],"distance":554.2309987721726}],"complexity_score":0.6607630187122123}
{"id":14130,"query_id":"Q02826","question":"An agricultural drone is on a paved landing pad and needs to reach a crop field. The drone can fly over bare ground, paved surfaces, and cultivated areas, but must avoid flying over water bodies or near trees and buildings to ensure stable flight and comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"An agricultural drone","start_land_type":"A paved landing pad","end_land_type":"A crop field","task_description":"What is the most comfortable path from the paved landing pad to the crop field?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"kyoto_69.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":155,"start_point":[28,953],"end_point":[162,215],"distance":750.066663703967},{"start_region_id":53,"end_region_id":155,"start_point":[116,959],"end_point":[162,215],"distance":745.4206865924771},{"start_region_id":42,"end_region_id":159,"start_point":[79,605],"end_point":[661,992],"distance":698.9227425116455},{"start_region_id":52,"end_region_id":159,"start_point":[28,953],"end_point":[661,992],"distance":634.2002838220747},{"start_region_id":46,"end_region_id":155,"start_point":[146,769],"end_point":[162,215],"distance":554.2309987721726}],"complexity_score":0.6607630187122123}
{"id":17470,"query_id":"Q03494","question":"An aerial survey drone begins its mission on a grassy, open field with low vegetation and needs to reach a cultivated crop field as quickly as possible. The drone can fly over various surfaces, but must avoid dense tree canopies and man-made structures. The terrain includes areas of loose, sandy soil; grassy expanses; paved vehicle lanes; cultivated fields; and wooded patches. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop field","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"kyoto_69.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":155,"start_point":[996,684],"end_point":[162,215],"distance":956.826525552046},{"start_region_id":1,"end_region_id":159,"start_point":[172,180],"end_point":[661,992],"distance":947.873936765855},{"start_region_id":7,"end_region_id":159,"start_point":[975,115],"end_point":[661,992],"distance":931.5175790075032},{"start_region_id":2,"end_region_id":159,"start_point":[344,141],"end_point":[661,992],"distance":908.1244408119408},{"start_region_id":8,"end_region_id":159,"start_point":[760,119],"end_point":[661,992],"distance":878.5954700543363}],"complexity_score":0.6607630187122123}
{"id":1487,"query_id":"Q00298","question":"An aerial survey drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over liquid surfaces and vertical obstacles, but flying through dense vertical obstacles increases collision risk. The drone must avoid any terrain that could cause loss of control or damage. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"rotterdam_11.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":60,"start_point":[77,258],"end_point":[698,590],"distance":704.1768243843303},{"start_region_id":111,"end_region_id":59,"start_point":[77,258],"end_point":[679,549],"distance":668.6441505015953},{"start_region_id":125,"end_region_id":60,"start_point":[116,390],"end_point":[698,590],"distance":615.4055573359734},{"start_region_id":125,"end_region_id":59,"start_point":[116,390],"end_point":[679,549],"distance":585.0213671311502},{"start_region_id":111,"end_region_id":88,"start_point":[77,258],"end_point":[276,751],"distance":531.6483800407935}],"complexity_score":0.6607749872452288}
{"id":7657,"query_id":"Q01532","question":"A hiker starts from a paved lane and needs to reach another paved lane while prioritizing a comfortable walking experience. You can only use surfaces that are smooth and stable underfoot: specifically, the paved lane itself, cultivated fields with even and firm soil, and wooded areas where the ground is clear and walkable between trees. All other surface types are either physically blocked or too uneven for comfortable walking.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Road","Tree","Agriculture land"],"traverse_vector":[0,0,0,1,1,0,1,0],"cost_vector":[0,0,0,3,1,0,2,0],"image_name":"rotterdam_11.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":111,"start_point":[482,755],"end_point":[77,258],"distance":641.119333665738},{"start_region_id":111,"end_region_id":135,"start_point":[77,258],"end_point":[482,755],"distance":641.119333665738},{"start_region_id":135,"end_region_id":125,"start_point":[482,755],"end_point":[116,390],"distance":516.895540704309},{"start_region_id":125,"end_region_id":135,"start_point":[116,390],"end_point":[482,755],"distance":516.895540704309}],"complexity_score":0.6607749872452288}
{"id":10501,"query_id":"Q02101","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation as quickly as possible. The hiker can traverse hard, flat surfaces; loose, sandy ground; grassy or shrub-covered terrain; and areas with trees, provided the vegetation is not too dense to walk through. However, water bodies and buildings are completely impassable. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved area","end_land_type":"wooded area with tall vegetation","task_description":"What is the fastest route for the hiker to reach the wooded area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"rotterdam_11.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":245,"start_point":[698,590],"end_point":[121,637],"distance":578.9110467075232},{"start_region_id":59,"end_region_id":245,"start_point":[679,549],"end_point":[121,637],"distance":564.8964506880885},{"start_region_id":51,"end_region_id":222,"start_point":[130,447],"end_point":[636,477],"distance":506.888547907723},{"start_region_id":88,"end_region_id":222,"start_point":[276,751],"end_point":[636,477],"distance":452.411317276657},{"start_region_id":88,"end_region_id":193,"start_point":[276,751],"end_point":[473,416],"distance":388.63093031821336}],"complexity_score":0.6607749872452288}
{"id":12436,"query_id":"Q02488","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a vehicle lane. The hiker can traverse grassy or shrubby areas with low vegetation, as the ground is firm enough for walking. The hiker can also pass through areas with individual trees or small groves, as there is enough clearance between trunks to walk through. The hiker cannot cross any liquid bodies or enter any structures. What is the shortest path to the vehicle lane?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"rotterdam_11.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":111,"start_point":[698,590],"end_point":[77,258],"distance":704.1768243843303},{"start_region_id":59,"end_region_id":111,"start_point":[679,549],"end_point":[77,258],"distance":668.6441505015953},{"start_region_id":60,"end_region_id":125,"start_point":[698,590],"end_point":[116,390],"distance":615.4055573359734},{"start_region_id":59,"end_region_id":125,"start_point":[679,549],"end_point":[116,390],"distance":585.0213671311502},{"start_region_id":88,"end_region_id":111,"start_point":[276,751],"end_point":[77,258],"distance":531.6483800407935}],"complexity_score":0.6607749872452288}
{"id":17246,"query_id":"Q03450","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open area. The terrain includes areas with loose soil and scattered vegetation that can be traversed with careful footing, as well as dense clusters of tall, vertical obstacles that are impassable. You must avoid any liquid surfaces and solid structures. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open area","task_description":"What is the safest path from the paved, hard surface to the grassy, open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"abancay_27.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":3,"start_point":[85,975],"end_point":[726,16],"distance":1153.499891634152},{"start_region_id":80,"end_region_id":8,"start_point":[85,975],"end_point":[900,256],"distance":1086.8238127681966},{"start_region_id":57,"end_region_id":50,"start_point":[999,417],"end_point":[115,1013],"distance":1066.1482073332957},{"start_region_id":63,"end_region_id":3,"start_point":[102,830],"end_point":[726,16],"distance":1025.6568626982419},{"start_region_id":54,"end_region_id":43,"start_point":[343,169],"end_point":[970,965],"distance":1013.2842641628262}],"complexity_score":0.6609688680763895}
{"id":7693,"query_id":"Q01539","question":"An aerial photography drone starts from a paved, flat surface and needs to reach a paved, smooth lane while maintaining stable flight for clear image capture. The drone can fly over open, loose soil areas, paved flat surfaces, paved lanes, liquid surfaces, and cultivated fields with regular vegetation patterns. However, it must avoid dense clusters of tall vegetation and solid vertical structures to prevent turbulence and collision risks. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, flat surface","end_land_type":"paved, smooth lane","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"houston_7.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":178,"start_point":[406,107],"end_point":[811,303],"distance":449.9344396687144},{"start_region_id":124,"end_region_id":178,"start_point":[998,227],"end_point":[811,303],"distance":201.8539075668341},{"start_region_id":118,"end_region_id":178,"start_point":[644,76],"end_point":[811,303],"distance":281.8119940669666}],"complexity_score":0.6610016298188018}
{"id":8830,"query_id":"Q01766","question":"A quadcopter drone is currently in a densely vegetated area with tall, vertical obstacles and needs to reach a grassy, open field. The terrain includes loose, sandy or rocky ground; grassy or shrubby areas; hard, paved surfaces; vehicle lanes; and the initial densely vegetated area. The drone can fly over all these terrains but must avoid liquid surfaces and solid, enclosed structures due to safety regulations. The goal is to find the path that minimizes risk of collision or signal interference.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall, vertical obstacles","end_land_type":"a grassy, open field","task_description":"What is the safest route for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"daressalaam_23.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":589,"end_region_id":1,"start_point":[99,971],"end_point":[664,39],"distance":1089.8848563036372},{"start_region_id":589,"end_region_id":15,"start_point":[99,971],"end_point":[918,274],"distance":1075.4394450642026},{"start_region_id":589,"end_region_id":32,"start_point":[99,971],"end_point":[1005,428],"distance":1056.2599111961033},{"start_region_id":584,"end_region_id":1,"start_point":[1005,977],"end_point":[664,39],"distance":998.060619401447},{"start_region_id":584,"end_region_id":45,"start_point":[1005,977],"end_point":[117,702],"distance":929.6069061705598}],"complexity_score":0.6610357130904275}
{"id":9579,"query_id":"Q01916","question":"An off-road vehicle starts from a hard, paved surface and needs to reach a grassy field. The vehicle can traverse paved surfaces, compacted ground, and vegetated areas, but cannot go through trees, water, or buildings. The vehicle is permitted to drive on loose soil, grassy terrain, paved areas, roads, and cultivated land. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a hard, paved surface","end_land_type":"a grassy field","task_description":"What is the shortest path for the off-road vehicle to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"daressalaam_23.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":331,"end_region_id":1,"start_point":[189,986],"end_point":[664,39],"distance":1059.449857237236},{"start_region_id":331,"end_region_id":15,"start_point":[189,986],"end_point":[918,274],"distance":1019.0117761831804},{"start_region_id":207,"end_region_id":45,"start_point":[994,203],"end_point":[117,702],"distance":1009.0242811746405},{"start_region_id":331,"end_region_id":32,"start_point":[189,986],"end_point":[1005,428],"distance":988.5443844360252},{"start_region_id":104,"end_region_id":48,"start_point":[93,146],"end_point":[901,692],"distance":975.1820342889833}],"complexity_score":0.6610357130904275}
{"id":14069,"query_id":"Q02814","question":"An off-road vehicle is parked on a hard, paved area and must travel to an open field with low vegetation. The environment contains patches of loose, sandy ground and cultivated land. The vehicle is equipped with all-terrain tires and high clearance, allowing it to safely traverse the cultivated land when it is dry and firm. The sandy patches are compacted and stable enough for controlled driving. The grassy field has short, even vegetation that provides good traction. The paved surface offers the most stable and risk-free driving conditions. All vertical obstacles like trees and structures must be avoided, and water crossings are prohibited. What is the safest route to the open field?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"hard, paved area","end_land_type":"open field with low vegetation","task_description":"What is the safest route to the open field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"daressalaam_23.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":331,"end_region_id":1,"start_point":[189,986],"end_point":[664,39],"distance":1059.449857237236},{"start_region_id":331,"end_region_id":15,"start_point":[189,986],"end_point":[918,274],"distance":1019.0117761831804},{"start_region_id":207,"end_region_id":45,"start_point":[994,203],"end_point":[117,702],"distance":1009.0242811746405},{"start_region_id":331,"end_region_id":32,"start_point":[189,986],"end_point":[1005,428],"distance":988.5443844360252},{"start_region_id":104,"end_region_id":48,"start_point":[93,146],"end_point":[901,692],"distance":975.1820342889833}],"complexity_score":0.6610357130904275}
{"id":17530,"query_id":"Q03506","question":"A hiker starts from a densely wooded area and needs to reach an open grassy field. The terrain includes paved lanes for vehicles, cultivated fields with crops, and areas with loose soil and rocks. The hiker can traverse the wooded area because the trees are sparse enough to walk through, and the grassy field is accessible. However, water bodies and buildings are completely blocked due to natural barriers and structural obstacles. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area","end_land_type":"an open grassy field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"daressalaam_23.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":589,"end_region_id":1,"start_point":[99,971],"end_point":[664,39],"distance":1089.8848563036372},{"start_region_id":589,"end_region_id":15,"start_point":[99,971],"end_point":[918,274],"distance":1075.4394450642026},{"start_region_id":589,"end_region_id":32,"start_point":[99,971],"end_point":[1005,428],"distance":1056.2599111961033},{"start_region_id":584,"end_region_id":1,"start_point":[1005,977],"end_point":[664,39],"distance":998.060619401447},{"start_region_id":584,"end_region_id":45,"start_point":[1005,977],"end_point":[117,702],"distance":929.6069061705598}],"complexity_score":0.6610357130904275}
{"id":5890,"query_id":"Q01178","question":"An off-road vehicle is positioned on a grassy, open field and must get to a cultivated crop field. The area consists solely of grassy terrain and cultivated fields, with no paved surfaces, roads, trees, water bodies, or buildings accessible. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, open field","end_land_type":"cultivated crop field","task_description":"What is the shortest path from the grassy, open field to the cultivated crop field?","task_type":"Shortest","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,1,0],"image_name":"pedrogao_grande_40.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":163,"start_point":[625,1000],"end_point":[80,507],"distance":734.8972717325871},{"start_region_id":11,"end_region_id":166,"start_point":[473,535],"end_point":[543,946],"distance":416.9184572551328},{"start_region_id":11,"end_region_id":163,"start_point":[473,535],"end_point":[80,507],"distance":393.99619287500735}],"complexity_score":0.6610484658760007}
{"id":11123,"query_id":"Q02225","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a cultivated field with planted crops as quickly as possible. The drone can fly over bare soil, grassy or shrub-covered areas, paved surfaces, vehicle lanes, cultivated fields, and water bodies. However, the drone cannot fly through dense wooded areas or between structures. The wooded areas are sparse enough for safe flight, and the structures are widely spaced allowing passage. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a cultivated field with planted crops","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"pedrogao_grande_40.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":165,"start_point":[17,217],"end_point":[949,867],"distance":1136.2763748314053},{"start_region_id":52,"end_region_id":165,"start_point":[238,213],"end_point":[949,867],"distance":966.0419245560722},{"start_region_id":56,"end_region_id":164,"start_point":[17,217],"end_point":[906,487],"distance":929.0968733130039},{"start_region_id":61,"end_region_id":162,"start_point":[248,932],"end_point":[162,30],"distance":906.0905032059436},{"start_region_id":56,"end_region_id":166,"start_point":[17,217],"end_point":[543,946],"distance":898.9532802098227}],"complexity_score":0.6610484658760007}
{"id":11928,"query_id":"Q02386","question":"A delivery van starts from a paved road surface and needs to reach a flat, hard-surfaced area. The vehicle requires firm, stable ground to maintain high speed, so only surfaces that provide solid traction and minimal rolling resistance are allowed. Loose, uneven terrain composed of sand or rocks is also permitted but offers less ideal conditions. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road surface","end_land_type":"a flat, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"pedrogao_grande_40.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":52,"start_point":[557,267],"end_point":[238,213],"distance":323.5382512161429},{"start_region_id":63,"end_region_id":60,"start_point":[557,267],"end_point":[602,626],"distance":361.809342057388},{"start_region_id":63,"end_region_id":50,"start_point":[557,267],"end_point":[822,184],"distance":277.69407627819504},{"start_region_id":63,"end_region_id":48,"start_point":[557,267],"end_point":[669,112],"distance":191.23022773609824},{"start_region_id":63,"end_region_id":53,"start_point":[557,267],"end_point":[370,163],"distance":213.974297521922}],"complexity_score":0.6610484658760007}
{"id":1758,"query_id":"Q00352","question":"An aerial photography drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard-surfaced lane. The drone's flight must prioritize smooth, stable movement to protect its camera gimbal and ensure clear footage. You cannot fly through dense vertical obstacles like tall trees with thick canopies, as they require careful navigation and increase vibration risk. Solid structures are also off-limits due to collision hazards. The route should avoid liquid surfaces whenever possible, as air turbulence over water can cause instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A grassy, open field with low vegetation","end_land_type":"A paved, hard-surfaced lane","task_description":"What is the most comfortable path from the grassy field to the paved lane?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tokyo_30.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":131,"start_point":[985,100],"end_point":[504,481],"distance":613.6138851101725}],"complexity_score":0.6611081722557506}
{"id":2597,"query_id":"Q00520","question":"A quadcopter drone starts from a flat, paved area and needs to reach another flat, paved area. The drone can fly over hard surfaces, loose soil, and cultivated fields, but must avoid trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, paved area","end_land_type":"another flat, paved area","task_description":"What is the shortest path from the starting flat, paved area to the destination flat, paved area?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"tokyo_30.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":48,"start_point":[145,812],"end_point":[896,100],"distance":1034.864725459323},{"start_region_id":48,"end_region_id":106,"start_point":[896,100],"end_point":[145,812],"distance":1034.864725459323},{"start_region_id":48,"end_region_id":120,"start_point":[896,100],"end_point":[465,991],"distance":989.7686598392576},{"start_region_id":120,"end_region_id":48,"start_point":[465,991],"end_point":[896,100],"distance":989.7686598392576},{"start_region_id":120,"end_region_id":51,"start_point":[465,991],"end_point":[114,168],"distance":894.7234209519722}],"complexity_score":0.6611081722557506}
{"id":1439,"query_id":"Q00288","question":"A quadcopter drone is positioned on a grassy, open field with scattered low shrubs and needs to reach a paved, hard-surfaced lane. The drone can fly over areas with loose, dry soil and rocks, as well as over cultivated fields with crops. It can also traverse over liquid surfaces like rivers or ponds. However, the drone must avoid flying through dense clusters of tall, vertical obstacles like trees, and cannot pass through solid, enclosed structures. What is the fastest path to reach the paved lane?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with scattered low shrubs","end_land_type":"a paved, hard-surfaced lane","task_description":"What is the fastest path to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_23.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":175,"start_point":[39,205],"end_point":[904,829],"distance":1066.583798864393},{"start_region_id":111,"end_region_id":172,"start_point":[965,950],"end_point":[306,181],"distance":1012.7398481347517},{"start_region_id":2,"end_region_id":175,"start_point":[178,139],"end_point":[904,829],"distance":1001.5867411262991},{"start_region_id":104,"end_region_id":172,"start_point":[891,923],"end_point":[306,181],"distance":944.8751240243337},{"start_region_id":101,"end_region_id":175,"start_point":[28,845],"end_point":[904,829],"distance":876.1461065370319}],"complexity_score":0.6611168588019163}
{"id":12441,"query_id":"Q02489","question":"A hiker starts from a paved road surface and needs to reach a flat, hard paved area as quickly as possible. The terrain includes grassy and shrub-covered ground that is dry and firm enough to walk on, as well as cultivated fields with soft but traversable soil. The hiker must avoid any liquid bodies, vertical structures, and sandy or rocky expanses. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"a flat, hard paved area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"houston_23.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":115,"start_point":[904,829],"end_point":[69,239],"distance":1022.4113653515399},{"start_region_id":175,"end_region_id":116,"start_point":[904,829],"end_point":[154,256],"distance":943.8373800607815},{"start_region_id":175,"end_region_id":145,"start_point":[904,829],"end_point":[36,730],"distance":873.6274949885677},{"start_region_id":172,"end_region_id":160,"start_point":[306,181],"end_point":[877,801],"distance":842.8766220509382},{"start_region_id":175,"end_region_id":117,"start_point":[904,829],"end_point":[348,179],"distance":855.3572353116562}],"complexity_score":0.6611168588019163}
{"id":16721,"query_id":"Q03345","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over areas with loose soil and rocks, other grassy or shrubby areas, cultivated crop fields, and areas with individual or clustered tall vegetation. However, the drone must avoid flying over any structures or liquid surfaces, and areas with dense vertical obstacles should be minimized due to navigation complexity. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"houston_23.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":62,"start_point":[364,868],"end_point":[828,567],"distance":553.0795602804357},{"start_region_id":62,"end_region_id":84,"start_point":[828,567],"end_point":[364,868],"distance":553.0795602804357}],"complexity_score":0.6611168588019163}
{"id":2242,"query_id":"Q00449","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over hard, flat surfaces like parking lots and streets, as well as cultivated fields with low vegetation. It can also cross over liquid areas. However, the drone cannot pass through dense vertical obstacles like trees or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_42.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":103,"start_point":[123,3],"end_point":[1004,629],"distance":1080.7576046459262}],"complexity_score":0.6612362378961967}
{"id":2257,"query_id":"Q00452","question":"An aerial survey drone is currently positioned on a paved, hard surface lane. It needs to reach another paved, hard surface lane as quickly as possible. The drone can fly over liquid surfaces and cultivated fields with low vegetation, as these present minimal resistance. However, it must avoid areas with tall, dense vertical obstacles that could cause collisions or require complex navigation. The drone cannot traverse solid vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard surface lane","end_land_type":"Another paved, hard surface lane","task_description":"What is the fastest path for the aerial survey drone to reach the destination lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_42.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":103,"start_point":[77,912],"end_point":[954,109],"distance":1189.0912496524395}],"complexity_score":0.6612362378961967}
{"id":11190,"query_id":"Q02238","question":"A quadcopter starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The area includes hard, paved surfaces, vehicle lanes, cultivated crop fields, and wooded areas with tall vegetation. You can fly over all surfaces including grassy fields, paved areas, lanes, crop fields, and wooded areas, but wooded areas may slow you down due to obstacles. You must avoid any liquid surfaces and vertical structures. What is the fastest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest flight path from the starting grassy field to the destination grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"little_rock_42.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":56,"start_point":[52,58],"end_point":[1020,949],"distance":1315.6386281954478},{"start_region_id":56,"end_region_id":1,"start_point":[1020,949],"end_point":[52,58],"distance":1315.6386281954478},{"start_region_id":5,"end_region_id":58,"start_point":[996,77],"end_point":[134,974],"distance":1244.0470248346724},{"start_region_id":58,"end_region_id":5,"start_point":[134,974],"end_point":[996,77],"distance":1244.0470248346724},{"start_region_id":1,"end_region_id":64,"start_point":[52,58],"end_point":[859,988],"distance":1231.320023389533}],"complexity_score":0.6612362378961967}
{"id":15849,"query_id":"Q03170","question":"An aerial surveillance drone begins on a grassy, open field and must return to another grassy, open field. The drone can fly over loose, sandy areas; grassy or shrub-covered terrain; paved lanes used by vehicles; and bodies of liquid. However, it must avoid any tall, vertical obstacles like trees or structures, as they pose collision risks. The drone's priority is to minimize the risk of accidents or damage during flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"little_rock_42.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":56,"start_point":[52,58],"end_point":[1020,949],"distance":1315.6386281954478},{"start_region_id":56,"end_region_id":1,"start_point":[1020,949],"end_point":[52,58],"distance":1315.6386281954478},{"start_region_id":5,"end_region_id":58,"start_point":[996,77],"end_point":[134,974],"distance":1244.0470248346724},{"start_region_id":58,"end_region_id":5,"start_point":[134,974],"end_point":[996,77],"distance":1244.0470248346724},{"start_region_id":1,"end_region_id":64,"start_point":[52,58],"end_point":[859,988],"distance":1231.320023389533}],"complexity_score":0.6612362378961967}
{"id":16008,"query_id":"Q03202","question":"An aerial survey drone starts from an area of natural, uncultivated grassy vegetation and needs to return to a similar patch of natural grassy vegetation. An aerial survey drone must maintain a smooth, vibration-free flight to protect its sensitive imaging equipment. The drone can fly over open grassy areas, hard artificial surfaces like paved courts or parking lots, cultivated crop fields, and calm liquid surfaces. However, it must avoid flying directly through dense clusters of tall vertical obstacles, as these cause turbulence and sudden movements. The drone is not permitted to fly over loose, sandy accumulations or earthen materials without vegetation, nor over solid, enclosed vertical structures.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of natural, uncultivated grassy vegetation","end_land_type":"and needing to return to a similar patch of natural grassy vegetation","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"little_rock_42.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":56,"start_point":[52,58],"end_point":[1020,949],"distance":1315.6386281954478},{"start_region_id":56,"end_region_id":1,"start_point":[1020,949],"end_point":[52,58],"distance":1315.6386281954478},{"start_region_id":5,"end_region_id":58,"start_point":[996,77],"end_point":[134,974],"distance":1244.0470248346724},{"start_region_id":58,"end_region_id":5,"start_point":[134,974],"end_point":[996,77],"distance":1244.0470248346724},{"start_region_id":1,"end_region_id":64,"start_point":[52,58],"end_point":[859,988],"distance":1231.320023389533}],"complexity_score":0.6612362378961967}
{"id":480,"query_id":"Q00096","question":"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 liquid areas may cause minor turbulence and should be avoided if possible. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a dry, loose, sandy area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":1,"start_point":[981,877],"end_point":[328,253],"distance":903.2081709107817},{"start_region_id":157,"end_region_id":1,"start_point":[713,955],"end_point":[328,253],"distance":800.6428667015026},{"start_region_id":47,"end_region_id":5,"start_point":[951,148],"end_point":[399,703],"distance":782.7700811860402},{"start_region_id":108,"end_region_id":1,"start_point":[972,607],"end_point":[328,253],"distance":734.882303501724},{"start_region_id":167,"end_region_id":1,"start_point":[193,969],"end_point":[328,253],"distance":728.6158109731081}],"complexity_score":0.6614053661128048}
{"id":2484,"query_id":"Q00497","question":"A delivery drone begins on a paved, hard surface and needs to reach a loose, sandy area. The drone can fly over liquid surfaces and hard, flat areas like parking lots and streets, but must avoid dense vegetation and vertical structures. The drone's priority is to maintain stable, vibration-free flight for the delicate package it carries. What is the most comfortable route?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy area","task_description":"What is the most comfortable route for the delivery drone to take from the paved surface to the sandy area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":1,"start_point":[981,877],"end_point":[328,253],"distance":903.2081709107817},{"start_region_id":157,"end_region_id":1,"start_point":[713,955],"end_point":[328,253],"distance":800.6428667015026},{"start_region_id":47,"end_region_id":5,"start_point":[951,148],"end_point":[399,703],"distance":782.7700811860402},{"start_region_id":108,"end_region_id":1,"start_point":[972,607],"end_point":[328,253],"distance":734.882303501724},{"start_region_id":167,"end_region_id":1,"start_point":[193,969],"end_point":[328,253],"distance":728.6158109731081}],"complexity_score":0.6614053661128048}
{"id":3460,"query_id":"Q00692","question":"A quadcopter drone is positioned on a dry, loose soil surface and needs to reach another dry, loose soil surface. The drone can only travel across dry, loose soil surfaces or liquid surfaces. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"dry, loose soil surface","end_land_type":"dry, loose soil surface","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Water"],"traverse_vector":[1,0,0,0,0,1,0,0],"cost_vector":[1,0,0,0,0,1,0,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[418,439],"end_point":[328,253],"distance":206.63010429267078},{"start_region_id":1,"end_region_id":2,"start_point":[328,253],"end_point":[418,439],"distance":206.63010429267078}],"complexity_score":0.6614053661128048}
{"id":7360,"query_id":"Q01472","question":"An aerial survey drone begins on a paved, hard surface and needs to reach a destination on dry, loose soil without vegetation. The drone can fly over liquid surfaces and vertical obstacles, but must avoid areas with dense overhead vegetation that could entangle its rotors. The drone's primary objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"dry, loose soil without vegetation","task_description":"What is the fastest path for the drone to reach its destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":1,"start_point":[891,502],"end_point":[328,253],"distance":615.6053930887871},{"start_region_id":180,"end_region_id":5,"start_point":[891,502],"end_point":[399,703],"distance":531.4743643864679},{"start_region_id":180,"end_region_id":2,"start_point":[891,502],"end_point":[418,439],"distance":477.1771159642927},{"start_region_id":178,"end_region_id":5,"start_point":[163,471],"end_point":[399,703],"distance":330.9380606699689},{"start_region_id":179,"end_region_id":5,"start_point":[491,444],"end_point":[399,703],"distance":274.85450696686786}],"complexity_score":0.6614053661128048}
{"id":9317,"query_id":"Q01864","question":"An aerial surveillance drone is positioned on a hard, paved surface and needs to reach a dry, open area of loose earth and rocks. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical structures and dense vegetation due to collision risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"A dry, open area of loose earth and rocks","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":1,"start_point":[891,502],"end_point":[328,253],"distance":615.6053930887871},{"start_region_id":180,"end_region_id":5,"start_point":[891,502],"end_point":[399,703],"distance":531.4743643864679},{"start_region_id":180,"end_region_id":2,"start_point":[891,502],"end_point":[418,439],"distance":477.1771159642927},{"start_region_id":178,"end_region_id":5,"start_point":[163,471],"end_point":[399,703],"distance":330.9380606699689},{"start_region_id":179,"end_region_id":5,"start_point":[491,444],"end_point":[399,703],"distance":274.85450696686786}],"complexity_score":0.6614053661128048}
{"id":10263,"query_id":"Q02053","question":"A quadcopter starts from a flat, artificial surface and needs to reach sandy, open ground. The drone can fly over hard surfaces, grassy areas, bare soil, and roads, but must avoid flying through dense tree canopies or close to buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"flat, artificial surface","end_land_type":"sandy, open ground","task_description":"What is the shortest path from the flat, artificial surface to the sandy, open ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":5,"start_point":[951,148],"end_point":[399,703],"distance":782.7700811860402},{"start_region_id":145,"end_region_id":2,"start_point":[981,877],"end_point":[418,439],"distance":713.311292494378},{"start_region_id":44,"end_region_id":5,"start_point":[682,55],"end_point":[399,703],"distance":707.101831421755},{"start_region_id":45,"end_region_id":5,"start_point":[862,150],"end_point":[399,703],"distance":721.2336653262936},{"start_region_id":43,"end_region_id":5,"start_point":[612,77],"end_point":[399,703],"distance":661.2450377885644}],"complexity_score":0.6614053661128048}
{"id":11574,"query_id":"Q02315","question":"A hiker starts on rocky, sandy terrain and needs to reach a hard, paved surface. The hiker can only travel on surfaces that are either rocky, sandy terrain; hard, paved surfaces like sidewalks or parking lots; or vehicle lanes and streets. The hiker cannot travel on surfaces with liquid bodies or vertical structures. What is the fastest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rocky, sandy terrain","end_land_type":"hard, paved surface","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,3,2,0,0,0,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":47,"start_point":[399,703],"end_point":[951,148],"distance":782.7700811860402},{"start_region_id":5,"end_region_id":44,"start_point":[399,703],"end_point":[682,55],"distance":707.101831421755},{"start_region_id":5,"end_region_id":45,"start_point":[399,703],"end_point":[862,150],"distance":721.2336653262936},{"start_region_id":5,"end_region_id":43,"start_point":[399,703],"end_point":[612,77],"distance":661.2450377885644},{"start_region_id":5,"end_region_id":39,"start_point":[399,703],"end_point":[93,168],"distance":616.3286460971939}],"complexity_score":0.6614053661128048}
{"id":11583,"query_id":"Q02317","question":"An aerial surveillance drone starts from a paved, hard surface area and needs to reach a dry, sandy or rocky patch without vegetation. The drone can fly over open, flat ground covered with loose soil or sparse grass, as well as liquid surfaces and areas with tall, dense vertical obstacles, but it must avoid any built structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a paved, hard surface area","end_land_type":"a dry, sandy or rocky patch without vegetation","task_description":"What is the shortest path for the drone to travel from the paved area to the sandy or rocky patch?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":1,"start_point":[981,877],"end_point":[328,253],"distance":903.2081709107817},{"start_region_id":157,"end_region_id":1,"start_point":[713,955],"end_point":[328,253],"distance":800.6428667015026},{"start_region_id":47,"end_region_id":5,"start_point":[951,148],"end_point":[399,703],"distance":782.7700811860402},{"start_region_id":108,"end_region_id":1,"start_point":[972,607],"end_point":[328,253],"distance":734.882303501724},{"start_region_id":167,"end_region_id":1,"start_point":[193,969],"end_point":[328,253],"distance":728.6158109731081}],"complexity_score":0.6614053661128048}
{"id":13614,"query_id":"Q02723","question":"A hiker starts from a grassy, shrub-covered area and needs to reach an exposed, sandy or rocky ground. The path must avoid any water bodies or structures, and you can only traverse surfaces that are either hard and paved, soft and vegetated, or loose and barren. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, shrub-covered terrain","end_land_type":"exposed, sandy or rocky ground","task_description":"What is the shortest route from the grassy, shrub-covered area to the exposed, sandy or rocky ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":1,"start_point":[247,944],"end_point":[328,253],"distance":695.731269959889},{"start_region_id":28,"end_region_id":1,"start_point":[44,867],"end_point":[328,253],"distance":676.4998152253997},{"start_region_id":18,"end_region_id":5,"start_point":[975,359],"end_point":[399,703],"distance":670.9038679274402},{"start_region_id":18,"end_region_id":1,"start_point":[975,359],"end_point":[328,253],"distance":655.6256553857544},{"start_region_id":30,"end_region_id":1,"start_point":[190,823],"end_point":[328,253],"distance":586.4673903977953}],"complexity_score":0.6614053661128048}
{"id":14463,"query_id":"Q02893","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach another area of dry, rocky soil as quickly as possible. The drone can fly over open, flat surfaces with sparse vegetation, hard paved lanes, and liquid bodies, but must avoid dense vertical obstacles like tall trees or structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"another area of dry, rocky soil","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tyrolw_17.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":5,"start_point":[328,253],"end_point":[399,703],"distance":455.5666800809734},{"start_region_id":5,"end_region_id":1,"start_point":[399,703],"end_point":[328,253],"distance":455.5666800809734},{"start_region_id":2,"end_region_id":5,"start_point":[418,439],"end_point":[399,703],"distance":264.6828290615015},{"start_region_id":5,"end_region_id":2,"start_point":[399,703],"end_point":[418,439],"distance":264.6828290615015},{"start_region_id":2,"end_region_id":1,"start_point":[418,439],"end_point":[328,253],"distance":206.63010429267078}],"complexity_score":0.6614053661128048}
{"id":9632,"query_id":"Q01927","question":"A hiker starts from a grassy, uneven terrain with scattered shrubs and needs to reach another patch of grassy, uneven terrain with scattered shrubs. The area contains various surface types: loose, sandy ground without vegetation; grassy, uneven terrain with scattered shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes with asphalt or concrete surfaces; and cultivated fields with crops. You must find a path that connects these two grassy patches.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"grassy, uneven terrain with scattered shrubs","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"buenos_aires_29.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":30,"start_point":[218,931],"end_point":[854,174],"distance":988.7087538805348},{"start_region_id":30,"end_region_id":150,"start_point":[854,174],"end_point":[218,931],"distance":988.7087538805348},{"start_region_id":35,"end_region_id":136,"start_point":[126,194],"end_point":[793,884],"distance":959.681718071153},{"start_region_id":136,"end_region_id":35,"start_point":[793,884],"end_point":[126,194],"distance":959.681718071153},{"start_region_id":150,"end_region_id":7,"start_point":[218,931],"end_point":[552,55],"distance":937.5137332327457}],"complexity_score":0.661471092699023}
{"id":14146,"query_id":"Q02830","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with leafy canopies and branches and needs to reach another similar cluster of tall, vertical structures with leafy canopies and branches. The area includes rough, loose ground composed of sand and rocks, as well as smooth, hard surfaces used by vehicles. The drone must avoid any tall, vertical structures with leafy canopies and branches unless absolutely necessary, as they pose collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with leafy canopies and branches","end_land_type":"Another dense cluster of tall, vertical structures with leafy canopies and branches","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"buenos_aires_29.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":459,"end_region_id":363,"start_point":[821,862],"end_point":[222,255],"distance":852.789540273566},{"start_region_id":363,"end_region_id":459,"start_point":[222,255],"end_point":[821,862],"distance":852.789540273566},{"start_region_id":498,"end_region_id":326,"start_point":[439,932],"end_point":[505,90],"distance":844.5827372140636},{"start_region_id":326,"end_region_id":498,"start_point":[505,90],"end_point":[439,932],"distance":844.5827372140636},{"start_region_id":459,"end_region_id":326,"start_point":[821,862],"end_point":[505,90],"distance":834.1702464125653}],"complexity_score":0.661471092699023}
{"id":845,"query_id":"Q00169","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall vegetation as quickly as possible. The drone can fly over open, loose soil areas, grassy or shrub-covered terrain, paved surfaces, vehicle lanes, liquid bodies, and cultivated fields, but must navigate carefully around vertical structures and dense foliage. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dense cluster of tall vegetation","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"kyoto_17.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":221,"start_point":[1006,984],"end_point":[550,114],"distance":982.2606578704045},{"start_region_id":165,"end_region_id":221,"start_point":[31,890],"end_point":[550,114],"distance":933.5614602156625},{"start_region_id":174,"end_region_id":221,"start_point":[159,958],"end_point":[550,114],"distance":930.1704144940323},{"start_region_id":188,"end_region_id":221,"start_point":[329,1002],"end_point":[550,114],"distance":915.0874275171744},{"start_region_id":181,"end_region_id":221,"start_point":[767,984],"end_point":[550,114],"distance":896.6543369660351}],"complexity_score":0.661476608315676}
{"id":3832,"query_id":"Q00767","question":"A hiker starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas of loose, dry soil and rocks; patches of wild grass and shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes and streets; individual trees and wooded patches; and other cultivated fields. However, you cannot travel across any liquid surfaces or enter any structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"kyoto_17.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":310,"end_region_id":303,"start_point":[672,772],"end_point":[331,171],"distance":691.0007235886226},{"start_region_id":303,"end_region_id":310,"start_point":[331,171],"end_point":[672,772],"distance":691.0007235886226},{"start_region_id":310,"end_region_id":302,"start_point":[672,772],"end_point":[617,110],"distance":664.2808141140312},{"start_region_id":302,"end_region_id":310,"start_point":[617,110],"end_point":[672,772],"distance":664.2808141140312},{"start_region_id":306,"end_region_id":303,"start_point":[892,485],"end_point":[331,171],"distance":642.8973479491108}],"complexity_score":0.661476608315676}
{"id":9195,"query_id":"Q01839","question":"An aerial survey drone starts from a paved, hard surface, an aerial survey drone must reach a cultivated, vegetated field. The drone can fly over loose, sandy or rocky ground, liquid surfaces, and cultivated fields, but must avoid tall vertical obstacles and solid structures. The drone's priority is to minimize risk of collision or instability. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated, vegetated field","task_description":"What is the safest path for the aerial survey drone to take from the paved, hard surface to the cultivated, vegetated field?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"kyoto_17.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":310,"start_point":[340,37],"end_point":[672,772],"distance":806.5041847380583},{"start_region_id":200,"end_region_id":306,"start_point":[340,37],"end_point":[892,485],"distance":710.9205300172446},{"start_region_id":199,"end_region_id":306,"start_point":[242,549],"end_point":[892,485],"distance":653.1431696037248},{"start_region_id":199,"end_region_id":302,"start_point":[242,549],"end_point":[617,110],"distance":577.3612387405307},{"start_region_id":203,"end_region_id":303,"start_point":[812,412],"end_point":[331,171],"distance":537.9981412607297}],"complexity_score":0.661476608315676}
{"id":12830,"query_id":"Q02566","question":"A quadcopter starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, smooth surface. The terrain includes patches of wild grass and shrubs, compacted artificial surfaces, vehicle lanes, and tall vegetation that can be flown over. You must avoid any structures or water bodies entirely. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"kyoto_17.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":303,"end_region_id":175,"start_point":[331,171],"end_point":[1006,984],"distance":1056.69011540754},{"start_region_id":305,"end_region_id":175,"start_point":[299,305],"end_point":[1006,984],"distance":980.2499681203769},{"start_region_id":302,"end_region_id":165,"start_point":[617,110],"end_point":[31,890],"distance":975.600328003225},{"start_region_id":302,"end_region_id":174,"start_point":[617,110],"end_point":[159,958],"distance":963.7779827325378},{"start_region_id":302,"end_region_id":175,"start_point":[617,110],"end_point":[1006,984],"distance":956.6592914930582}],"complexity_score":0.661476608315676}
{"id":17578,"query_id":"Q03516","question":"A hiker starts from a paved surface and needs to reach a grassy area. The terrain includes hard, flat surfaces; soft, vegetated ground; areas with tall, dense vegetation; and cultivated fields. The hiker can traverse the grassy area, cultivated fields, and tall vegetation only if the ground is firm and dry enough to walk on without sinking. Hard, flat surfaces are always accessible. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"What is the shortest path for the hiker to reach the grassy area from the paved surface?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,1,1,1,1,0,1,0],"image_name":"kyoto_17.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":42,"start_point":[340,37],"end_point":[970,865],"distance":1040.4249131965266},{"start_region_id":200,"end_region_id":31,"start_point":[340,37],"end_point":[954,705],"distance":907.3147193780117},{"start_region_id":216,"end_region_id":6,"start_point":[964,904],"end_point":[444,231],"distance":850.4875072568674},{"start_region_id":200,"end_region_id":37,"start_point":[340,37],"end_point":[281,846],"distance":811.1485683892932},{"start_region_id":199,"end_region_id":42,"start_point":[242,549],"end_point":[970,865],"distance":793.6245963930302}],"complexity_score":0.661476608315676}
{"id":4236,"query_id":"Q00848","question":"An aerial survey drone starts from a patch of grassy, uneven ground with scattered shrubs and needs to reach another patch of similar terrain. The drone must avoid any tall, dense vegetation that could entangle its rotors. The drone can fly over open grassy areas, cultivated fields with low crops, and calm water surfaces, but must maintain a safe distance from any tall structures or dense tree canopies. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of grassy, uneven ground with scattered shrubs.","end_land_type":"Another patch of similar grassy, uneven ground with scattered shrubs.","task_description":"What is the safest path for the aerial survey drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"shanghai_22.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":2,"start_point":[338,292],"end_point":[476,71],"distance":260.547500467765},{"start_region_id":2,"end_region_id":4,"start_point":[476,71],"end_point":[338,292],"distance":260.547500467765}],"complexity_score":0.6615554960856009}
{"id":9592,"query_id":"Q01919","question":"An off-road vehicle is on a paved parking lot and needs to reach another paved parking lot. The vehicle can drive on vehicle lanes, other paved or compacted surfaces, cultivated fields, natural grass or shrub areas, and loose, sandy or rocky ground. The vehicle cannot drive through wooded areas, enter any structures, or cross any bodies of water. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"A paved parking lot","end_land_type":"Another paved parking lot","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_22.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":6,"start_point":[450,416],"end_point":[261,156],"distance":321.43584118763107},{"start_region_id":6,"end_region_id":13,"start_point":[261,156],"end_point":[450,416],"distance":321.43584118763107},{"start_region_id":7,"end_region_id":13,"start_point":[384,145],"end_point":[450,416],"distance":278.92113580723856},{"start_region_id":13,"end_region_id":7,"start_point":[450,416],"end_point":[384,145],"distance":278.92113580723856}],"complexity_score":0.6615554960856009}
{"id":13258,"query_id":"Q02652","question":"A quadcopter starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The terrain includes smooth, stable paved surfaces; firm, compacted dirt paths; and areas with loose soil and scattered vegetation. You can traverse grassy fields, cultivated crop areas, and areas with scattered trees and bushes, though navigating through dense tree canopies requires careful maneuvering. You can also fly over vertical structures if necessary, but this may reduce stability. The goal is to find a path that maximizes ride comfort.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"shanghai_22.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":2,"start_point":[450,416],"end_point":[476,71],"distance":345.9783230203881},{"start_region_id":6,"end_region_id":2,"start_point":[261,156],"end_point":[476,71],"distance":231.19256043393784}],"complexity_score":0.6615554960856009}
{"id":17546,"query_id":"Q03510","question":"An aerial survey drone starts from an area of low, dry vegetation and scattered shrubs, an aerial survey drone must navigate to a paved, hard-surfaced lane. The drone can fly over open grassy fields, paved lanes, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of low, dry vegetation and scattered shrubs","end_land_type":"ending at a paved, hard-surfaced lane","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"shanghai_22.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":15,"start_point":[476,71],"end_point":[255,451],"distance":439.59185615750437},{"start_region_id":4,"end_region_id":16,"start_point":[338,292],"end_point":[573,42],"distance":343.11076928595526}],"complexity_score":0.6615554960856009}
{"id":2192,"query_id":"Q00439","question":"An aerial survey drone starts from a flat, paved surface and needs to reach another flat, paved surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock without vegetation, as well as over liquid bodies, but must avoid any vertical structures or dense vegetation that could obstruct its flight path. Which route allows the drone to reach its destination in the minimum time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"Which route allows the drone to reach its destination in the minimum time?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"san_tome_20.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":142,"start_point":[112,813],"end_point":[871,65],"distance":1065.6383063685353},{"start_region_id":142,"end_region_id":243,"start_point":[871,65],"end_point":[112,813],"distance":1065.6383063685353},{"start_region_id":164,"end_region_id":142,"start_point":[88,284],"end_point":[871,65],"distance":813.0498139720592},{"start_region_id":142,"end_region_id":164,"start_point":[871,65],"end_point":[88,284],"distance":813.0498139720592},{"start_region_id":142,"end_region_id":135,"start_point":[871,65],"end_point":[85,39],"distance":786.4299078748213}],"complexity_score":0.6617404376027528}
{"id":6613,"query_id":"Q01323","question":"A park ranger is standing on a paved walkway and must quickly reach another paved walkway. The surrounding terrain consists of firm, artificial surfaces and cultivated fields with loose, tilled soil. The ranger can walk on the firm surfaces but must avoid the loose soil in the fields because it is muddy and uneven, which would slow down walking speed. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"park ranger","start_land_type":"paved walkway","end_land_type":"paved walkway","task_description":"What is the fastest route for the park ranger to travel from the current paved walkway to the destination paved walkway?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"san_tome_20.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":142,"start_point":[112,813],"end_point":[871,65],"distance":1065.6383063685353},{"start_region_id":142,"end_region_id":243,"start_point":[871,65],"end_point":[112,813],"distance":1065.6383063685353},{"start_region_id":164,"end_region_id":142,"start_point":[88,284],"end_point":[871,65],"distance":813.0498139720592},{"start_region_id":142,"end_region_id":164,"start_point":[871,65],"end_point":[88,284],"distance":813.0498139720592},{"start_region_id":142,"end_region_id":135,"start_point":[871,65],"end_point":[85,39],"distance":786.4299078748213}],"complexity_score":0.6617404376027528}
{"id":702,"query_id":"Q00141","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, hard-surfaced area. The drone can fly over loose, rocky ground, flat hard surfaces, paved lanes, and areas with tall vegetation, but must avoid collisions with solid structures. The goal is to find the path that minimizes risk while reaching the destination.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"buenos_aires_8.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":540,"end_region_id":202,"start_point":[494,525],"end_point":[922,61],"distance":631.2527227664052},{"start_region_id":540,"end_region_id":225,"start_point":[494,525],"end_point":[778,70],"distance":536.359021551796}],"complexity_score":0.6617637292154449}
{"id":4846,"query_id":"Q00970","question":"A hiker starts from a paved lane and needs to reach a flat, stable paved area. The hiker can traverse hard, compacted surfaces like sidewalks and parking lots, as well as unpaved, loose soil and sand patches, cultivated fields with crops, and wooded areas with individual trees. The hiker must avoid all liquid surfaces and vertical structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,5,4,1,0,3,0],"image_name":"buenos_aires_8.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":540,"end_region_id":202,"start_point":[494,525],"end_point":[922,61],"distance":631.2527227664052}],"complexity_score":0.6617637292154449}
{"id":8747,"query_id":"Q01750","question":"A quadcopter drone starts from a paved road and needs to reach a flat, hard-surfaced area like a sidewalk or parking lot. The terrain includes loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas that are not cultivated; and areas with individual trees or groups of trees. You must avoid any water bodies due to splash risk and buildings due to collision hazard. For a comfortable flight, prioritize surfaces that are stable and predictable to minimize turbulence and discomfort from rough air or obstacles.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"buenos_aires_8.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":540,"end_region_id":202,"start_point":[494,525],"end_point":[922,61],"distance":631.2527227664052},{"start_region_id":540,"end_region_id":225,"start_point":[494,525],"end_point":[778,70],"distance":536.359021551796}],"complexity_score":0.6617637292154449}
{"id":17446,"query_id":"Q03490","question":"An aerial surveillance drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; grassy or shrub-covered terrain; paved lanes used by vehicles; liquid surfaces like rivers or lakes; and areas with tall, leafy structures, though these require careful navigation to avoid collisions. The drone cannot pass through solid vertical obstacles like buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the fastest path for the aerial surveillance drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"buenos_aires_8.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":751,"end_region_id":590,"start_point":[848,914],"end_point":[249,192],"distance":938.1284560229478},{"start_region_id":590,"end_region_id":751,"start_point":[249,192],"end_point":[848,914],"distance":938.1284560229478},{"start_region_id":751,"end_region_id":615,"start_point":[848,914],"end_point":[159,286],"distance":932.2580114968173},{"start_region_id":615,"end_region_id":751,"start_point":[159,286],"end_point":[848,914],"distance":932.2580114968173},{"start_region_id":619,"end_region_id":786,"start_point":[613,334],"end_point":[71,985],"distance":847.0920847227885}],"complexity_score":0.6617637292154449}
{"id":1115,"query_id":"Q00223","question":"An aerial surveillance drone starts from a paved, flat, and stable surface and needs to reach a grassy, open area with low vegetation. The drone can fly over most surfaces, including loose sandy or rocky ground, paved areas, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies and cannot enter any structures. The primary concern is to minimize risk of collision, signal interference, or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, and stable surface","end_land_type":"A grassy, open area with low vegetation","task_description":"What is the safest path for the aerial surveillance drone to take from the paved, flat, and stable surface to the grassy, open area with low vegetation?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_65.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":104,"start_point":[472,121],"end_point":[711,965],"distance":877.1869812075416},{"start_region_id":122,"end_region_id":70,"start_point":[472,121],"end_point":[962,647],"distance":718.8713375841327},{"start_region_id":122,"end_region_id":29,"start_point":[472,121],"end_point":[660,483],"distance":407.9068521120968},{"start_region_id":122,"end_region_id":17,"start_point":[472,121],"end_point":[865,246],"distance":412.4002909795288},{"start_region_id":122,"end_region_id":53,"start_point":[472,121],"end_point":[449,481],"distance":360.73397400300405}],"complexity_score":0.66182326960976}
{"id":12346,"query_id":"Q02470","question":"An off-road vehicle starts from a paved roadway and needs to reach a grassy meadow with scattered bushes. The vehicle can drive on paved surfaces like streets and parking areas, as well as on cultivated farmland and natural grassy terrain. However, the vehicle cannot drive through water bodies, buildings, wooded areas with trees, or sandy/rocky bare ground. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved roadway","end_land_type":"grassy meadow with scattered bushes","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"mahe_65.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":70,"start_point":[50,213],"end_point":[962,647],"distance":1010.0},{"start_region_id":191,"end_region_id":104,"start_point":[50,213],"end_point":[711,965],"distance":1001.2117658118086},{"start_region_id":188,"end_region_id":104,"start_point":[417,67],"end_point":[711,965],"distance":944.902111332174},{"start_region_id":189,"end_region_id":104,"start_point":[886,66],"end_point":[711,965],"distance":915.874445543711},{"start_region_id":191,"end_region_id":17,"start_point":[50,213],"end_point":[865,246],"distance":815.6678245462426}],"complexity_score":0.66182326960976}
{"id":16607,"query_id":"Q03322","question":"An aerial survey drone starts from a grassy, open field with low vegetation, an aerial survey drone must reach another similar grassy, open area. The drone can fly over areas with loose soil and sparse vegetation, hard paved surfaces, tall vertical obstacles, liquid surfaces, and cultivated fields with rows of crops. The drone's flight path must prioritize minimizing risk of collision, signal interference, or loss of control. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with low vegetation.","end_land_type":"The destination is another similar grassy, open area.","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"mahe_65.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":104,"start_point":[161,72],"end_point":[711,965],"distance":1048.784534592306},{"start_region_id":104,"end_region_id":1,"start_point":[711,965],"end_point":[161,72],"distance":1048.784534592306},{"start_region_id":1,"end_region_id":70,"start_point":[161,72],"end_point":[962,647],"distance":986.0152128643858},{"start_region_id":70,"end_region_id":1,"start_point":[962,647],"end_point":[161,72],"distance":986.0152128643858},{"start_region_id":49,"end_region_id":70,"start_point":[77,444],"end_point":[962,647],"distance":907.9834800259308}],"complexity_score":0.66182326960976}
{"id":3958,"query_id":"Q00792","question":"A quadcopter drone is launched from a densely vegetated area with tall, woody plants and needs to fly to a cultivated field with planted crops. The environment includes loose, dry soil and rocks; open grassy and shrubby expanses; hard, artificial surfaces; paved lanes for vehicles; cultivated fields; and areas with dense, tall vegetation. The drone must avoid liquid surfaces and solid vertical structures. The drone is permitted to fly over the areas with dense vegetation because it can navigate between the plants at a safe altitude. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A densely vegetated area with tall, woody plants","end_land_type":"A cultivated field with planted crops","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"mazowieckie_11.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":117,"start_point":[167,46],"end_point":[910,750],"distance":1023.5550791237372},{"start_region_id":75,"end_region_id":115,"start_point":[946,195],"end_point":[360,706],"distance":777.5069131525455},{"start_region_id":63,"end_region_id":117,"start_point":[619,67],"end_point":[910,750],"distance":742.4082434887156},{"start_region_id":111,"end_region_id":117,"start_point":[228,939],"end_point":[910,750],"distance":707.7040341837823},{"start_region_id":63,"end_region_id":115,"start_point":[619,67],"end_point":[360,706],"distance":689.494017377961}],"complexity_score":0.6619971338145231}
{"id":7544,"query_id":"Q01509","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field area. The terrain includes loose, dry soil and rocky patches; flat, hard surfaces like sidewalks or parking lots; areas with tall, dense vegetation and tree canopies; and soft, tilled soil in planted fields. You must avoid any water bodies, buildings, paved roads, and grassy or shrubby open areas. Given that you are piloting a quadcopter drone and want a stable, vibration-free flight, what is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Developed space","Tree","Agriculture land"],"traverse_vector":[1,0,1,0,1,0,1,0],"cost_vector":[2,0,2,0,1,0,2,0],"image_name":"mazowieckie_11.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":117,"start_point":[360,706],"end_point":[910,750],"distance":551.7571929753159},{"start_region_id":117,"end_region_id":115,"start_point":[910,750],"end_point":[360,706],"distance":551.7571929753159}],"complexity_score":0.6619971338145231}
{"id":9125,"query_id":"Q01825","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a cultivated field with rows of crops. The hiker can walk on hard, paved surfaces for maximum speed, and can also cross soft ground, vegetated areas, and loose sandy patches if needed. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"cultivated field with rows of crops","task_description":"What is the fastest route from the starting grassy terrain to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"mazowieckie_11.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":117,"start_point":[37,97],"end_point":[910,750],"distance":1090.200898917259},{"start_region_id":23,"end_region_id":117,"start_point":[31,293],"end_point":[910,750],"distance":990.7017714731311},{"start_region_id":29,"end_region_id":117,"start_point":[29,442],"end_point":[910,750],"distance":933.2872012408614},{"start_region_id":33,"end_region_id":117,"start_point":[45,597],"end_point":[910,750],"distance":878.427003227929},{"start_region_id":12,"end_region_id":115,"start_point":[951,80],"end_point":[360,706],"distance":860.9047566368768}],"complexity_score":0.6619971338145231}
{"id":15036,"query_id":"Q03008","question":"A delivery drone starts from a flat, hard landing pad and needs to reach a crop field. The drone can fly over most surfaces but wants to avoid areas that might cause turbulence or unstable flight conditions. The drone cannot fly through dense vertical obstacles or enter enclosed structures. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a flat, hard landing pad","end_land_type":"a crop field","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"thousand_oaks_38.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":352,"start_point":[967,964],"end_point":[106,853],"distance":868.1255669544585},{"start_region_id":127,"end_region_id":352,"start_point":[841,643],"end_point":[106,853],"distance":764.4115383744544},{"start_region_id":105,"end_region_id":352,"start_point":[591,263],"end_point":[106,853],"distance":763.7571603592336},{"start_region_id":142,"end_region_id":352,"start_point":[795,886],"end_point":[106,853],"distance":689.7898230620686},{"start_region_id":101,"end_region_id":352,"start_point":[382,240],"end_point":[106,853],"distance":672.2685475314162}],"complexity_score":0.6620121878103883}
{"id":3254,"query_id":"Q00651","question":"A quadcopter starts from a paved area and needs to reach a cultivated field with loose soil. The drone must fly over surfaces that provide a smooth, stable flight with minimal turbulence. Only hard surfaces, loose ground, and cultivated areas are available—vertical obstacles and liquid surfaces are to be avoided due to flight instability. What is the most comfortable route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved area","end_land_type":"cultivated field","task_description":"What is the most comfortable route from the paved area to the cultivated field?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"ngaoundere_23.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":249,"start_point":[954,169],"end_point":[170,968],"distance":1119.4002858673925},{"start_region_id":107,"end_region_id":234,"start_point":[85,921],"end_point":[896,182],"distance":1097.1973386770494},{"start_region_id":107,"end_region_id":237,"start_point":[85,921],"end_point":[984,327],"distance":1077.5142690470507},{"start_region_id":107,"end_region_id":232,"start_point":[85,921],"end_point":[695,80],"distance":1038.9326253419902},{"start_region_id":61,"end_region_id":243,"start_point":[954,169],"end_point":[42,647],"distance":1029.6737347334833}],"complexity_score":0.6620203214065493}
{"id":5289,"query_id":"Q01058","question":"An agricultural monitoring drone starts from a cultivated field and needs to reach another cultivated field. The drone can fly over liquid surfaces, but must avoid vertical obstacles that could interfere with its flight path. The drone can traverse hard linear surfaces, cultivated areas, and open ground with low vegetation. What is the shortest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest route for the agricultural monitoring drone to reach the destination cultivated field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ngaoundere_23.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":234,"end_region_id":249,"start_point":[896,182],"end_point":[170,968],"distance":1069.9869158078523},{"start_region_id":249,"end_region_id":234,"start_point":[170,968],"end_point":[896,182],"distance":1069.9869158078523},{"start_region_id":249,"end_region_id":237,"start_point":[170,968],"end_point":[984,327],"distance":1036.0873515297828},{"start_region_id":237,"end_region_id":249,"start_point":[984,327],"end_point":[170,968],"distance":1036.0873515297828},{"start_region_id":232,"end_region_id":249,"start_point":[695,80],"end_point":[170,968],"distance":1031.58567264188}],"complexity_score":0.6620203214065493}
{"id":9565,"query_id":"Q01913","question":"A quadcopter starts from an artificial hard surface and needs to reach a cultivated area. The terrain includes loose, sandy ground; grassy and shrub-covered areas; hard, paved surfaces; vehicle lanes; and soft, tilled soil. The drone can traverse all these surfaces, but must avoid any liquid bodies and vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"artificial hard surface","end_land_type":"cultivated area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_23.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":233,"start_point":[896,942],"end_point":[109,122],"distance":1136.5601611881352},{"start_region_id":61,"end_region_id":249,"start_point":[954,169],"end_point":[170,968],"distance":1119.4002858673925},{"start_region_id":107,"end_region_id":234,"start_point":[85,921],"end_point":[896,182],"distance":1097.1973386770494},{"start_region_id":60,"end_region_id":244,"start_point":[32,48],"end_point":[938,654],"distance":1089.987155887628},{"start_region_id":107,"end_region_id":237,"start_point":[85,921],"end_point":[984,327],"distance":1077.5142690470507}],"complexity_score":0.6620203214065493}
{"id":14832,"query_id":"Q02967","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose, tilled soil. The area includes rough, uneven ground composed of loose earth and rocks; open areas with low, natural vegetation; hard, paved surfaces like sidewalks and parking lots; and patches of tall, dense vegetation with tree-like structures. However, the hard, paved surfaces are currently blocked due to maintenance work, making them impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,1,0,0,0,0,1,0],"image_name":"ngaoundere_23.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":232,"start_point":[109,122],"end_point":[695,80],"distance":587.5031914806932},{"start_region_id":232,"end_region_id":233,"start_point":[695,80],"end_point":[109,122],"distance":587.5031914806932},{"start_region_id":238,"end_region_id":240,"start_point":[639,497],"end_point":[984,476],"distance":345.63853951780317},{"start_region_id":240,"end_region_id":238,"start_point":[984,476],"end_point":[639,497],"distance":345.63853951780317}],"complexity_score":0.6620203214065493}
{"id":5017,"query_id":"Q01004","question":"A quadcopter drone is hovering above a crop field with low vegetation. It needs to reach a concrete roadway. The drone can fly over: hard paved surfaces; solid artificial flat areas; and cultivated vegetated areas. What is the shortest aerial path to the roadway?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"crop field","end_land_type":"concrete roadway","task_description":"What is the shortest aerial path from the crop field to the concrete roadway?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"dortmund_47.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":368,"end_region_id":235,"start_point":[648,897],"end_point":[557,412],"distance":493.4632711762852}],"complexity_score":0.662053763637928}
{"id":7258,"query_id":"Q01452","question":"An aerial surveillance drone starts from a cultivated field, an aerial surveillance drone must navigate to another cultivated field. The drone can fly over open, dry ground; hard, flat surfaces; liquid bodies; and cultivated fields. However, it must avoid tall vegetation and vertical structures to minimize collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_47.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":368,"end_region_id":367,"start_point":[648,897],"end_point":[898,38],"distance":894.6401511222264},{"start_region_id":367,"end_region_id":368,"start_point":[898,38],"end_point":[648,897],"distance":894.6401511222264},{"start_region_id":368,"end_region_id":366,"start_point":[648,897],"end_point":[459,35],"distance":882.4766285857094},{"start_region_id":366,"end_region_id":368,"start_point":[459,35],"end_point":[648,897],"distance":882.4766285857094},{"start_region_id":366,"end_region_id":367,"start_point":[459,35],"end_point":[898,38],"distance":439.0102504498044}],"complexity_score":0.662053763637928}
{"id":12744,"query_id":"Q02549","question":"An aerial survey drone starts from a cultivated field with soft, tilled soil and needs to reach a paved lane with a hard, smooth surface. The drone must maintain stable flight and avoid vibrations. You can traverse areas with loose, sandy ground; grassy or shrubby vegetation; hard, paved surfaces; tall vertical obstacles; liquid surfaces; and cultivated fields. However, you must avoid built structures. The drone prioritizes surfaces that provide the smoothest and most stable flight experience.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"dortmund_47.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":369,"end_region_id":235,"start_point":[86,972],"end_point":[557,412],"distance":731.7383412122123},{"start_region_id":367,"end_region_id":235,"start_point":[898,38],"end_point":[557,412],"distance":506.119551094403},{"start_region_id":368,"end_region_id":235,"start_point":[648,897],"end_point":[557,412],"distance":493.4632711762852},{"start_region_id":366,"end_region_id":235,"start_point":[459,35],"end_point":[557,412],"distance":389.5292030130732}],"complexity_score":0.662053763637928}
{"id":1540,"query_id":"Q00308","question":"An off-road vehicle starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area while prioritizing safety. The vehicle can traverse paved, hard surfaces and compacted, flat areas, as well as cultivated fields with soft soil if they are dry and firm, but must avoid any areas with trees, water bodies, or structures. What is the safest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path for the off-road vehicle to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"joplin_38.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":7,"start_point":[129,871],"end_point":[985,80],"distance":1165.5114757049798},{"start_region_id":7,"end_region_id":65,"start_point":[985,80],"end_point":[129,871],"distance":1165.5114757049798},{"start_region_id":77,"end_region_id":7,"start_point":[262,959],"end_point":[985,80],"distance":1138.1432247305258},{"start_region_id":7,"end_region_id":77,"start_point":[985,80],"end_point":[262,959],"distance":1138.1432247305258},{"start_region_id":72,"end_region_id":1,"start_point":[914,900],"end_point":[44,178],"distance":1130.5679988395214}],"complexity_score":0.6621416139672875}
{"id":5734,"query_id":"Q01147","question":"A person on foot starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists of smooth, stable surfaces like sidewalks, parking lots, and streets, which are ideal for walking. You must avoid any rough, uneven, or soft ground, such as loose soil, vegetation, or liquid areas, as these could cause discomfort or instability. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"A person on foot","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"joplin_38.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":88,"start_point":[934,641],"end_point":[180,86],"distance":936.2376834970914},{"start_region_id":88,"end_region_id":133,"start_point":[180,86],"end_point":[934,641],"distance":936.2376834970914},{"start_region_id":133,"end_region_id":131,"start_point":[934,641],"end_point":[180,584],"distance":756.1514398584453},{"start_region_id":131,"end_region_id":133,"start_point":[180,584],"end_point":[934,641],"distance":756.1514398584453},{"start_region_id":131,"end_region_id":88,"start_point":[180,584],"end_point":[180,86],"distance":498.0}],"complexity_score":0.6621416139672875}
{"id":12335,"query_id":"Q02467","question":"A quadcopter drone starts from a paved road surface and needs to reach a grassy field as quickly as possible. The drone can fly over all terrain types except dense tree canopies and building structures, which must be avoided. The drone maintains consistent speed regardless of surface type, but avoids obstacles that require maneuvering. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"grassy field","task_description":"What is the fastest path from the paved road surface to the grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"joplin_38.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":168,"end_region_id":7,"start_point":[516,476],"end_point":[985,80],"distance":613.8216353306553},{"start_region_id":168,"end_region_id":72,"start_point":[516,476],"end_point":[914,900],"distance":581.532458251472},{"start_region_id":168,"end_region_id":6,"start_point":[516,476],"end_point":[882,75],"distance":542.9152788419202},{"start_region_id":168,"end_region_id":19,"start_point":[516,476],"end_point":[967,218],"distance":519.5815624134482},{"start_region_id":168,"end_region_id":77,"start_point":[516,476],"end_point":[262,959],"distance":545.7151271496879}],"complexity_score":0.6621416139672875}
{"id":16557,"query_id":"Q03312","question":"An aerial survey drone starts from a grassy, open field and needs to return to another grassy, open field while prioritizing safety. The drone can fly over loose, sandy ground and rocky surfaces, as well as bodies of liquid. It can also navigate around tall, vertical obstacles with foliage, but must maintain a safe distance to avoid collisions. The drone cannot fly through solid, enclosed structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"joplin_38.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":7,"start_point":[129,871],"end_point":[985,80],"distance":1165.5114757049798},{"start_region_id":7,"end_region_id":65,"start_point":[985,80],"end_point":[129,871],"distance":1165.5114757049798},{"start_region_id":77,"end_region_id":7,"start_point":[262,959],"end_point":[985,80],"distance":1138.1432247305258},{"start_region_id":7,"end_region_id":77,"start_point":[985,80],"end_point":[262,959],"distance":1138.1432247305258},{"start_region_id":72,"end_region_id":1,"start_point":[914,900],"end_point":[44,178],"distance":1130.5679988395214}],"complexity_score":0.6621416139672875}
{"id":793,"query_id":"Q00159","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a tall, vertical structure with branches and leaves as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, artificial flat surfaces like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall vertical structures with branches and leaves unless absolutely necessary for the fastest route, as navigating through them requires careful maneuvering that slows it down. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"a tall, vertical structure with branches and leaves","task_description":"What is the fastest path for the aerial surveillance drone to reach the tall vertical structure?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"santiago_66.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":211,"start_point":[881,192],"end_point":[62,885],"distance":1072.8513410533633},{"start_region_id":116,"end_region_id":217,"start_point":[881,192],"end_point":[200,934],"distance":1007.1370313914587},{"start_region_id":116,"end_region_id":206,"start_point":[881,192],"end_point":[115,767],"distance":957.8000835247406},{"start_region_id":133,"end_region_id":211,"start_point":[939,641],"end_point":[62,885],"distance":910.3103866264518},{"start_region_id":116,"end_region_id":179,"start_point":[881,192],"end_point":[96,552],"distance":863.6116025158532}],"complexity_score":0.6622519557103974}
{"id":4058,"query_id":"Q00812","question":"A hiker starts from a densely vegetated area with tall, leafy plants and needs to reach another similar area. The hiker prefers to walk on smooth, firm surfaces whenever possible to minimize fatigue and maintain stable footing. While the hiker can traverse areas with loose soil, sparse grass, or low vegetation, these surfaces are less comfortable due to unevenness and potential tripping hazards. The hiker cannot enter any structures or cross any bodies of water. The hiker seeks the most comfortable route.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, leafy plants","end_land_type":"another densely vegetated area with tall, leafy plants","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"santiago_66.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":211,"start_point":[807,96],"end_point":[62,885],"distance":1085.1479161847014},{"start_region_id":211,"end_region_id":146,"start_point":[62,885],"end_point":[807,96],"distance":1085.1479161847014},{"start_region_id":146,"end_region_id":217,"start_point":[807,96],"end_point":[200,934],"distance":1034.7429632522271},{"start_region_id":217,"end_region_id":146,"start_point":[200,934],"end_point":[807,96],"distance":1034.7429632522271},{"start_region_id":211,"end_region_id":145,"start_point":[62,885],"end_point":[563,42],"distance":980.6375477208692}],"complexity_score":0.6622519557103974}
{"id":9808,"query_id":"Q01962","question":"An aerial surveillance drone starts from a paved, hard surface, an aerial surveillance drone must reach another paved, hard surface while minimizing operational risk. The drone can fly over open, solid ground with loose soil and rocks; areas with low vegetation like grass and shrubs; all paved, hard surfaces; bodies of liquid; cultivated fields with crops; and vertical structures. However, areas with tall, dense vegetation that could entangle the rotors must be avoided unless absolutely necessary, as they pose a significant collision hazard. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"santiago_66.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":133,"start_point":[436,340],"end_point":[939,641],"distance":586.1825654179762},{"start_region_id":133,"end_region_id":113,"start_point":[939,641],"end_point":[436,340],"distance":586.1825654179762},{"start_region_id":113,"end_region_id":116,"start_point":[436,340],"end_point":[881,192],"distance":468.96588362054655},{"start_region_id":116,"end_region_id":113,"start_point":[881,192],"end_point":[436,340],"distance":468.96588362054655},{"start_region_id":116,"end_region_id":133,"start_point":[881,192],"end_point":[939,641],"distance":452.73060422286454}],"complexity_score":0.6622519557103974}
{"id":8204,"query_id":"Q01641","question":"A farmer starts from a cultivated field with loose soil and crops and needs to reach another cultivated field with similar loose soil and crops. You must use the paved footpaths or lanes for safe walking, as they provide a stable, non-slip surface. The cultivated fields are traversable only because the soil is compact and dry, allowing secure footing. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"another cultivated field with similar loose soil and crops","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"daressalaam_73.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":287,"start_point":[921,897],"end_point":[980,635],"distance":268.5609800399157},{"start_region_id":287,"end_region_id":293,"start_point":[980,635],"end_point":[921,897],"distance":268.5609800399157},{"start_region_id":293,"end_region_id":289,"start_point":[921,897],"end_point":[848,662],"distance":246.07722365143832},{"start_region_id":289,"end_region_id":293,"start_point":[848,662],"end_point":[921,897],"distance":246.07722365143832}],"complexity_score":0.6622777414126501}
{"id":7448,"query_id":"Q01490","question":"A hiker starts from a paved lane and needs to reach a cluster of tall woody plants. The hiker can traverse cultivated fields with soft soil and vegetation, but cannot cross liquid surfaces or enter enclosed structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a cluster of tall woody plants","task_description":"What is the shortest path for the hiker to reach the cluster of tall woody plants from the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"joplin_24.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":189,"start_point":[457,865],"end_point":[52,77],"distance":885.9847628486621},{"start_region_id":174,"end_region_id":181,"start_point":[457,865],"end_point":[527,43],"distance":824.9751511409298},{"start_region_id":174,"end_region_id":179,"start_point":[457,865],"end_point":[427,72],"distance":793.5672624295939},{"start_region_id":169,"end_region_id":189,"start_point":[724,501],"end_point":[52,77],"distance":794.58165093337},{"start_region_id":174,"end_region_id":192,"start_point":[457,865],"end_point":[183,139],"distance":775.9845359283908}],"complexity_score":0.6624123267077138}
{"id":10540,"query_id":"Q02108","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy canopies, an aerial surveillance drone must navigate to another densely vegetated area with tall, leafy canopies. The drone can fly over open, solid ground with loose soil and rocks; grassy or shrub-covered terrain; flat, hard surfaces like pavements or parking lots; and bodies of water. However, vertical structures and buildings are strictly off-limits due to collision risks. The drone's priority is to avoid any terrain that could cause instability, signal interference, or unexpected obstacles.","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy canopies","end_land_type":"another densely vegetated area with tall, leafy canopies","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"joplin_24.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":289,"start_point":[52,77],"end_point":[692,986],"distance":1111.7018485187475},{"start_region_id":289,"end_region_id":189,"start_point":[692,986],"end_point":[52,77],"distance":1111.7018485187475},{"start_region_id":192,"end_region_id":289,"start_point":[183,139],"end_point":[692,986],"distance":988.1750857009096},{"start_region_id":289,"end_region_id":192,"start_point":[692,986],"end_point":[183,139],"distance":988.1750857009096},{"start_region_id":289,"end_region_id":181,"start_point":[692,986],"end_point":[527,43],"distance":957.3264855836801}],"complexity_score":0.6624123267077138}
{"id":12350,"query_id":"Q02470","question":"An off-road vehicle starts from a paved roadway and needs to reach a grassy meadow with scattered bushes. The vehicle can drive on paved surfaces like streets and parking areas, as well as on cultivated farmland and natural grassy terrain. However, the vehicle cannot drive through water bodies, buildings, wooded areas with trees, or sandy/rocky bare ground. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved roadway","end_land_type":"grassy meadow with scattered bushes","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"joplin_24.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":1,"start_point":[457,865],"end_point":[123,80],"distance":853.1008146754989},{"start_region_id":174,"end_region_id":11,"start_point":[457,865],"end_point":[308,141],"distance":739.173186743134},{"start_region_id":174,"end_region_id":10,"start_point":[457,865],"end_point":[751,169],"distance":755.5474836170126},{"start_region_id":174,"end_region_id":9,"start_point":[457,865],"end_point":[607,138],"distance":742.3132761846578},{"start_region_id":169,"end_region_id":1,"start_point":[724,501],"end_point":[123,80],"distance":733.7860723671444}],"complexity_score":0.6624123267077138}
{"id":3871,"query_id":"Q00775","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and wooded areas with individual trees, but it must avoid flying near any vertical structures or over liquid surfaces to minimize risk. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"paris_65.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":74,"start_point":[119,525],"end_point":[527,52],"distance":624.6543043956393},{"start_region_id":59,"end_region_id":74,"start_point":[263,503],"end_point":[527,52],"distance":522.5868348896669},{"start_region_id":47,"end_region_id":74,"start_point":[520,449],"end_point":[527,52],"distance":397.06170805052454},{"start_region_id":37,"end_region_id":74,"start_point":[243,243],"end_point":[527,52],"distance":342.2528305215313},{"start_region_id":60,"end_region_id":73,"start_point":[119,525],"end_point":[375,286],"distance":350.2242138973261}],"complexity_score":0.6624779152590492}
{"id":5183,"query_id":"Q01037","question":"An aerial surveillance drone starts from a flat, hard, paved surface and needs to return to another flat, hard, paved surface. The drone can fly over areas with loose soil and crops, as well as liquid surfaces, but must avoid tall vertical obstacles and solid structures. Which path minimizes risk?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, paved surface","end_land_type":"A flat, hard, paved surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_65.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":47,"start_point":[119,525],"end_point":[520,449],"distance":408.1384568991263},{"start_region_id":47,"end_region_id":60,"start_point":[520,449],"end_point":[119,525],"distance":408.1384568991263},{"start_region_id":47,"end_region_id":37,"start_point":[520,449],"end_point":[243,243],"distance":345.2028389222777},{"start_region_id":37,"end_region_id":47,"start_point":[243,243],"end_point":[520,449],"distance":345.2028389222777},{"start_region_id":60,"end_region_id":37,"start_point":[119,525],"end_point":[243,243],"distance":308.05843601498725}],"complexity_score":0.6624779152590492}
{"id":9988,"query_id":"Q01998","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane as quickly as possible. The terrain includes grassy and shrubby open areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and wooded patches with tall vegetation. The drone can traverse wooded patches because it can fly between tree branches, but all other surface types, such as loose sandy or rocky ground, cultivated fields, liquid bodies, and vertical structures, are impassable due to physical barriers or safety restrictions. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,2,2,1,0,0,0],"image_name":"paris_65.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":74,"start_point":[119,525],"end_point":[527,52],"distance":624.6543043956393},{"start_region_id":59,"end_region_id":74,"start_point":[263,503],"end_point":[527,52],"distance":522.5868348896669},{"start_region_id":47,"end_region_id":74,"start_point":[520,449],"end_point":[527,52],"distance":397.06170805052454},{"start_region_id":37,"end_region_id":74,"start_point":[243,243],"end_point":[527,52],"distance":342.2528305215313},{"start_region_id":60,"end_region_id":73,"start_point":[119,525],"end_point":[375,286],"distance":350.2242138973261}],"complexity_score":0.6624779152590492}
{"id":12958,"query_id":"Q02592","question":"A quadcopter drone is positioned on a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, bodies of liquid, cultivated fields with crops, and areas with tall vertical obstacles. However, the drone's flight speed is significantly reduced when navigating through areas with tall vertical obstacles due to the need for careful maneuvering to avoid collisions. All other surfaces allow for maximum flight speed. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest path for the drone to reach the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"paris_65.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":74,"start_point":[375,286],"end_point":[527,52],"distance":279.03404810166086},{"start_region_id":74,"end_region_id":73,"start_point":[527,52],"end_point":[375,286],"distance":279.03404810166086}],"complexity_score":0.6624779152590492}
{"id":289,"query_id":"Q00058","question":"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 includes loose, dry soil, low vegetation, liquid bodies, and cultivated fields, all of which are traversable by air. The objective is to find the safest path to the destination.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":10,"start_point":[634,930],"end_point":[828,26],"distance":924.5820677473688},{"start_region_id":4,"end_region_id":10,"start_point":[645,746],"end_point":[828,26],"distance":742.8923205956568},{"start_region_id":7,"end_region_id":19,"start_point":[634,930],"end_point":[594,239],"distance":692.1567741487473},{"start_region_id":7,"end_region_id":27,"start_point":[634,930],"end_point":[470,375],"distance":578.7235955099809},{"start_region_id":7,"end_region_id":25,"start_point":[634,930],"end_point":[646,347],"distance":583.123486064487}],"complexity_score":0.6624828513582954}
{"id":658,"query_id":"Q00132","question":"A hiker starts from a paved surface and needs to reach an exposed area of loose soil and rocks. The hiker can traverse hard, stable surfaces like sidewalks and parking lots, and can also cross through areas with individual trees or small groups of trees if necessary, as the trees are sparse enough to walk between. The hiker must avoid all liquid surfaces and any permanent structures. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved surface","end_land_type":"exposed, loose soil and rock area","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":1,"start_point":[164,645],"end_point":[861,567],"distance":701.3508394519821},{"start_region_id":137,"end_region_id":7,"start_point":[164,645],"end_point":[634,930],"distance":549.6589851899084},{"start_region_id":133,"end_region_id":7,"start_point":[554,426],"end_point":[634,930],"distance":510.30970988214597},{"start_region_id":137,"end_region_id":4,"start_point":[164,645],"end_point":[645,746],"distance":491.48957262591034},{"start_region_id":133,"end_region_id":4,"start_point":[554,426],"end_point":[645,746],"distance":332.6875410952445}],"complexity_score":0.6624828513582954}
{"id":2309,"query_id":"Q00462","question":"An aerial surveillance drone starts from a paved, hard surface area and needs to reach a dry, open area of loose earth and rocks. The drone can fly over liquid surfaces and other hard, flat surfaces, but must avoid vertical obstacles and dense vegetation. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a paved, hard surface area","end_land_type":"a dry, open area of loose earth and rocks","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":7,"start_point":[253,33],"end_point":[634,930],"distance":974.5614398281926},{"start_region_id":80,"end_region_id":7,"start_point":[117,229],"end_point":[634,930],"distance":871.0281281336441},{"start_region_id":78,"end_region_id":7,"start_point":[924,63],"end_point":[634,930],"distance":914.214963780401},{"start_region_id":81,"end_region_id":7,"start_point":[198,186],"end_point":[634,930],"distance":862.3409998370714},{"start_region_id":80,"end_region_id":1,"start_point":[117,229],"end_point":[861,567],"distance":817.1780711693137}],"complexity_score":0.6624828513582954}
{"id":3292,"query_id":"Q00659","question":"An aerial surveillance drone is positioned on a patch of loose, sandy soil with scattered rocks. It needs to reach a cluster of tall, leafy vegetation with dense canopy cover. The drone can fly over open, unobstructed areas like loose soil and rocks, but must avoid flying through dense vegetation due to collision risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of loose, sandy soil with scattered rocks","end_land_type":"A cluster of tall, leafy vegetation with dense canopy cover","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":154,"start_point":[634,930],"end_point":[722,99],"distance":835.6464563438296},{"start_region_id":1,"end_region_id":194,"start_point":[861,567],"end_point":[133,466],"distance":734.9727886119322},{"start_region_id":7,"end_region_id":194,"start_point":[634,930],"end_point":[133,466],"distance":682.8594291653297},{"start_region_id":4,"end_region_id":154,"start_point":[645,746],"end_point":[722,99],"distance":651.5658063465271},{"start_region_id":1,"end_region_id":224,"start_point":[861,567],"end_point":[324,887],"distance":625.1151893851245}],"complexity_score":0.6624828513582954}
{"id":3513,"query_id":"Q00703","question":"A quadcopter 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 can fly over open areas of loose earth, grassy fields, paved surfaces like parking lots and sidewalks, vehicle lanes, cultivated crop fields, and even around man-made structures, but it must navigate carefully through or around areas with tall vertical obstacles like dense foliage. The goal is to complete this flight in the minimum possible time. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks.","end_land_type":"The destination is a tall, leafy canopy with dense branches.","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":154,"start_point":[634,930],"end_point":[722,99],"distance":835.6464563438296},{"start_region_id":1,"end_region_id":194,"start_point":[861,567],"end_point":[133,466],"distance":734.9727886119322},{"start_region_id":7,"end_region_id":194,"start_point":[634,930],"end_point":[133,466],"distance":682.8594291653297},{"start_region_id":4,"end_region_id":154,"start_point":[645,746],"end_point":[722,99],"distance":651.5658063465271},{"start_region_id":1,"end_region_id":224,"start_point":[861,567],"end_point":[324,887],"distance":625.1151893851245}],"complexity_score":0.6624828513582954}
{"id":5061,"query_id":"Q01013","question":"A delivery drone takes off from a sandy area and must land on a paved road. The drone can fly over most surfaces including loose soil, hard paved areas, cultivated fields, and open water. However, it must avoid flying close to tall vertical structures and dense vegetation clusters due to collision risk. What is the safest flight path to the road?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a sandy area","end_land_type":"a paved road","task_description":"What is the safest flight path to the road?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[861,567],"end_point":[164,645],"distance":701.3508394519821},{"start_region_id":7,"end_region_id":137,"start_point":[634,930],"end_point":[164,645],"distance":549.6589851899084},{"start_region_id":7,"end_region_id":133,"start_point":[634,930],"end_point":[554,426],"distance":510.30970988214597},{"start_region_id":4,"end_region_id":137,"start_point":[645,746],"end_point":[164,645],"distance":491.48957262591034},{"start_region_id":4,"end_region_id":133,"start_point":[645,746],"end_point":[554,426],"distance":332.6875410952445}],"complexity_score":0.6624828513582954}
{"id":8206,"query_id":"Q01642","question":"A hiker is standing on grassy, uneven terrain with scattered shrubs and needs to reach an exposed area of loose ground composed of sand and rocks. The hiker can traverse hard, paved surfaces, but these are currently blocked by construction barriers. The grassy areas and loose ground are accessible, though they vary in firmness. What is the fastest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"exposed, loose ground of sand and rocks","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland"],"traverse_vector":[1,1,0,0,0,0,0,0],"cost_vector":[1,2,0,0,0,0,0,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":7,"start_point":[770,739],"end_point":[634,930],"distance":234.47174669882938}],"complexity_score":0.6624828513582954}
{"id":10589,"query_id":"Q02118","question":"A hiker is starting from an area of uneven, sandy terrain and needs to reach another area of similar uneven, sandy terrain. The hiker can walk on paved walkways, vehicle lanes, grassy fields, and the sandy terrain itself. However, to maximize walking comfort, the hiker should prioritize surfaces that are smooth, stable, and predictable, and avoid terrain that is rough, uneven, or likely to cause discomfort. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"uneven, sandy terrain","end_land_type":"uneven, sandy terrain","task_description":"What is the most comfortable path for the hiker to travel from the starting uneven, sandy terrain to the destination uneven, sandy terrain?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,4,3,0,0,0,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[634,930],"end_point":[861,567],"distance":428.1331568566023},{"start_region_id":1,"end_region_id":7,"start_point":[861,567],"end_point":[634,930],"distance":428.1331568566023},{"start_region_id":4,"end_region_id":1,"start_point":[645,746],"end_point":[861,567],"distance":280.5298558086109},{"start_region_id":1,"end_region_id":4,"start_point":[861,567],"end_point":[645,746],"distance":280.5298558086109}],"complexity_score":0.6624828513582954}
{"id":12530,"query_id":"Q02506","question":"An aerial surveillance drone is positioned on loose, sandy ground and needs to reach a paved lane as quickly as possible. The drone can fly over open areas with minimal vegetation, hard surfaces, cultivated fields, and water bodies. However, it must avoid densely packed vertical obstacles that could obstruct its flight path. What is the fastest route for the drone?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, sandy ground","end_land_type":"paved lane","task_description":"What is the fastest route for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[861,567],"end_point":[164,645],"distance":701.3508394519821},{"start_region_id":7,"end_region_id":137,"start_point":[634,930],"end_point":[164,645],"distance":549.6589851899084},{"start_region_id":7,"end_region_id":133,"start_point":[634,930],"end_point":[554,426],"distance":510.30970988214597},{"start_region_id":4,"end_region_id":137,"start_point":[645,746],"end_point":[164,645],"distance":491.48957262591034},{"start_region_id":4,"end_region_id":133,"start_point":[645,746],"end_point":[554,426],"distance":332.6875410952445}],"complexity_score":0.6624828513582954}
{"id":13687,"query_id":"Q02738","question":"A quadcopter drone starts from sandy, rocky ground and needs to reach a flat, paved area. The drone can fly over cultivated fields, but must avoid any tall vertical obstacles like trees or buildings. What is the shortest flight path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky ground","end_land_type":"flat, paved area","task_description":"What is the shortest flight path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":75,"start_point":[634,930],"end_point":[253,33],"distance":974.5614398281926},{"start_region_id":7,"end_region_id":80,"start_point":[634,930],"end_point":[117,229],"distance":871.0281281336441},{"start_region_id":7,"end_region_id":78,"start_point":[634,930],"end_point":[924,63],"distance":914.214963780401},{"start_region_id":7,"end_region_id":81,"start_point":[634,930],"end_point":[198,186],"distance":862.3409998370714},{"start_region_id":1,"end_region_id":80,"start_point":[861,567],"end_point":[117,229],"distance":817.1780711693137}],"complexity_score":0.6624828513582954}
{"id":14207,"query_id":"Q02842","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy area. The vehicle can traverse grassy or shrub-covered ground and cultivated fields, as these surfaces are dry and firm enough for off-road tires. However, the vehicle cannot drive through water bodies, buildings, or areas with dense trees due to clearance and stability risks. What is the safest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":7,"start_point":[253,33],"end_point":[634,930],"distance":974.5614398281926},{"start_region_id":80,"end_region_id":7,"start_point":[117,229],"end_point":[634,930],"distance":871.0281281336441},{"start_region_id":78,"end_region_id":7,"start_point":[924,63],"end_point":[634,930],"distance":914.214963780401},{"start_region_id":81,"end_region_id":7,"start_point":[198,186],"end_point":[634,930],"distance":862.3409998370714},{"start_region_id":80,"end_region_id":1,"start_point":[117,229],"end_point":[861,567],"distance":817.1780711693137}],"complexity_score":0.6624828513582954}
{"id":15098,"query_id":"Q03020","question":"A quadcopter drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a flat, hard, paved surface. The drone can fly over areas with loose soil, grassy or shrub-covered ground, flat paved surfaces, liquid bodies, and cultivated fields, but must avoid tall vertical obstacles and solid structures. What is the safest path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, dry soil and scattered rocks","end_land_type":"a flat, hard, paved surface","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":75,"start_point":[634,930],"end_point":[253,33],"distance":974.5614398281926},{"start_region_id":7,"end_region_id":80,"start_point":[634,930],"end_point":[117,229],"distance":871.0281281336441},{"start_region_id":7,"end_region_id":78,"start_point":[634,930],"end_point":[924,63],"distance":914.214963780401},{"start_region_id":7,"end_region_id":81,"start_point":[634,930],"end_point":[198,186],"distance":862.3409998370714},{"start_region_id":1,"end_region_id":80,"start_point":[861,567],"end_point":[117,229],"distance":817.1780711693137}],"complexity_score":0.6624828513582954}
{"id":16999,"query_id":"Q03400","question":"A quadcopter drone starts from a patch of dry, loose soil and rocks and needs to return to another area of similar dry, loose soil and rocks. The drone can fly over open liquid surfaces and cultivated fields with low vegetation, but cannot pass through dense vertical obstacles or solid structures. The drone must find the most direct route.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of dry, loose soil and rocks","end_land_type":"and needs to return to another area of similar dry, loose soil and rocks","task_description":"What is the shortest path for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_4.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[634,930],"end_point":[861,567],"distance":428.1331568566023},{"start_region_id":1,"end_region_id":7,"start_point":[861,567],"end_point":[634,930],"distance":428.1331568566023},{"start_region_id":4,"end_region_id":1,"start_point":[645,746],"end_point":[861,567],"distance":280.5298558086109},{"start_region_id":1,"end_region_id":4,"start_point":[861,567],"end_point":[645,746],"distance":280.5298558086109}],"complexity_score":0.6624828513582954}
{"id":5403,"query_id":"Q01081","question":"A quadcopter drone starts from above a paved surface and needs to reach a patch of loose, rocky ground. The environment includes hard, flat areas, loose earth and rock accumulations, vegetated zones, and cultivated fields. Your drone can fly over all these surface types, but flying through areas with dense vertical obstacles requires careful navigation to avoid collisions, and flying over liquid surfaces may cause stability issues due to spray or reflections. What flight path provides the most stable and comfortable journey?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Bareland","task_description":"What flight path provides the most stable and comfortable journey?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"western_2.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":45,"start_point":[688,182],"end_point":[31,880],"distance":958.5682031029404},{"start_region_id":92,"end_region_id":46,"start_point":[250,314],"end_point":[1002,896],"distance":950.9090387623834},{"start_region_id":94,"end_region_id":1,"start_point":[587,648],"end_point":[112,10],"distance":795.4049283226751},{"start_region_id":93,"end_region_id":48,"start_point":[688,182],"end_point":[606,991],"distance":813.1451284979822},{"start_region_id":92,"end_region_id":44,"start_point":[250,314],"end_point":[900,761],"distance":788.8656412850036}],"complexity_score":0.6625206834589747}
{"id":7364,"query_id":"Q01473","question":"A search and rescue drone has landed on loose, sandy ground and needs to reach a paved surface as quickly as possible. The drone can fly over open sandy areas, paved surfaces, and water bodies, and can navigate through tree canopies when necessary, but must avoid buildings entirely. Which path allows the drone to reach the paved surface in the shortest time?","agent_category":"Drone","specific_agent":"search and rescue drone","start_land_type":"loose, sandy ground","end_land_type":"paved surface","task_description":"Which path allows the drone to reach the paved surface in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"western_2.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":93,"start_point":[31,880],"end_point":[688,182],"distance":958.5682031029404},{"start_region_id":46,"end_region_id":92,"start_point":[1002,896],"end_point":[250,314],"distance":950.9090387623834},{"start_region_id":1,"end_region_id":94,"start_point":[112,10],"end_point":[587,648],"distance":795.4049283226751},{"start_region_id":48,"end_region_id":93,"start_point":[606,991],"end_point":[688,182],"distance":813.1451284979822},{"start_region_id":44,"end_region_id":92,"start_point":[900,761],"end_point":[250,314],"distance":788.8656412850036}],"complexity_score":0.6625206834589747}
{"id":9360,"query_id":"Q01872","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach another area of similar loose, sandy ground with scattered rocks. The drone can fly over flat, open sandy or rocky expanses, paved lanes used by vehicles, cultivated fields with low vegetation, and areas with tall, dense vertical obstacles, but it must avoid any liquid surfaces. The drone prioritizes minimizing risk, so it should avoid terrain that could cause collisions, instability, or unpredictable hazards.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks.","end_land_type":"The destination is another area of similar loose, sandy ground with scattered rocks.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"western_2.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":46,"start_point":[31,880],"end_point":[1002,896],"distance":971.1318139161131},{"start_region_id":46,"end_region_id":45,"start_point":[1002,896],"end_point":[31,880],"distance":971.1318139161131},{"start_region_id":35,"end_region_id":45,"start_point":[914,507],"end_point":[31,880],"distance":958.5499465338256},{"start_region_id":45,"end_region_id":35,"start_point":[31,880],"end_point":[914,507],"distance":958.5499465338256},{"start_region_id":44,"end_region_id":45,"start_point":[900,761],"end_point":[31,880],"distance":877.1100273055827}],"complexity_score":0.6625206834589747}
{"id":10184,"query_id":"Q02037","question":"A quadcopter starts from a paved lane and needs to reach an area of exposed earth or rocky ground. The drone can fly over hard surfaces, natural terrain including grassy fields and loose soil patches, and open areas. The drone must avoid flying through dense vegetation or near structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved lane","end_land_type":"exposed earth or rocky ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"western_2.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":45,"start_point":[688,182],"end_point":[31,880],"distance":958.5682031029404},{"start_region_id":92,"end_region_id":46,"start_point":[250,314],"end_point":[1002,896],"distance":950.9090387623834},{"start_region_id":94,"end_region_id":1,"start_point":[587,648],"end_point":[112,10],"distance":795.4049283226751},{"start_region_id":93,"end_region_id":48,"start_point":[688,182],"end_point":[606,991],"distance":813.1451284979822},{"start_region_id":92,"end_region_id":44,"start_point":[250,314],"end_point":[900,761],"distance":788.8656412850036}],"complexity_score":0.6625206834589747}
{"id":3889,"query_id":"Q00778","question":"A quadcopter drone is positioned in a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open surface as quickly as possible. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; paved areas like sidewalks, parking lots, or artificial turf; vehicle lanes; cultivated fields; and even vertical structures, but must navigate carefully through or around dense vegetation due to potential obstructions. Water bodies are completely inaccessible. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a flat, hard, and open surface","task_description":"What is the fastest path for the quadcopter drone to reach the flat, hard, and open surface from the densely vegetated area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"paris_39.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":29,"start_point":[72,52],"end_point":[589,501],"distance":684.7554307926298},{"start_region_id":38,"end_region_id":30,"start_point":[72,52],"end_point":[434,562],"distance":625.4150621787103},{"start_region_id":38,"end_region_id":26,"start_point":[72,52],"end_point":[582,344],"distance":587.6767819133235},{"start_region_id":77,"end_region_id":21,"start_point":[69,492],"end_point":[436,52],"distance":572.9650949228932},{"start_region_id":77,"end_region_id":26,"start_point":[69,492],"end_point":[582,344],"distance":533.9222789882438}],"complexity_score":0.6625259907367436}
{"id":17273,"query_id":"Q03455","question":"A hiker is standing on a paved lane and needs to reach a flat, hard-surfaced area. The terrain includes open grassy areas with low vegetation that are dry and firm enough to walk on, as well as paved lanes and flat hard surfaces. The hiker must avoid any liquid bodies, vertical structures, loose sandy patches, and cultivated fields. What is the safest path for the hiker to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"paris_39.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":30,"start_point":[342,63],"end_point":[434,562],"distance":507.41009055792335},{"start_region_id":34,"end_region_id":29,"start_point":[342,63],"end_point":[589,501],"distance":502.8449065069666},{"start_region_id":36,"end_region_id":19,"start_point":[523,448],"end_point":[238,28],"distance":507.56772947065895},{"start_region_id":34,"end_region_id":27,"start_point":[342,63],"end_point":[264,493],"distance":437.0171621343949},{"start_region_id":36,"end_region_id":21,"start_point":[523,448],"end_point":[436,52],"distance":405.4442008464297}],"complexity_score":0.6625259907367436}
{"id":3928,"query_id":"Q00786","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation while prioritizing safety. The hiker can traverse areas with loose soil and rocks, grassy fields, cultivated fields with crops, and wooded areas with individual trees, but must avoid all water bodies and buildings. The paved surfaces and vehicle lanes are available for use. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dhaka_50.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":12,"start_point":[824,924],"end_point":[73,243],"distance":1013.7859734677729},{"start_region_id":47,"end_region_id":36,"start_point":[281,81],"end_point":[287,897],"distance":816.0220585253808},{"start_region_id":47,"end_region_id":30,"start_point":[281,81],"end_point":[771,689],"distance":780.8738694565211},{"start_region_id":146,"end_region_id":13,"start_point":[74,919],"end_point":[525,294],"distance":770.7308220124585},{"start_region_id":134,"end_region_id":12,"start_point":[487,878],"end_point":[73,243],"distance":758.0375980121303}],"complexity_score":0.6626126377891601}
{"id":9953,"query_id":"Q01991","question":"A quadcopter drone starts from a spot under tall vegetation and needs to reach another spot under similar vegetation as quickly as possible. You can fly over open grassy or shrubby areas, hard smooth surfaces, paved lanes, and even through the tall vegetation itself, though passing through dense vegetation will slow you down. You cannot fly into any solid vertical structures.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"a spot under tall vegetation","end_land_type":"another spot under similar vegetation","task_description":"What is the fastest route to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_50.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":268,"end_region_id":178,"start_point":[33,890],"end_point":[989,229],"distance":1162.2637394326641},{"start_region_id":178,"end_region_id":268,"start_point":[989,229],"end_point":[33,890],"distance":1162.2637394326641},{"start_region_id":179,"end_region_id":296,"start_point":[64,195],"end_point":[739,1012],"distance":1059.770729922279},{"start_region_id":296,"end_region_id":179,"start_point":[739,1012],"end_point":[64,195],"distance":1059.770729922279},{"start_region_id":267,"end_region_id":178,"start_point":[173,889],"end_point":[989,229],"distance":1049.502739396139}],"complexity_score":0.6626126377891601}
{"id":13013,"query_id":"Q02603","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The drone can fly over areas with short vegetation or grass, other paved or hard-packed surfaces, vehicle lanes, liquid bodies, and cultivated fields with crops. However. The drone must avoid flying through dense vertical obstacles like tall trees or structures, as they require careful navigation and slow down flight speed. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the fastest path for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_50.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":47,"start_point":[824,924],"end_point":[281,81],"distance":1002.745231851042},{"start_region_id":47,"end_region_id":147,"start_point":[281,81],"end_point":[824,924],"distance":1002.745231851042},{"start_region_id":50,"end_region_id":146,"start_point":[801,300],"end_point":[74,919],"distance":954.8245912208168},{"start_region_id":146,"end_region_id":50,"start_point":[74,919],"end_point":[801,300],"distance":954.8245912208168},{"start_region_id":130,"end_region_id":115,"start_point":[993,672],"end_point":[32,603],"distance":963.4739228437893}],"complexity_score":0.6626126377891601}
{"id":9603,"query_id":"Q01921","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces suitable for walking, as well as open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The hiker can walk on all these surfaces, but must avoid any liquid bodies and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"buenos_aires_34.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":248,"start_point":[115,944],"end_point":[969,23],"distance":1256.0083598447902},{"start_region_id":248,"end_region_id":251,"start_point":[969,23],"end_point":[115,944],"distance":1256.0083598447902},{"start_region_id":247,"end_region_id":248,"start_point":[469,518],"end_point":[969,23],"distance":703.5801304755557},{"start_region_id":248,"end_region_id":247,"start_point":[969,23],"end_point":[469,518],"distance":703.5801304755557},{"start_region_id":247,"end_region_id":251,"start_point":[469,518],"end_point":[115,944],"distance":553.888075336525}],"complexity_score":0.6628828569281593}
{"id":1427,"query_id":"Q00286","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The drone can fly over grassy areas with low vegetation, paved lanes used by vehicles, and cultivated fields. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path from the starting cultivated field to the destination cultivated field?","task_type":"Shortest","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,1,0,0,1,0],"image_name":"pedrogao_grande_19.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":235,"start_point":[940,886],"end_point":[91,53],"distance":1189.407415480499},{"start_region_id":235,"end_region_id":253,"start_point":[91,53],"end_point":[940,886],"distance":1189.407415480499},{"start_region_id":235,"end_region_id":251,"start_point":[91,53],"end_point":[958,734],"distance":1102.4744895007775},{"start_region_id":251,"end_region_id":235,"start_point":[958,734],"end_point":[91,53],"distance":1102.4744895007775},{"start_region_id":235,"end_region_id":250,"start_point":[91,53],"end_point":[829,749],"distance":1014.4259460404195}],"complexity_score":0.6630159769318913}
{"id":6632,"query_id":"Q01327","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved area with a hard, smooth surface. The vehicle has high clearance and all-terrain tires, allowing it to traverse vegetated and loose ground, but it cannot pass through dense vegetation, liquid bodies, or vertical obstacles. The goal is to find the path that minimizes risk of getting stuck, losing control, or damaging the vehicle.","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest path for the off-road vehicle to take from the cultivated field to the paved area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"pedrogao_grande_19.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":235,"end_region_id":108,"start_point":[91,53],"end_point":[690,738],"distance":909.9593397509583},{"start_region_id":242,"end_region_id":108,"start_point":[224,356],"end_point":[690,738],"distance":602.5612002112316},{"start_region_id":236,"end_region_id":108,"start_point":[532,159],"end_point":[690,738],"distance":600.1708090202321},{"start_region_id":245,"end_region_id":108,"start_point":[204,572],"end_point":[690,738],"distance":513.5679117701961},{"start_region_id":241,"end_region_id":108,"start_point":[753,242],"end_point":[690,738],"distance":499.98499977499324}],"complexity_score":0.6630159769318913}
{"id":12062,"query_id":"Q02413","question":"An aerial photography drone starts from a grassy, uneven field and needs to reach another grassy, uneven field. The drone's flight path must prioritize smooth, stable travel to ensure clear, vibration-free footage. The drone can fly over open grassy areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and water bodies. However, it must avoid flying through dense tree canopies or near building structures to prevent turbulence and collision risks. The drone cannot land on water surfaces, but can fly over them. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"grassy, uneven field","end_land_type":"grassy, uneven field","task_description":"What is the most comfortable path for the aerial photography drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"pedrogao_grande_19.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":63,"start_point":[279,20],"end_point":[785,908],"distance":1022.0469656527532},{"start_region_id":63,"end_region_id":1,"start_point":[785,908],"end_point":[279,20],"distance":1022.0469656527532},{"start_region_id":2,"end_region_id":63,"start_point":[269,145],"end_point":[785,908],"distance":921.0998860058555},{"start_region_id":63,"end_region_id":2,"start_point":[785,908],"end_point":[269,145],"distance":921.0998860058555},{"start_region_id":44,"end_region_id":1,"start_point":[908,651],"end_point":[279,20],"distance":890.9556666860591}],"complexity_score":0.6630159769318913}
{"id":15389,"query_id":"Q03078","question":"A delivery drone starts from a paved street and needs to reach a crop field. The terrain includes soft, grassy ground; hard, flat surfaces; vehicle lanes; clusters of tall vegetation; liquid bodies; and planted areas. The drone can traverse all surfaces except clusters of tall vegetation, which are only passable if there are wide gaps to avoid collisions, and built structures, which are only passable if there are open windows or doors for access. Liquid bodies are traversable but may affect stability.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a paved street","end_land_type":"a crop field","task_description":"What is the shortest path for the delivery drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"pedrogao_grande_19.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":253,"start_point":[188,83],"end_point":[940,886],"distance":1100.1422635277677},{"start_region_id":122,"end_region_id":251,"start_point":[188,83],"end_point":[958,734],"distance":1008.3159227147015},{"start_region_id":122,"end_region_id":250,"start_point":[188,83],"end_point":[829,749],"distance":924.3576147790421},{"start_region_id":128,"end_region_id":235,"start_point":[721,713],"end_point":[91,53],"distance":912.4143795447329},{"start_region_id":123,"end_region_id":253,"start_point":[745,140],"end_point":[940,886],"distance":771.0648481159027}],"complexity_score":0.6630159769318913}
{"id":1296,"query_id":"Q00260","question":"A quadcopter starts from a cultivated field and needs to reach a paved lane. The drone can fly over areas of wild grass and shrubs, cultivated fields, and the paved lane itself. You must avoid flying through or near vertical structures like buildings and trees, as they pose collision risks. All other surfaces including water are traversable. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_8.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":290,"end_region_id":151,"start_point":[970,176],"end_point":[389,674],"distance":765.2221899553097},{"start_region_id":285,"end_region_id":151,"start_point":[165,53],"end_point":[389,674],"distance":660.1643734707288},{"start_region_id":286,"end_region_id":151,"start_point":[382,43],"end_point":[389,674],"distance":631.0388260638168},{"start_region_id":287,"end_region_id":151,"start_point":[668,121],"end_point":[389,674],"distance":619.3948659780771},{"start_region_id":288,"end_region_id":151,"start_point":[294,102],"end_point":[389,674],"distance":579.8353214491162}],"complexity_score":0.663018365566507}
{"id":2679,"query_id":"Q00536","question":"An off-road vehicle starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas of loose, dry soil and rock without vegetation, as well as hard, paved surfaces like sidewalks and parking lots, and vehicle lanes with asphalt or concrete surfaces. The cultivated fields are currently fallow with firm, packed soil that can be driven on. What is the shortest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest route for the off-road vehicle to take?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"koeln_8.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":295,"end_region_id":289,"start_point":[866,580],"end_point":[160,185],"distance":808.987638966134},{"start_region_id":289,"end_region_id":295,"start_point":[160,185],"end_point":[866,580],"distance":808.987638966134},{"start_region_id":295,"end_region_id":288,"start_point":[866,580],"end_point":[294,102],"distance":745.4314187099977},{"start_region_id":288,"end_region_id":295,"start_point":[294,102],"end_point":[866,580],"distance":745.4314187099977},{"start_region_id":295,"end_region_id":294,"start_point":[866,580],"end_point":[162,383],"distance":731.0437743391294}],"complexity_score":0.663018365566507}
{"id":1587,"query_id":"Q00318","question":"A farm worker starts from a cultivated field and needs to reach another cultivated field while prioritizing a comfortable walk. You can use paved sidewalks and vehicle lanes, but these are currently closed for repairs. You are also allowed to walk on grassy and shrubby areas that have been recently trimmed and leveled, as well as on the cultivated soil itself. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"A farm worker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable path from the starting cultivated field to the destination cultivated field?","task_type":"Comfort","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,2,0],"image_name":"tokyo_56.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":462,"end_region_id":469,"start_point":[157,136],"end_point":[131,336],"distance":201.6829194552677},{"start_region_id":469,"end_region_id":462,"start_point":[131,336],"end_point":[157,136],"distance":201.6829194552677}],"complexity_score":0.6630423506668399}
{"id":2266,"query_id":"Q00454","question":"An agricultural monitoring drone is currently above a cultivated field. It needs to reach a position above a paved lane. The drone can fly over most surfaces including loose soil, grassy areas, hard flat surfaces, vehicle lanes, and liquid bodies. However, it cannot fly through areas with dense, tall vegetation because of obstruction risk, and it must avoid vertical structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tokyo_56.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":464,"end_region_id":266,"start_point":[745,26],"end_point":[525,543],"distance":561.8620827213739},{"start_region_id":462,"end_region_id":266,"start_point":[157,136],"end_point":[525,543],"distance":548.7011937293375},{"start_region_id":482,"end_region_id":266,"start_point":[925,899],"end_point":[525,543],"distance":535.4773571309995},{"start_region_id":463,"end_region_id":266,"start_point":[539,23],"end_point":[525,543],"distance":520.1884273991493},{"start_region_id":470,"end_region_id":266,"start_point":[48,479],"end_point":[525,543],"distance":481.27435003332556}],"complexity_score":0.6630423506668399}
{"id":11238,"query_id":"Q02248","question":"A quadcopter drone starts from a grassy, uneven ground with scattered shrubs and needs to reach cultivated fields with rows of crops. The terrain includes soft vegetated areas, hard paved surfaces, compacted lanes, and tall dense vegetation that can be flown over or around. Liquid bodies are present but can be crossed. Vertical structures are present but can be avoided. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated fields with rows of crops","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"tokyo_56.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":464,"start_point":[281,957],"end_point":[745,26],"distance":1040.2196883351132},{"start_region_id":19,"end_region_id":482,"start_point":[180,256],"end_point":[925,899],"distance":984.1107661234074},{"start_region_id":75,"end_region_id":463,"start_point":[281,957],"end_point":[539,23],"distance":968.9788439382977},{"start_region_id":65,"end_region_id":464,"start_point":[317,873],"end_point":[745,26],"distance":948.9957850275206},{"start_region_id":1,"end_region_id":470,"start_point":[891,59],"end_point":[48,479],"distance":941.8327877070324}],"complexity_score":0.6630423506668399}
{"id":11777,"query_id":"Q02356","question":"A farm vehicle starts from a cultivated field with loose soil and needs to reach another cultivated field with loose soil. The vehicle can only travel on surfaces that are firm enough to provide a stable ride without excessive vibration. It cannot use paved surfaces, roads, or any hard artificial surfaces. It must also avoid areas with dense vegetation, trees, buildings, or water bodies. What is the most comfortable path?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"a cultivated field with loose soil","end_land_type":"another cultivated field with loose soil","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,2,0,0,0,0,3,0],"image_name":"tokyo_56.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":462,"end_region_id":469,"start_point":[157,136],"end_point":[131,336],"distance":201.6829194552677},{"start_region_id":469,"end_region_id":462,"start_point":[131,336],"end_point":[157,136],"distance":201.6829194552677}],"complexity_score":0.6630423506668399}
{"id":1286,"query_id":"Q00258","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane used by vehicles. The terrain includes areas of wild grass and shrubs that are not cultivated or grazed, which can be traversed. You must avoid all water bodies, buildings, bare sand or rock surfaces, and wooded areas with trees. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"monrovia_73.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":353,"end_region_id":111,"start_point":[170,917],"end_point":[325,359],"distance":579.1277924603515},{"start_region_id":352,"end_region_id":111,"start_point":[343,909],"end_point":[325,359],"distance":550.2944666267325},{"start_region_id":348,"end_region_id":111,"start_point":[654,414],"end_point":[325,359],"distance":333.5655857548857},{"start_region_id":347,"end_region_id":111,"start_point":[95,190],"end_point":[325,359],"distance":285.41373477812874}],"complexity_score":0.6632956108361172}
{"id":5742,"query_id":"Q01149","question":"A person on foot starts from a paved lane and needs to reach another paved lane. The terrain consists of hard, flat surfaces suitable for walking, including sidewalks, parking lots, and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a person on foot","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the shortest path from the starting paved lane to the destination paved lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"monrovia_73.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":111,"start_point":[464,215],"end_point":[252,515],"distance":367.3472471654034}],"complexity_score":0.6632956108361172}
{"id":12153,"query_id":"Q02431","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach a cultivated field with planted crops as quickly as possible. The drone can fly over open, loose, and rocky ground; grassy and shrub-covered areas; flat, hard, artificial surfaces; cultivated fields with planted crops; and bodies of water. However, it must avoid tall, dense vegetation and vertical structures because they pose collision risks and require careful maneuvering, slowing down flight. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A cultivated field with planted crops","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"monrovia_73.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":347,"start_point":[855,977],"end_point":[95,190],"distance":1094.0607844173924},{"start_region_id":59,"end_region_id":353,"start_point":[588,46],"end_point":[170,917],"distance":966.1081719973183},{"start_region_id":59,"end_region_id":352,"start_point":[588,46],"end_point":[343,909],"distance":897.1031155892839},{"start_region_id":75,"end_region_id":347,"start_point":[880,488],"end_point":[95,190],"distance":839.6600502584364},{"start_region_id":75,"end_region_id":353,"start_point":[880,488],"end_point":[170,917],"distance":829.5426450761889}],"complexity_score":0.6632956108361172}
{"id":16660,"query_id":"Q03332","question":"An off-road vehicle is starting from a cultivated field with loose soil and crop residues and needs to reach a paved lane used by vehicles. The vehicle can traverse areas with loose, dry soil and sparse vegetation, as well as compacted dirt tracks, but cannot enter areas with dense trees, water bodies, or buildings. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"cultivated field with loose soil and crop residues","end_land_type":"paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"monrovia_73.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":353,"end_region_id":111,"start_point":[170,917],"end_point":[325,359],"distance":579.1277924603515},{"start_region_id":352,"end_region_id":111,"start_point":[343,909],"end_point":[325,359],"distance":550.2944666267325},{"start_region_id":348,"end_region_id":111,"start_point":[654,414],"end_point":[325,359],"distance":333.5655857548857},{"start_region_id":347,"end_region_id":111,"start_point":[95,190],"end_point":[325,359],"distance":285.41373477812874}],"complexity_score":0.6632956108361172}
{"id":1923,"query_id":"Q00385","question":"A hiker is standing in a densely wooded area and needs to reach a paved street. The hiker can traverse areas with hard, flat surfaces like sidewalks and parking lots, as well as cultivated fields with planted crops. The wooded areas are also passable, though movement is slower due to obstacles and uneven ground. The hiker cannot cross any liquid surfaces or enter any structures. What is the shortest path to the street?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area","end_land_type":"a paved street","task_description":"What is the shortest path to the street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"aachen_57.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":332,"end_region_id":222,"start_point":[909,951],"end_point":[472,586],"distance":569.3803649582588},{"start_region_id":230,"end_region_id":222,"start_point":[141,104],"end_point":[472,586],"distance":584.7093294962891},{"start_region_id":326,"end_region_id":222,"start_point":[641,903],"end_point":[472,586],"distance":359.23529893372114},{"start_region_id":287,"end_region_id":222,"start_point":[723,571],"end_point":[472,586],"distance":251.44780770569466}],"complexity_score":0.6634081060571931}
{"id":10905,"query_id":"Q02181","question":"A hiker with protective gear starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, vertical structures with branching patterns. The hiker can traverse loose, sandy ground and rocky surfaces without vegetation, as these terrains are dry and stable enough for careful foot travel. The grassy areas with scattered bushes are also traversable. The vertical structures can be navigated around or through with caution. All paved surfaces, vehicle lanes, liquid areas, and man-made structures must be completely avoided. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"Hiker with protective gear","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, vertical structures with branching patterns","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree"],"traverse_vector":[1,1,0,0,1,0,0,0],"cost_vector":[2,3,0,0,1,0,0,0],"image_name":"aachen_57.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":332,"start_point":[585,949],"end_point":[909,951],"distance":324.0061727807049},{"start_region_id":101,"end_region_id":332,"start_point":[647,826],"end_point":[909,951],"distance":290.2912330746487},{"start_region_id":109,"end_region_id":326,"start_point":[928,882],"end_point":[641,903],"distance":287.76726707532254}],"complexity_score":0.6634081060571931}
{"id":15671,"query_id":"Q03135","question":"A hiker starts from a paved surface and needs to reach a forested area. The hiker can traverse grassy fields with low vegetation, cultivated crop fields, and wooded areas with trees. The paved surface itself is also traversable. What is the shortest path to the forested area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"forested area","task_description":"What is the shortest path to the forested area?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,1,1,1,1,0,1,0],"image_name":"aachen_57.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":230,"start_point":[963,679],"end_point":[141,104],"distance":1003.1495401982697},{"start_region_id":129,"end_region_id":332,"start_point":[414,77],"end_point":[909,951],"distance":1004.4406403566117},{"start_region_id":163,"end_region_id":332,"start_point":[73,422],"end_point":[909,951],"distance":989.3113766656078},{"start_region_id":130,"end_region_id":332,"start_point":[582,71],"end_point":[909,951],"distance":938.7912441006254},{"start_region_id":196,"end_region_id":230,"start_point":[687,790],"end_point":[141,104],"distance":876.7622254636658}],"complexity_score":0.6634081060571931}
{"id":2264,"query_id":"Q00453","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over liquid surfaces. However, it must avoid any areas with tall, dense vegetation or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_15.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":88,"start_point":[862,610],"end_point":[264,255],"distance":695.4343966184014},{"start_region_id":88,"end_region_id":94,"start_point":[264,255],"end_point":[862,610],"distance":695.4343966184014},{"start_region_id":91,"end_region_id":89,"start_point":[291,736],"end_point":[574,187],"distance":617.6487675046393},{"start_region_id":89,"end_region_id":91,"start_point":[574,187],"end_point":[291,736],"distance":617.6487675046393},{"start_region_id":94,"end_region_id":89,"start_point":[862,610],"end_point":[574,187],"distance":511.73528312986195}],"complexity_score":0.6634328366891692}
{"id":11873,"query_id":"Q02375","question":"A family sedan starts from a paved lane and needs to reach a flat, hard-surfaced area while prioritizing ride comfort. The vehicle can travel on paved lanes, flat hard surfaces, and areas of loose earth and rocks. However, it cannot travel on surfaces covered by vegetation, liquid bodies, or vertical structures. What is the most comfortable path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"little_rock_15.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":68,"start_point":[862,610],"end_point":[869,357],"distance":253.09681941897256}],"complexity_score":0.6634328366891692}
{"id":15868,"query_id":"Q03174","question":"An aerial surveillance drone starts from an area of natural, uncultivated grassy terrain and needs to reach another patch of similar natural grassy terrain. The drone must avoid any vertical obstacles that could cause collisions, and it should also steer clear of liquid surfaces and built structures to minimize risks of signal interference or physical damage. The drone can fly over flat, open areas including hard surfaces, cultivated fields, and the grassy terrain itself. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of natural, uncultivated grassy terrain.","end_land_type":"The destination is another patch of similar natural grassy terrain.","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"little_rock_15.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":2,"start_point":[841,949],"end_point":[227,106],"distance":1042.9022005921745},{"start_region_id":2,"end_region_id":56,"start_point":[227,106],"end_point":[841,949],"distance":1042.9022005921745},{"start_region_id":16,"end_region_id":52,"start_point":[703,180],"end_point":[18,933],"distance":1017.9557947180222},{"start_region_id":52,"end_region_id":16,"start_point":[18,933],"end_point":[703,180],"distance":1017.9557947180222},{"start_region_id":16,"end_region_id":58,"start_point":[703,180],"end_point":[71,964],"distance":1007.015392136585}],"complexity_score":0.6634328366891692}
{"id":15920,"query_id":"Q03184","question":"An aerial drone is positioned on a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over loose, sandy or rocky ground, grassy or shrubby terrain, paved surfaces, and liquid bodies, but must avoid tall vertical obstacles and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved, hard surface","end_land_type":"grassy, vegetated area","task_description":"What is the fastest path for the aerial drone to reach the grassy, vegetated area from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_15.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":52,"start_point":[574,187],"end_point":[18,933],"distance":930.4042132320769},{"start_region_id":89,"end_region_id":58,"start_point":[574,187],"end_point":[71,964],"distance":925.6014261008893},{"start_region_id":94,"end_region_id":52,"start_point":[862,610],"end_point":[18,933],"distance":903.6951919757015},{"start_region_id":88,"end_region_id":56,"start_point":[264,255],"end_point":[841,949],"distance":902.5325478895484},{"start_region_id":94,"end_region_id":58,"start_point":[862,610],"end_point":[71,964],"distance":866.6008308327428}],"complexity_score":0.6634328366891692}
{"id":9098,"query_id":"Q01820","question":"An off-road vehicle starts from a hard, flat surface and needs to reach another hard, flat surface as quickly as possible. The terrain includes loose, sandy ground; grassy and shrub-covered surfaces; paved areas like sidewalks and parking lots; vehicle lanes; and cultivated fields. The vehicle can traverse all these surfaces, but prefers those that allow higher and more stable speeds. What is the fastest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a hard, flat surface","end_land_type":"another hard, flat surface","task_description":"What is the fastest path for the off-road vehicle to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"rio_34.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":43,"start_point":[136,301],"end_point":[376,202],"distance":259.61702563583924},{"start_region_id":43,"end_region_id":75,"start_point":[376,202],"end_point":[136,301],"distance":259.61702563583924}],"complexity_score":0.6635577824338703}
{"id":9166,"query_id":"Q01834","question":"A rally car is positioned on a paved, hard surface area and needs to reach a grassy, open field as quickly as possible. The vehicle can travel across compacted, dry earth surfaces, grassy or shrub-covered terrain, and cultivated fields with low crops, as these conditions provide sufficient traction and clearance for off-road capability. However, the vehicle cannot enter areas with dense vertical obstacles like trees or structures, nor can it cross liquid bodies. What is the fastest path?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a paved, hard surface area","end_land_type":"a grassy, open field","task_description":"What is the fastest path from the paved, hard surface area to the grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"rio_34.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":11,"start_point":[376,202],"end_point":[212,385],"distance":245.73359558676546},{"start_region_id":38,"end_region_id":11,"start_point":[219,160],"end_point":[212,385],"distance":225.10886255321003},{"start_region_id":38,"end_region_id":9,"start_point":[219,160],"end_point":[286,349],"distance":200.5243127403757}],"complexity_score":0.6635577824338703}
{"id":13416,"query_id":"Q02684","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a grassy, open field while prioritizing safety. The drone can fly over areas with loose, dry soil and open water, but must avoid any vertical obstacles like trees or structures. The paved surface and grassy field are accessible, and the water is calm and open. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"rio_34.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":11,"start_point":[376,202],"end_point":[212,385],"distance":245.73359558676546},{"start_region_id":38,"end_region_id":11,"start_point":[219,160],"end_point":[212,385],"distance":225.10886255321003},{"start_region_id":38,"end_region_id":9,"start_point":[219,160],"end_point":[286,349],"distance":200.5243127403757}],"complexity_score":0.6635577824338703}
{"id":13656,"query_id":"Q02732","question":"A quadcopter starts from a paved area and needs to reach a grassy field. The terrain includes loose, sandy ground and cultivated fields, but avoid flying through areas with dense trees or vertical structures. You want to get there as quickly as possible.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved area","end_land_type":"grassy field","task_description":"What is the fastest path from the paved area to the grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_34.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":11,"start_point":[376,202],"end_point":[212,385],"distance":245.73359558676546},{"start_region_id":38,"end_region_id":11,"start_point":[219,160],"end_point":[212,385],"distance":225.10886255321003},{"start_region_id":38,"end_region_id":9,"start_point":[219,160],"end_point":[286,349],"distance":200.5243127403757}],"complexity_score":0.6635577824338703}
{"id":938,"query_id":"Q00188","question":"A quadcopter drone starts from a grassy, open field with scattered shrubs and needs to reach a paved, flat surface such as a sidewalk or parking lot. The airspace includes open areas with low vegetation and loose soil that are freely traversable. Paved surfaces are available and provide a clear, hard landing zone. Cultivated fields with planted rows are also traversable, though they may have crops or irrigation lines. You must avoid flying near trees or structures due to collision risk, and water bodies are accessible but risky for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with scattered shrubs","end_land_type":"a paved, flat surface such as a sidewalk or parking lot","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dhaka_2.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":188,"start_point":[196,155],"end_point":[915,942],"distance":1065.9878048082915},{"start_region_id":70,"end_region_id":88,"start_point":[1004,930],"end_point":[447,59],"distance":1033.8713653061486},{"start_region_id":51,"end_region_id":92,"start_point":[295,855],"end_point":[991,128],"distance":1006.4516878618665},{"start_region_id":50,"end_region_id":92,"start_point":[171,689],"end_point":[991,128],"distance":993.5396318214991},{"start_region_id":6,"end_region_id":168,"start_point":[196,155],"end_point":[951,789],"distance":985.8909676024018}],"complexity_score":0.6635872088393762}
{"id":8623,"query_id":"Q01725","question":"An aerial photography drone starts from a grassy, uneven field with scattered low vegetation and needs to reach another similar grassy, uneven field. The aerial photography drone requires a smooth flight path to avoid vibrations that could blur images. You can traverse areas with loose, sandy soil or rocky ground; grassy fields with low vegetation; hard, paved surfaces like sidewalks and parking lots; vehicle lanes and streets; and water bodies like lakes or rivers. However, you must avoid dense tree canopies and building structures that could obstruct flight. What is the most comfortable path to reach the destination?","agent_category":"Drone","specific_agent":"aerial photography drone","start_land_type":"grassy, uneven field with scattered low vegetation","end_land_type":"another grassy, uneven field with scattered low vegetation","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dhaka_2.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":70,"start_point":[196,155],"end_point":[1004,930],"distance":1119.5932297044315},{"start_region_id":70,"end_region_id":6,"start_point":[1004,930],"end_point":[196,155],"distance":1119.5932297044315},{"start_region_id":42,"end_region_id":70,"start_point":[115,545],"end_point":[1004,930],"distance":968.7858380467791},{"start_region_id":70,"end_region_id":42,"start_point":[1004,930],"end_point":[115,545],"distance":968.7858380467791},{"start_region_id":12,"end_region_id":70,"start_point":[298,295],"end_point":[1004,930],"distance":949.5583183775497}],"complexity_score":0.6635872088393762}
{"id":17325,"query_id":"Q03465","question":"A quadcopter drone starts from a paved lane and needs to reach a paved, hard-surfaced area. The drone can fly over areas with firm, stable surfaces, areas with low vegetation, and liquid surfaces. The drone cannot fly through areas with tall, dense vertical obstacles like trees or buildings, as these pose collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_2.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":209,"end_region_id":88,"start_point":[748,905],"end_point":[447,59],"distance":897.9515577134437},{"start_region_id":205,"end_region_id":92,"start_point":[258,639],"end_point":[991,128],"distance":893.5379118985383},{"start_region_id":209,"end_region_id":92,"start_point":[748,905],"end_point":[991,128],"distance":814.1117859360593},{"start_region_id":204,"end_region_id":160,"start_point":[969,213],"end_point":[336,696],"distance":796.227354466047},{"start_region_id":204,"end_region_id":150,"start_point":[969,213],"end_point":[308,593],"distance":762.4440963113295}],"complexity_score":0.6635872088393762}
{"id":1211,"query_id":"Q00243","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an area with tall, vertical vegetation while maintaining stable flight and minimizing vibrations. The drone can fly over loose, sandy or rocky ground, grassy or shrubby terrain, paved surfaces, cultivated fields with crops, and areas with tall vegetation, but must avoid buildings and water bodies. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"area with tall, vertical vegetation","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_6.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":114,"start_point":[52,735],"end_point":[784,202],"distance":905.4904748256604},{"start_region_id":93,"end_region_id":148,"start_point":[927,377],"end_point":[143,795],"distance":888.4705960244266},{"start_region_id":102,"end_region_id":114,"start_point":[380,917],"end_point":[784,202],"distance":821.2435692290077},{"start_region_id":100,"end_region_id":133,"start_point":[52,735],"end_point":[780,494],"distance":766.8539626291306},{"start_region_id":90,"end_region_id":148,"start_point":[624,218],"end_point":[143,795],"distance":751.1923854779147}],"complexity_score":0.6636006664877809}
{"id":10247,"query_id":"Q02050","question":"An off-road vehicle starts from a hard, paved surface and needs to reach a paved lane. The vehicle can drive on paved roads and hard surfaces, and is also equipped to handle loose soil and areas with sparse vegetation. However, the vehicle cannot drive through dense vegetation, structures, or bodies of water. What is the shortest path to the paved lane?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"paved lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chisinau_6.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":90,"start_point":[887,921],"end_point":[624,218],"distance":750.5851051013469},{"start_region_id":79,"end_region_id":90,"start_point":[936,702],"end_point":[624,218],"distance":575.8472019555187},{"start_region_id":22,"end_region_id":99,"start_point":[594,111],"end_point":[646,666],"distance":557.4307131832619},{"start_region_id":85,"end_region_id":93,"start_point":[887,921],"end_point":[927,377],"distance":545.4686058793851},{"start_region_id":44,"end_region_id":99,"start_point":[572,171],"end_point":[646,666],"distance":500.50074925018845}],"complexity_score":0.6636006664877809}
{"id":12686,"query_id":"Q02538","question":"A family sedan starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The sedan can drive over soft, grassy ground if the terrain is flat and firm enough to support the vehicle's weight without sinking. The sedan can also traverse cultivated fields if the crops are very low and the ground is compact. However, the sedan cannot pass through areas with tall vegetation or vertical obstacles, nor can it enter any liquid areas. What is the safest route?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"chisinau_6.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":90,"start_point":[887,921],"end_point":[624,218],"distance":750.5851051013469},{"start_region_id":79,"end_region_id":90,"start_point":[936,702],"end_point":[624,218],"distance":575.8472019555187},{"start_region_id":22,"end_region_id":99,"start_point":[594,111],"end_point":[646,666],"distance":557.4307131832619},{"start_region_id":85,"end_region_id":93,"start_point":[887,921],"end_point":[927,377],"distance":545.4686058793851},{"start_region_id":44,"end_region_id":99,"start_point":[572,171],"end_point":[646,666],"distance":500.50074925018845}],"complexity_score":0.6636006664877809}
{"id":454,"query_id":"Q00091","question":"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 would physically block its movement. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"daressalaam_93.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":426,"end_region_id":217,"start_point":[601,296],"end_point":[870,595],"distance":402.1964694027037},{"start_region_id":426,"end_region_id":218,"start_point":[601,296],"end_point":[718,601],"distance":326.67108840544796}],"complexity_score":0.6636196355383662}
{"id":4918,"query_id":"Q00984","question":"An agricultural monitoring drone is hovering above a cultivated field. It needs to reach a paved landing pad. The drone can fly over various surfaces including paved areas, compacted gravel zones, and cultivated fields, but must maintain sufficient altitude to avoid obstacles. The operator wants to minimize flight time.","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"paved landing pad","task_description":"What is the fastest route for the agricultural monitoring drone to reach the paved landing pad from above the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"daressalaam_93.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":426,"end_region_id":181,"start_point":[601,296],"end_point":[197,893],"distance":720.850192481073},{"start_region_id":426,"end_region_id":204,"start_point":[601,296],"end_point":[770,985],"distance":709.4237097813972},{"start_region_id":426,"end_region_id":192,"start_point":[601,296],"end_point":[995,868],"distance":694.5646118252787},{"start_region_id":426,"end_region_id":182,"start_point":[601,296],"end_point":[312,872],"distance":644.4354118140933},{"start_region_id":426,"end_region_id":141,"start_point":[601,296],"end_point":[75,283],"distance":526.1606218637043}],"complexity_score":0.6636196355383662}
{"id":7560,"query_id":"Q01512","question":"A quadcopter drone is positioned over a cultivated field with soft, plowed soil and needs to reach a flat, hard-paved area. The drone can fly over open sandy or rocky ground, hard surfaces like sidewalks and parking lots, vehicle lanes, water bodies, and cultivated fields, but must avoid tall vertical obstacles like trees and buildings. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with soft, plowed soil","end_land_type":"a flat, hard-paved area","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"daressalaam_93.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":426,"end_region_id":181,"start_point":[601,296],"end_point":[197,893],"distance":720.850192481073},{"start_region_id":426,"end_region_id":204,"start_point":[601,296],"end_point":[770,985],"distance":709.4237097813972},{"start_region_id":426,"end_region_id":192,"start_point":[601,296],"end_point":[995,868],"distance":694.5646118252787},{"start_region_id":426,"end_region_id":182,"start_point":[601,296],"end_point":[312,872],"distance":644.4354118140933},{"start_region_id":426,"end_region_id":170,"start_point":[601,296],"end_point":[953,681],"distance":521.6598508606926}],"complexity_score":0.6636196355383662}
{"id":12913,"query_id":"Q02583","question":"A delivery drone is hovering above a crop-covered area with low vegetation, needing to reach a grassy plain. The drone can fly over most surfaces but must avoid high-risk zones. Hard, paved surfaces like streets and sidewalks are accessible, as are open areas like parking lots. The crop-covered area is traversable because the plants are low and allow clearance. The grassy plain is traversable because it offers open airspace. All liquid surfaces are accessible. However, areas with tall trees or dense vertical structures are blocked due to collision risk. Sandy or rocky ground is accessible but not preferred for safety.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"crop-covered area","end_land_type":"grassy plain","task_description":"What is the safest flight path for the delivery drone to follow from the crop-covered area to the grassy plain?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"daressalaam_93.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":426,"end_region_id":76,"start_point":[601,296],"end_point":[1001,725],"distance":586.5500831131131},{"start_region_id":426,"end_region_id":63,"start_point":[601,296],"end_point":[628,656],"distance":361.01108016236844}],"complexity_score":0.6636196355383662}
{"id":424,"query_id":"Q00085","question":"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 growing crops. Hard surfaces like sidewalks, roads, and paved areas are not available due to the remote, natural setting. Water bodies and structures are completely impassable. What is the shortest path to the crop field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, shrub-covered ground","end_land_type":"cultivated crop field","task_description":"What is the shortest path to the crop field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[1,1,0,0,1,0,1,0],"image_name":"daressalaam_40.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":591,"start_point":[509,953],"end_point":[950,212],"distance":862.3004116895689},{"start_region_id":4,"end_region_id":596,"start_point":[777,95],"end_point":[395,849],"distance":845.2455264596199},{"start_region_id":68,"end_region_id":591,"start_point":[479,832],"end_point":[950,212],"distance":778.6147956467306},{"start_region_id":4,"end_region_id":592,"start_point":[777,95],"end_point":[888,714],"distance":628.8735962019713},{"start_region_id":58,"end_region_id":596,"start_point":[991,651],"end_point":[395,849],"distance":628.0286617663241}],"complexity_score":0.6636289839012361}
{"id":12984,"query_id":"Q02597","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach another cultivated field with rows of crops as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; hard, flat surfaces like sidewalks, parking lots, and sports fields; paved lanes and runways used by vehicles; bodies of water like rivers and lakes; and areas with tall, dense vegetation that forms a canopy. However, the drone must avoid flying through or near vertical structures and solid obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"Another cultivated field with rows of crops","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,0,1,1,1,1,1,0],"cost_vector":[2,0,2,2,1,2,2,0],"image_name":"daressalaam_40.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":591,"end_region_id":596,"start_point":[950,212],"end_point":[395,849],"distance":844.863302552549},{"start_region_id":596,"end_region_id":591,"start_point":[395,849],"end_point":[950,212],"distance":844.863302552549},{"start_region_id":592,"end_region_id":596,"start_point":[888,714],"end_point":[395,849],"distance":511.149684534775},{"start_region_id":596,"end_region_id":592,"start_point":[395,849],"end_point":[888,714],"distance":511.149684534775},{"start_region_id":592,"end_region_id":591,"start_point":[888,714],"end_point":[950,212],"distance":505.8141951349329}],"complexity_score":0.6636289839012361}
{"id":13765,"query_id":"Q02753","question":"A quadcopter drone starts from a cultivated field and needs to reach a paved, hard-surface area. The terrain includes loose, sandy or rocky ground without vegetation, areas with natural grass and shrubs, and cultivated fields. However, all individual trees and structures are completely blocked and cannot be flown through or over. What is the shortest possible route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the shortest possible route from the cultivated field to the paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"daressalaam_40.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":592,"end_region_id":102,"start_point":[888,714],"end_point":[42,208],"distance":985.7748221576771},{"start_region_id":592,"end_region_id":96,"start_point":[888,714],"end_point":[233,62],"distance":924.1909975757176},{"start_region_id":596,"end_region_id":96,"start_point":[395,849],"end_point":[233,62],"distance":803.5004667080163},{"start_region_id":592,"end_region_id":109,"start_point":[888,714],"end_point":[144,432],"distance":795.6506771190483},{"start_region_id":592,"end_region_id":298,"start_point":[888,714],"end_point":[152,970],"distance":779.250922360699}],"complexity_score":0.6636289839012361}
{"id":17659,"query_id":"Q03532","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow as quickly as possible. The drone can fly over open grassy areas, paved vehicle lanes, liquid surfaces, and cultivated fields, but must avoid tall vertical obstacles and solid structures. Which path allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"daressalaam_40.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":592,"end_region_id":56,"start_point":[888,714],"end_point":[25,539],"distance":880.564591611541},{"start_region_id":592,"end_region_id":2,"start_point":[888,714],"end_point":[382,20],"distance":858.8783382994358},{"start_region_id":596,"end_region_id":4,"start_point":[395,849],"end_point":[777,95],"distance":845.2455264596199},{"start_region_id":596,"end_region_id":2,"start_point":[395,849],"end_point":[382,20],"distance":829.1019237705337},{"start_region_id":592,"end_region_id":55,"start_point":[888,714],"end_point":[106,542],"distance":800.6922005365108}],"complexity_score":0.6636289839012361}
{"id":5633,"query_id":"Q01127","question":"An aerial survey drone is positioned within a cluster of tall, leafy vegetation with vertical structures and canopy cover. It needs to reach a flat, hard, artificial surface with a smooth texture as quickly as possible. The drone can fly over open, loose soil areas with minimal vegetation, overgrown grassy and shrubby patches, and over paved lanes and streets used by vehicles. However, navigating through or near the tall, leafy vertical structures requires careful, slower maneuvering to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation with vertical structures and canopy cover.","end_land_type":"A flat, hard, artificial surface with a smooth texture.","task_description":"What is the fastest path for the aerial survey drone to reach the flat, hard, artificial surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"houston_24.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":186,"start_point":[111,148],"end_point":[436,896],"distance":815.5544126543612},{"start_region_id":311,"end_region_id":95,"start_point":[58,903],"end_point":[372,232],"distance":740.8353393298676},{"start_region_id":311,"end_region_id":90,"start_point":[58,903],"end_point":[339,226],"distance":733.0006821279227},{"start_region_id":200,"end_region_id":180,"start_point":[111,148],"end_point":[309,856],"distance":735.1652875374353},{"start_region_id":311,"end_region_id":86,"start_point":[58,903],"end_point":[231,241],"distance":684.2316859076317}],"complexity_score":0.6636645272488554}
{"id":7712,"query_id":"Q01543","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area while maintaining stable flight and minimizing vibrations. The drone can fly over loose, sandy or rocky ground without vegetation; other paved, hard-surfaced areas; vehicle lanes with hard surfaces; open water bodies; and cultivated fields with low, uniform vegetation. However, the drone must avoid flying through dense tree canopies or close to vertical structures, as these would cause turbulence and instability. The drone's flight path should prioritize surfaces that provide the smoothest and most predictable air currents for stable operation.","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"houston_24.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":86,"start_point":[436,896],"end_point":[231,241],"distance":686.3308240200203},{"start_region_id":86,"end_region_id":186,"start_point":[231,241],"end_point":[436,896],"distance":686.3308240200203},{"start_region_id":85,"end_region_id":186,"start_point":[58,404],"end_point":[436,896],"distance":620.4417780904184},{"start_region_id":186,"end_region_id":85,"start_point":[436,896],"end_point":[58,404],"distance":620.4417780904184},{"start_region_id":86,"end_region_id":180,"start_point":[231,241],"end_point":[309,856],"distance":619.9266085594326}],"complexity_score":0.6636645272488554}
{"id":11341,"query_id":"Q02269","question":"A delivery drone takes off from a cultivated field. It must land on a paved vehicle lane. The drone can fly over surfaces that are open and stable for navigation: loose earth and rock areas, grassy or shrub-covered terrain, artificial hard surfaces, paved lanes, and cultivated fields. All other terrain types are prohibited. What is the most comfortable flight route?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Agriculture land","end_land_type":"Road","task_description":"What is the most comfortable flight route from the cultivated field to the paved lane?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"coxsbazar_3.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":842,"end_region_id":537,"start_point":[299,134],"end_point":[444,835],"distance":715.8393674561354},{"start_region_id":843,"end_region_id":537,"start_point":[301,351],"end_point":[444,835],"distance":504.68306886599635},{"start_region_id":844,"end_region_id":537,"start_point":[380,448],"end_point":[444,835],"distance":392.2562937672256},{"start_region_id":844,"end_region_id":533,"start_point":[380,448],"end_point":[352,204],"distance":245.60130292814003}],"complexity_score":0.6637560061592728}
{"id":582,"query_id":"Q00117","question":"An aerial surveillance drone starts from a location with tall vertical obstacles that require careful navigation and needs to reach a flat, hard, open area. The drone can fly over most surfaces, but must avoid colliding with tall vertical structures. It can traverse areas with loose soil and vegetation, as well as liquid surfaces, but these present varying levels of risk. The drone's primary concern is minimizing collision risk and maintaining stable flight. Which path should the drone take to reach the destination with the lowest risk?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall vertical obstacles that require careful navigation","end_land_type":"needing to reach a flat, hard, open area","task_description":"Which path should the drone take to reach the destination with the lowest risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"mexico_city_27.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":655,"end_region_id":542,"start_point":[37,163],"end_point":[949,932],"distance":1192.9396464197173},{"start_region_id":655,"end_region_id":584,"start_point":[37,163],"end_point":[810,997],"distance":1137.138953690357},{"start_region_id":648,"end_region_id":542,"start_point":[235,90],"end_point":[949,932],"distance":1103.974637389827},{"start_region_id":648,"end_region_id":584,"start_point":[235,90],"end_point":[810,997],"distance":1073.9059549141164},{"start_region_id":754,"end_region_id":362,"start_point":[98,835],"end_point":[955,207],"distance":1062.4655288525835}],"complexity_score":0.6639420186735494}
{"id":8861,"query_id":"Q01773","question":"An aerial surveillance drone starts from a paved lane and needs to reach a paved area. The drone can fly over dry, loose ground; grassy or shrubby vegetation; paved surfaces; and water bodies. However, it cannot fly through dense vegetation or near vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mexico_city_27.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":590,"end_region_id":370,"start_point":[855,627],"end_point":[68,254],"distance":870.9179065790299},{"start_region_id":627,"end_region_id":370,"start_point":[620,721],"end_point":[68,254],"distance":723.0442586730082},{"start_region_id":590,"end_region_id":430,"start_point":[855,627],"end_point":[120,515],"distance":743.4843643278587},{"start_region_id":627,"end_region_id":340,"start_point":[620,721],"end_point":[541,74],"distance":651.8051856191388},{"start_region_id":590,"end_region_id":340,"start_point":[855,627],"end_point":[541,74],"distance":635.9284550953826}],"complexity_score":0.6639420186735494}
{"id":12120,"query_id":"Q02424","question":"An aerial survey drone starts from a hard, paved lane and needs to reach an area of uncultivated, low-growing vegetation. The drone's flight path must avoid all vertical structures and dense tree canopies, as these pose collision risks. It may fly over open liquid surfaces, but these are considered less safe due to potential downdrafts and lack of emergency landing options. The primary goal is to minimize operational risk. What is the safest flight path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved lane","end_land_type":"An area of uncultivated, low-growing vegetation","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_19.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":110,"start_point":[373,110],"end_point":[920,876],"distance":941.2571380871435},{"start_region_id":219,"end_region_id":111,"start_point":[660,172],"end_point":[94,855],"distance":887.0428400026686},{"start_region_id":218,"end_region_id":120,"start_point":[373,110],"end_point":[496,945],"distance":844.0106634397459},{"start_region_id":218,"end_region_id":111,"start_point":[373,110],"end_point":[94,855],"distance":795.5287549799818},{"start_region_id":219,"end_region_id":120,"start_point":[660,172],"end_point":[496,945],"distance":790.2056694304338}],"complexity_score":0.6639566379649106}
{"id":693,"query_id":"Q00139","question":"A quadcopter drone starts from a vegetated area with tall, dense foliage and needs to reach another vegetated area with tall, dense foliage while ensuring maximum safety. The terrain includes loose, sandy ground; hard, paved surfaces; lanes used by vehicles; and vertical structures. You can traverse the vegetated areas because the foliage is sparse enough to fly through without collision. However, you must avoid any liquid surfaces due to risk of water damage. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, dense foliage","end_land_type":"another vegetated area with tall, dense foliage","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"buenos_aires_45.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":303,"start_point":[968,280],"end_point":[83,628],"distance":950.9621443569665},{"start_region_id":303,"end_region_id":271,"start_point":[83,628],"end_point":[968,280],"distance":950.9621443569665},{"start_region_id":303,"end_region_id":288,"start_point":[83,628],"end_point":[991,458],"distance":923.7770293745131},{"start_region_id":288,"end_region_id":303,"start_point":[991,458],"end_point":[83,628],"distance":923.7770293745131},{"start_region_id":303,"end_region_id":249,"start_point":[83,628],"end_point":[829,117],"distance":904.2328240005447}],"complexity_score":0.6640181158423168}
{"id":4206,"query_id":"Q00842","question":"An aerial drone starts from a location with tall vertical obstacles that require careful navigation and needs to reach a flat, hard surface area. The drone can fly over most terrain types, but must navigate carefully around tall vertical structures. Flat paved surfaces and vehicle lanes are available for direct flight. The objective is to find the path that minimizes travel time.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"Starting from a location with tall vertical obstacles that require careful navigation.","end_land_type":"The destination is a flat, hard surface area.","task_description":"What is the fastest route for the drone to reach the flat, hard surface area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"buenos_aires_45.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":352,"end_region_id":98,"start_point":[881,932],"end_point":[195,165],"distance":1029.0213797584577},{"start_region_id":352,"end_region_id":131,"start_point":[881,932],"end_point":[142,307],"distance":967.8563943065108},{"start_region_id":336,"end_region_id":98,"start_point":[894,817],"end_point":[195,165],"distance":955.8791764653104},{"start_region_id":303,"end_region_id":135,"start_point":[83,628],"end_point":[992,396],"distance":938.1391154834128},{"start_region_id":336,"end_region_id":131,"start_point":[894,817],"end_point":[142,307],"distance":908.6275364526435}],"complexity_score":0.6640181158423168}
{"id":5496,"query_id":"Q01100","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven terrain with scattered shrubs. The drone can traverse both hard surfaces and grassy areas, but must avoid any liquid surfaces, vertical structures, or dense vegetation. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"chisinau_19.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":6,"start_point":[50,958],"end_point":[564,572],"distance":642.800124455495},{"start_region_id":15,"end_region_id":6,"start_point":[889,139],"end_point":[564,572],"distance":541.4000369412621},{"start_region_id":59,"end_region_id":6,"start_point":[96,774],"end_point":[564,572],"distance":509.7332635800807},{"start_region_id":60,"end_region_id":6,"start_point":[391,883],"end_point":[564,572],"distance":355.8791929854849},{"start_region_id":48,"end_region_id":6,"start_point":[858,760],"end_point":[564,572],"distance":348.9699127432048}],"complexity_score":0.6640373410442635}
{"id":12708,"query_id":"Q02542","question":"A quadcopter starts from a concrete pad and needs to reach an asphalt roadway. The drone can fly over grassy terrain, cultivated plots, and areas with scattered trees, but must avoid flying directly through dense tree canopies or buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"concrete pad","end_land_type":"asphalt roadway","task_description":"What is the shortest path from the concrete pad to the asphalt roadway?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_19.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":87,"start_point":[889,139],"end_point":[219,845],"distance":973.3118719095129},{"start_region_id":71,"end_region_id":83,"start_point":[50,958],"end_point":[889,355],"distance":1033.2134339041475},{"start_region_id":59,"end_region_id":83,"start_point":[96,774],"end_point":[889,355],"distance":896.8890678339211},{"start_region_id":60,"end_region_id":83,"start_point":[391,883],"end_point":[889,355],"distance":725.8016257904084},{"start_region_id":71,"end_region_id":85,"start_point":[50,958],"end_point":[553,518],"distance":668.2881115207722}],"complexity_score":0.6640373410442635}
{"id":14861,"query_id":"Q02973","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved, hard-surfaced area. The terrain includes loose, sandy or rocky ground without vegetation; areas with grass and shrubs that are not cultivated; smooth, artificial surfaces like sidewalks and parking lots; individual trees or groups of trees; and cultivated crop fields. You cannot travel over liquid surfaces or enter any structures. As a hiker, you can walk on the paved surfaces and roads by default. You can also traverse the loose ground, grassy areas, crop fields, and wooded areas because you have appropriate footwear for varied terrain. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"paved, hard-surfaced area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_19.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":10,"start_point":[564,572],"end_point":[30,118],"distance":700.9079825483514},{"start_region_id":6,"end_region_id":11,"start_point":[564,572],"end_point":[145,88],"distance":640.169508802161},{"start_region_id":6,"end_region_id":71,"start_point":[564,572],"end_point":[50,958],"distance":642.800124455495},{"start_region_id":6,"end_region_id":15,"start_point":[564,572],"end_point":[889,139],"distance":541.4000369412621},{"start_region_id":6,"end_region_id":52,"start_point":[564,572],"end_point":[44,599],"distance":520.7004897251394}],"complexity_score":0.6640373410442635}
{"id":1696,"query_id":"Q00340","question":"An aerial survey drone starts from a cultivated field with soft, tilled soil and needs to reach a grassy, open area with natural vegetation. The drone's flight path must avoid any vertical obstacles like trees or structures, and cannot fly over liquid surfaces due to sensor interference concerns. The drone should maintain stable flight with minimal turbulence. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the most comfortable route for the aerial survey drone to travel from the cultivated field to the grassy, open area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tyrolw_37.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":16,"start_point":[924,919],"end_point":[41,251],"distance":1107.2095555946037},{"start_region_id":270,"end_region_id":2,"start_point":[924,919],"end_point":[317,26],"distance":1079.7675675810974},{"start_region_id":270,"end_region_id":1,"start_point":[924,919],"end_point":[256,201],"distance":980.6875139411127},{"start_region_id":270,"end_region_id":21,"start_point":[924,919],"end_point":[163,369],"distance":938.9467503538207},{"start_region_id":268,"end_region_id":63,"start_point":[756,52],"end_point":[323,860],"distance":916.7076960514731}],"complexity_score":0.6640491919542909}
{"id":6477,"query_id":"Q01296","question":"A hiker starts from a densely vegetated area with tall, upright structures that provide shade and cover and needs to reach a flat, hard, and stable surface suitable for walking. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with low, natural grasses and shrubs; paved or compacted surfaces like sidewalks and parking lots; lanes used by vehicles; and areas with tall, upright vegetation. You can traverse the loose, sandy or rocky ground, the open grassy and shrubby areas, the paved or compacted surfaces, the vehicle lanes, and the vegetated areas with tall structures, as they are all accessible on foot. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"a flat, hard, and stable surface suitable for walking","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"tyrolw_37.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":71,"start_point":[145,844],"end_point":[752,112],"distance":950.9327000371793},{"start_region_id":157,"end_region_id":144,"start_point":[389,36],"end_point":[319,965],"distance":931.6335116342692},{"start_region_id":156,"end_region_id":124,"start_point":[138,90],"end_point":[567,902],"distance":918.3599512173862},{"start_region_id":156,"end_region_id":113,"start_point":[138,90],"end_point":[721,784],"distance":906.3801630662489},{"start_region_id":156,"end_region_id":144,"start_point":[138,90],"end_point":[319,965],"distance":893.5244820372859}],"complexity_score":0.6640491919542909}
{"id":15623,"query_id":"Q03125","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow while prioritizing minimal risk to its operation. The drone can fly over open water surfaces. However, it must avoid areas with tall, dense vegetation that could entangle its rotors, and it cannot fly through solid vertical structures. The drone should also avoid flying directly over liquid surfaces when possible, as unexpected downdrafts or spray could pose risks. Which path minimizes operational hazards?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"Which path minimizes operational hazards?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tyrolw_37.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":16,"start_point":[924,919],"end_point":[41,251],"distance":1107.2095555946037},{"start_region_id":270,"end_region_id":2,"start_point":[924,919],"end_point":[317,26],"distance":1079.7675675810974},{"start_region_id":270,"end_region_id":1,"start_point":[924,919],"end_point":[256,201],"distance":980.6875139411127},{"start_region_id":270,"end_region_id":21,"start_point":[924,919],"end_point":[163,369],"distance":938.9467503538207},{"start_region_id":268,"end_region_id":63,"start_point":[756,52],"end_point":[323,860],"distance":916.7076960514731}],"complexity_score":0.6640491919542909}
{"id":16054,"query_id":"Q03211","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field while minimizing operational risks. The drone can fly over open grassy areas, hard artificial surfaces, bodies of liquid, and cultivated fields. It can also pass through areas with tall vertical obstacles if absolutely necessary, but these pose collision hazards. The drone must avoid any contact with liquid surfaces and tall vertical obstacles unless unavoidable, as they increase the risk of crashes or water damage. What is the safest route for the drone?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest route for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"tyrolw_37.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":268,"end_region_id":270,"start_point":[756,52],"end_point":[924,919],"distance":883.1268312082925},{"start_region_id":270,"end_region_id":268,"start_point":[924,919],"end_point":[756,52],"distance":883.1268312082925},{"start_region_id":269,"end_region_id":270,"start_point":[860,373],"end_point":[924,919],"distance":549.7381194714443},{"start_region_id":270,"end_region_id":269,"start_point":[924,919],"end_point":[860,373],"distance":549.7381194714443},{"start_region_id":269,"end_region_id":268,"start_point":[860,373],"end_point":[756,52],"distance":337.42702914852566}],"complexity_score":0.6640491919542909}
{"id":7158,"query_id":"Q01432","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated crop field. The drone can fly over areas with loose, dry soil without vegetation, as well as over liquid surfaces. However, it cannot pass through dense vertical obstacles that would obstruct its flight path. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated crop field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"niamey_10.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":365,"start_point":[43,564],"end_point":[886,610],"distance":844.2541086663422},{"start_region_id":85,"end_region_id":365,"start_point":[189,139],"end_point":[886,610],"distance":841.2193530821792},{"start_region_id":101,"end_region_id":365,"start_point":[101,418],"end_point":[886,610],"distance":808.1392206792094},{"start_region_id":166,"end_region_id":365,"start_point":[190,997],"end_point":[886,610],"distance":796.3573318554932},{"start_region_id":132,"end_region_id":365,"start_point":[118,743],"end_point":[886,610],"distance":779.4312028652689}],"complexity_score":0.6640497018478095}
{"id":12665,"query_id":"Q02533","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved lane used by vehicles as quickly as possible. You can traverse paved areas like streets and parking lots, as well as grassy or shrub-covered ground that is not cultivated or grazed, and bare earth surfaces. However, you cannot drive through any areas with trees, water bodies, or buildings. The cultivated fields are traversable because the crops are short and the soil is compacted enough to support vehicle weight. What is the fastest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved lane used by vehicles","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"niamey_10.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":365,"end_region_id":177,"start_point":[886,610],"end_point":[362,325],"distance":596.4905699170776},{"start_region_id":362,"end_region_id":177,"start_point":[701,556],"end_point":[362,325],"distance":410.22189117598293},{"start_region_id":361,"end_region_id":177,"start_point":[632,400],"end_point":[362,325],"distance":280.22312538404105}],"complexity_score":0.6640497018478095}
{"id":1500,"query_id":"Q00300","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over grassy or shrubby areas, cultivated fields, and paved surfaces, but must avoid any areas with tall vertical obstacles or liquid surfaces that could pose a risk. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"vegas_22.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":50,"start_point":[358,646],"end_point":[343,53],"distance":593.1896829851308}],"complexity_score":0.6642668653260564}
{"id":5662,"query_id":"Q01133","question":"A person walking with a stroller starts from a paved lane and needs to reach another paved lane while ensuring a smooth and stable journey. The path must use only hard, flat surfaces that provide consistent footing and minimal vibration. Avoid any soft, uneven, or vegetated ground that could cause discomfort or instability.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"vegas_22.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":50,"start_point":[593,429],"end_point":[10,436],"distance":583.0420224992363}],"complexity_score":0.6642668653260564}
{"id":7518,"query_id":"Q01504","question":"A quadcopter drone starts from a vegetated area with tall, leafy structures and needs to reach a hard, paved surface. The quadcopter drone can fly over open, loose soil and cultivated fields, but must navigate carefully around vertical obstacles and dense overhead foliage. The objective is to find the path that allows the drone to travel as quickly as possible.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a hard, paved surface","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"vegas_22.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":50,"start_point":[545,614],"end_point":[333,378],"distance":317.23808094237364},{"start_region_id":112,"end_region_id":50,"start_point":[397,605],"end_point":[333,378],"distance":235.8495283014151}],"complexity_score":0.6642668653260564}
{"id":15321,"query_id":"Q03065","question":"A quadcopter drone begins in a grassy field and needs to reach a cluster of tall vegetation. The drone operator wants to maximize flight comfort by avoiding turbulence and maintaining stable hover. The path must use open areas with minimal obstacles. Liquid surfaces can be flown over but may cause downdraft discomfort. Vertical structures and dense vegetation can be navigated around if there's sufficient space to avoid collisions. Paved areas and vehicle lanes provide stable, predictable airspace. Cultivated fields offer open flight paths. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy field","end_land_type":"a cluster of tall vegetation","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"vegas_22.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":114,"start_point":[54,173],"end_point":[545,614],"distance":659.9712114933499},{"start_region_id":3,"end_region_id":114,"start_point":[397,42],"end_point":[545,614],"distance":590.8366948658487},{"start_region_id":3,"end_region_id":112,"start_point":[397,42],"end_point":[397,605],"distance":563.0},{"start_region_id":12,"end_region_id":112,"start_point":[54,173],"end_point":[397,605],"distance":551.6094632980837},{"start_region_id":29,"end_region_id":75,"start_point":[83,597],"end_point":[398,198],"distance":508.35617435022857}],"complexity_score":0.6642668653260564}
{"id":1275,"query_id":"Q00255","question":"An aerial survey drone starts from a cultivated field with loose soil and crop vegetation and needs to reach a wooded area with tall vertical obstacles. The drone must maintain stable flight with minimal vibration, so rough surfaces and areas with dense vertical obstructions should be avoided. Smooth, open surfaces are preferred for comfortable navigation. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the most comfortable path from the cultivated field to the wooded area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"monrovia_59.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":444,"end_region_id":232,"start_point":[451,775],"end_point":[78,16],"distance":845.7008927510956},{"start_region_id":443,"end_region_id":232,"start_point":[393,709],"end_point":[78,16],"distance":761.231896336458},{"start_region_id":444,"end_region_id":234,"start_point":[451,775],"end_point":[385,38],"distance":739.9493225890541},{"start_region_id":437,"end_region_id":388,"start_point":[262,505],"end_point":[794,947],"distance":691.6559838532448},{"start_region_id":443,"end_region_id":234,"start_point":[393,709],"end_point":[385,38],"distance":671.0476883202862}],"complexity_score":0.6642942289713497}
{"id":6743,"query_id":"Q01349","question":"An agricultural drone starts from a flat, artificial surface and needs to reach a crop-covered field. The drone can traverse the artificial surface and the crop field, but must avoid all other terrain types, including loose sandy areas, natural vegetation patches, vehicle lanes, any water bodies, individual trees or wooded zones, and any structures. The crop field is accessible because it is low-growing and does not obstruct flight. What is the safest path for the agricultural drone?","agent_category":"Drone","specific_agent":"an agricultural drone","start_land_type":"a flat, artificial surface","end_land_type":"a crop-covered field","task_description":"What is the safest path for the agricultural drone?","task_type":"Safest","input_classes":["Developed space","Agriculture land"],"traverse_vector":[0,0,1,0,0,0,1,0],"cost_vector":[0,0,1,0,0,0,1,0],"image_name":"monrovia_59.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":443,"start_point":[144,839],"end_point":[393,709],"distance":280.8932181452589}],"complexity_score":0.6642942289713497}
{"id":8792,"query_id":"Q01759","question":"An off-road vehicle begins on grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The vehicle can traverse loose, sandy ground and compacted soil areas, but cannot cross any water bodies, trees, or structures. The paved lane is the only consistently hard surface available. What is the fastest route to reach the paved lane?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard-surfaced lane","task_description":"What is the fastest route to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Road","Agriculture land"],"traverse_vector":[1,1,0,1,0,0,1,0],"cost_vector":[1,2,0,4,0,0,3,0],"image_name":"daressalaam_95.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":304,"start_point":[267,397],"end_point":[894,851],"distance":774.109165428236},{"start_region_id":63,"end_region_id":304,"start_point":[187,819],"end_point":[894,851],"distance":707.7238161882077},{"start_region_id":63,"end_region_id":287,"start_point":[187,819],"end_point":[410,462],"distance":420.9251714972627}],"complexity_score":0.6642991463806431}
{"id":14110,"query_id":"Q02822","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, and can also cross liquid bodies, but must avoid any areas with tall vertical obstacles or structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the fastest path for the drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"daressalaam_95.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":287,"end_region_id":304,"start_point":[410,462],"end_point":[894,851],"distance":620.948468071224},{"start_region_id":304,"end_region_id":287,"start_point":[894,851],"end_point":[410,462],"distance":620.948468071224},{"start_region_id":287,"end_region_id":296,"start_point":[410,462],"end_point":[849,578],"distance":454.067175646952},{"start_region_id":296,"end_region_id":287,"start_point":[849,578],"end_point":[410,462],"distance":454.067175646952},{"start_region_id":304,"end_region_id":296,"start_point":[894,851],"end_point":[849,578],"distance":276.6839352040519}],"complexity_score":0.6642991463806431}
{"id":17515,"query_id":"Q03503","question":"A quadcopter drone is hovering above a paved lane and needs to reach a grassy field as quickly as possible. The area contains grassy fields, paved lanes, wooded areas, and cultivated fields. The drone can fly over wooded areas because the trees are widely spaced. The paved lane, grassy fields, and cultivated fields are traversable by default. What is the fastest flight path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the fastest flight path for the quadcopter drone to take from the paved lane to the grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"daressalaam_95.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":304,"end_region_id":5,"start_point":[894,851],"end_point":[108,87],"distance":1096.1259051769555},{"start_region_id":296,"end_region_id":5,"start_point":[849,578],"end_point":[108,87],"distance":888.9105691800497},{"start_region_id":304,"end_region_id":2,"start_point":[894,851],"end_point":[766,78],"distance":783.5260046737441},{"start_region_id":304,"end_region_id":23,"start_point":[894,851],"end_point":[267,397],"distance":774.109165428236},{"start_region_id":304,"end_region_id":63,"start_point":[894,851],"end_point":[187,819],"distance":707.7238161882077}],"complexity_score":0.6642991463806431}
{"id":4885,"query_id":"Q00977","question":"A delivery van is starting from a paved loading dock and needs to reach another paved delivery bay as quickly as possible. The area includes hard, smooth surfaces suitable for high-speed travel, as well as cultivated fields that are currently dry and firm enough to support vehicle weight, allowing for traversal. All other terrain types, such as loose soil, dense vegetation, liquid bodies, and vertical structures, are impassable for the van.","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved area","end_land_type":"paved area","task_description":"What is the fastest path for the delivery van to take?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"santiago_14.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":96,"start_point":[155,775],"end_point":[758,29],"distance":959.2314632037462},{"start_region_id":96,"end_region_id":127,"start_point":[758,29],"end_point":[155,775],"distance":959.2314632037462},{"start_region_id":148,"end_region_id":96,"start_point":[689,971],"end_point":[758,29],"distance":944.5236894858699},{"start_region_id":96,"end_region_id":148,"start_point":[758,29],"end_point":[689,971],"distance":944.5236894858699},{"start_region_id":140,"end_region_id":96,"start_point":[583,882],"end_point":[758,29],"distance":870.7663291606997}],"complexity_score":0.6643032084767857}
{"id":9768,"query_id":"Q01954","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, paved or compacted surfaces, liquid bodies, cultivated fields, and vertical structures, but must avoid dense vegetation due to collision risk. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"santiago_14.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":21,"start_point":[984,1001],"end_point":[69,154],"distance":1246.849630067716},{"start_region_id":159,"end_region_id":2,"start_point":[984,1001],"end_point":[225,29],"distance":1233.233554522419},{"start_region_id":159,"end_region_id":35,"start_point":[984,1001],"end_point":[62,356],"distance":1125.2150905493581},{"start_region_id":154,"end_region_id":86,"start_point":[177,237],"end_point":[929,970],"distance":1050.1395145408062},{"start_region_id":159,"end_region_id":39,"start_point":[984,1001],"end_point":[255,310],"distance":1004.4510938816285}],"complexity_score":0.6643032084767857}
{"id":14218,"query_id":"Q02844","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy structures and needs to reach an open area covered with low, natural vegetation. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over low, grassy or shrubby terrain. It can also traverse paved, hard surfaces designed for vehicle movement. However, flying through dense, tall vegetation is challenging and slows it down, so it should be avoided if possible. The drone cannot land on or traverse liquid surfaces or enter solid, enclosed structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"an open area covered with low, natural vegetation","task_description":"What is the fastest path for the quadcopter drone to reach the open area covered with low, natural vegetation from the densely vegetated area with tall, leafy structures?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_14.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":86,"start_point":[39,253],"end_point":[929,970],"distance":1142.8862585576921},{"start_region_id":162,"end_region_id":83,"start_point":[959,83],"end_point":[260,961],"distance":1122.2677933541531},{"start_region_id":259,"end_region_id":21,"start_point":[998,778],"end_point":[69,154],"distance":1119.1143820003388},{"start_region_id":195,"end_region_id":86,"start_point":[111,228],"end_point":[929,970],"distance":1104.3948569239174},{"start_region_id":259,"end_region_id":2,"start_point":[998,778],"end_point":[225,29],"distance":1076.350314721002}],"complexity_score":0.6643032084767857}
{"id":3954,"query_id":"Q00791","question":"A hiker is standing in a wooded area with tall vegetation and needs to reach an open grassy field. The terrain includes areas with cultivated crops, but these are currently accessible for crossing. The hiker must find the most direct route to the destination.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a wooded area with tall vegetation","end_land_type":"an open grassy field","task_description":"What is the shortest path from the wooded area to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"dhaka_10.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":229,"end_region_id":27,"start_point":[993,829],"end_point":[122,313],"distance":1012.3719672136324},{"start_region_id":229,"end_region_id":21,"start_point":[993,829],"end_point":[226,208],"distance":986.8789186115995},{"start_region_id":249,"end_region_id":21,"start_point":[530,995],"end_point":[226,208],"distance":843.6735150518831},{"start_region_id":226,"end_region_id":25,"start_point":[301,834],"end_point":[978,373],"distance":819.0543327521075},{"start_region_id":229,"end_region_id":28,"start_point":[993,829],"end_point":[338,354],"distance":809.1044431963034}],"complexity_score":0.6643074779074988}
{"id":8641,"query_id":"Q01729","question":"An aerial surveillance drone starts from a grassy, uneven field and needs to reach a paved lane. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and water bodies. However, it cannot fly through dense tree canopies or between buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_10.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":182,"start_point":[969,790],"end_point":[219,581],"distance":778.5762647294098},{"start_region_id":50,"end_region_id":184,"start_point":[969,790],"end_point":[349,483],"distance":691.8446357384005},{"start_region_id":27,"end_region_id":183,"start_point":[122,313],"end_point":[791,464],"distance":685.8294248572308},{"start_region_id":46,"end_region_id":182,"start_point":[992,657],"end_point":[219,581],"distance":776.7271078055664},{"start_region_id":46,"end_region_id":184,"start_point":[992,657],"end_point":[349,483],"distance":666.1268647937868}],"complexity_score":0.6643074779074988}
{"id":9851,"query_id":"Q01971","question":"An aerial survey drone begins its mission on a paved, hard surface and needs to reach a grassy, open field. The drone can fly over various terrains, including loose, sandy ground; grassy or shrubby areas; paved surfaces; vegetated areas with tall, vertical obstacles; liquid bodies; and cultivated fields with crops. The mission requires the fastest possible route to the destination. What is the optimal path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the optimal path for the drone to reach the grassy, open field in the fastest possible way?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_10.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":182,"end_region_id":50,"start_point":[219,581],"end_point":[969,790],"distance":778.5762647294098},{"start_region_id":184,"end_region_id":50,"start_point":[349,483],"end_point":[969,790],"distance":691.8446357384005},{"start_region_id":183,"end_region_id":27,"start_point":[791,464],"end_point":[122,313],"distance":685.8294248572308},{"start_region_id":182,"end_region_id":46,"start_point":[219,581],"end_point":[992,657],"distance":776.7271078055664},{"start_region_id":184,"end_region_id":46,"start_point":[349,483],"end_point":[992,657],"distance":666.1268647937868}],"complexity_score":0.6643074779074988}
{"id":13063,"query_id":"Q02613","question":"A delivery drone starts from a paved road surface and needs to reach another paved road section while prioritizing safety. The drone can fly over most surfaces but must avoid areas with high collision risk: it can traverse loose, rocky ground; hard, flat paved surfaces; short vegetation areas; cultivated fields; and open water bodies, but tall vertical obstacles and solid structures pose collision hazards and should be avoided unless absolutely necessary. What is the safest path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Road","end_land_type":"Road","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dhaka_10.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":182,"end_region_id":183,"start_point":[219,581],"end_point":[791,464],"distance":583.8433008950261},{"start_region_id":183,"end_region_id":182,"start_point":[791,464],"end_point":[219,581],"distance":583.8433008950261},{"start_region_id":183,"end_region_id":184,"start_point":[791,464],"end_point":[349,483],"distance":442.4081825644729},{"start_region_id":184,"end_region_id":183,"start_point":[349,483],"end_point":[791,464],"distance":442.4081825644729}],"complexity_score":0.6643074779074988}
{"id":3094,"query_id":"Q00619","question":"A delivery drone is hovering above a paved lane and needs to reach a flat, hard-surfaced area nearby. The drone can fly over surfaces that are solid or liquid, such as compacted earth, paved lanes, flat artificial surfaces, and cultivated fields, but must avoid flying close to vertical obstacles like trees or buildings to minimize collision risk. What is the safest flight path to the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the safest flight path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"rotterdam_40.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":32,"start_point":[731,558],"end_point":[203,266],"distance":603.3639034612528},{"start_region_id":215,"end_region_id":155,"start_point":[731,558],"end_point":[182,787],"distance":594.8461986093548},{"start_region_id":200,"end_region_id":47,"start_point":[451,516],"end_point":[848,322],"distance":441.86536410992886},{"start_region_id":200,"end_region_id":35,"start_point":[451,516],"end_point":[769,307],"distance":380.5325216062354},{"start_region_id":200,"end_region_id":155,"start_point":[451,516],"end_point":[182,787],"distance":381.84028074575895}],"complexity_score":0.6644186036484978}
{"id":419,"query_id":"Q00084","question":"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 artificial surfaces, vehicle lanes, water bodies, and buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy or rocky ground without vegetation","end_land_type":"grassy or shrub-covered terrain","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[1,1,0,0,1,0,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":81,"start_point":[33,960],"end_point":[619,817],"distance":603.1956564830353},{"start_region_id":8,"end_region_id":67,"start_point":[33,960],"end_point":[217,825],"distance":228.2126201593593}],"complexity_score":0.6644506159020687}
{"id":651,"query_id":"Q00131","question":"A hiker starts from a densely vegetated area with tall, upright structures that provide shade and cover and needs to reach an open expanse of loose, dry soil and scattered rocks without any vegetation. The hiker can traverse areas with loose soil and rocks, as well as hard, flat surfaces like sidewalks and vehicle lanes, but must avoid any liquid bodies and vertical structures with roofs and walls. The vegetation areas are passable since the hiker can navigate through the gaps between the upright structures.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"an open expanse of loose, dry soil and scattered rocks without any vegetation","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":474,"end_region_id":8,"start_point":[862,210],"end_point":[33,960],"distance":1117.9181544281316},{"start_region_id":460,"end_region_id":8,"start_point":[695,148],"end_point":[33,960],"distance":1047.6583412544378},{"start_region_id":478,"end_region_id":8,"start_point":[753,243],"end_point":[33,960],"distance":1016.1146588845178},{"start_region_id":427,"end_region_id":8,"start_point":[238,33],"end_point":[33,960],"distance":949.3966505102069},{"start_region_id":445,"end_region_id":8,"start_point":[235,121],"end_point":[33,960],"distance":862.9745071553389}],"complexity_score":0.6644506159020687}
{"id":2311,"query_id":"Q00463","question":"An aerial surveillance drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a paved lane or street to continue its monitoring route. The drone can fly over liquid surfaces, but must avoid any areas with tall, dense vertical obstacles or solid vertical structures. The drone's flight controller prioritizes minimizing the risk of collision or loss of control. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of loose, dry soil and scattered rocks","end_land_type":"A paved lane or street","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":394,"start_point":[33,960],"end_point":[954,73],"distance":1278.6750955578982},{"start_region_id":8,"end_region_id":398,"start_point":[33,960],"end_point":[779,103],"distance":1136.2064073045883},{"start_region_id":8,"end_region_id":411,"start_point":[33,960],"end_point":[924,458],"distance":1022.6851910534346},{"start_region_id":8,"end_region_id":403,"start_point":[33,960],"end_point":[599,192],"distance":954.0335423872684},{"start_region_id":8,"end_region_id":423,"start_point":[33,960],"end_point":[878,846],"distance":852.6552644533429}],"complexity_score":0.6644506159020687}
{"id":2693,"query_id":"Q00539","question":"An off-road vehicle starts from a paved road and needs to reach a sandy, rocky ground area. The vehicle can traverse hard surfaces like streets and parking areas, as well as cultivated fields and grassy plains, but cannot cross trees, water bodies, or buildings. The vehicle is allowed to drive on loose, uneven soil only if the ground is compacted and dry enough to provide traction. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved road","end_land_type":"sandy, rocky ground","task_description":"What is the shortest path for the off-road vehicle to reach the sandy, rocky ground from the paved road?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":394,"end_region_id":8,"start_point":[954,73],"end_point":[33,960],"distance":1278.6750955578982},{"start_region_id":398,"end_region_id":8,"start_point":[779,103],"end_point":[33,960],"distance":1136.2064073045883},{"start_region_id":411,"end_region_id":8,"start_point":[924,458],"end_point":[33,960],"distance":1022.6851910534346},{"start_region_id":403,"end_region_id":8,"start_point":[599,192],"end_point":[33,960],"distance":954.0335423872684},{"start_region_id":423,"end_region_id":8,"start_point":[878,846],"end_point":[33,960],"distance":852.6552644533429}],"complexity_score":0.6644506159020687}
{"id":3555,"query_id":"Q00711","question":"A hiker starts from rough, dry ground composed of loose earth and rocks and needs to reach a cluster of tall vegetation with distinct vertical structures. You can traverse areas with loose soil and rocks, grassy or shrubby patches, paved or compacted surfaces like sidewalks and parking lots, vehicle lanes, cultivated fields with crops, and wooded areas. However, you cannot cross any liquid surfaces or enter any man-made structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rough, dry ground composed of loose earth and rocks","end_land_type":"a cluster of tall vegetation with distinct vertical structures","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":474,"start_point":[33,960],"end_point":[862,210],"distance":1117.9181544281316},{"start_region_id":8,"end_region_id":460,"start_point":[33,960],"end_point":[695,148],"distance":1047.6583412544378},{"start_region_id":8,"end_region_id":478,"start_point":[33,960],"end_point":[753,243],"distance":1016.1146588845178},{"start_region_id":8,"end_region_id":427,"start_point":[33,960],"end_point":[238,33],"distance":949.3966505102069},{"start_region_id":8,"end_region_id":445,"start_point":[33,960],"end_point":[235,121],"distance":862.9745071553389}],"complexity_score":0.6644506159020687}
{"id":5052,"query_id":"Q01011","question":"A surveillance drone starts from a paved road surface and needs to reach an open area of loose soil and rocks. The drone can fly over most surfaces, including paved areas, roads, dry soil, and cultivated fields. For safety. The drone should avoid collisions with tall vertical structures and dense vegetation, and minimize flight over liquid bodies. What is the safest path to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"paved road surface","end_land_type":"open area of loose soil and rocks","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":394,"end_region_id":8,"start_point":[954,73],"end_point":[33,960],"distance":1278.6750955578982},{"start_region_id":398,"end_region_id":8,"start_point":[779,103],"end_point":[33,960],"distance":1136.2064073045883},{"start_region_id":411,"end_region_id":8,"start_point":[924,458],"end_point":[33,960],"distance":1022.6851910534346},{"start_region_id":403,"end_region_id":8,"start_point":[599,192],"end_point":[33,960],"distance":954.0335423872684},{"start_region_id":423,"end_region_id":8,"start_point":[878,846],"end_point":[33,960],"distance":852.6552644533429}],"complexity_score":0.6644506159020687}
{"id":6021,"query_id":"Q01205","question":"A quadcopter starts from a grassy, open field and needs to reach an exposed, rocky ground area. The terrain includes hard, paved surfaces, vehicle lanes, and scattered trees. You can fly over all surfaces, but trees may require careful navigation. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"exposed, rocky ground","task_description":"What is the shortest path from the grassy, open field to the exposed, rocky ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":8,"start_point":[859,80],"end_point":[33,960],"distance":1206.9283325864878},{"start_region_id":29,"end_region_id":8,"start_point":[957,282],"end_point":[33,960],"distance":1146.062825503035},{"start_region_id":18,"end_region_id":8,"start_point":[815,137],"end_point":[33,960],"distance":1135.2766182741543},{"start_region_id":73,"end_region_id":8,"start_point":[960,704],"end_point":[33,960],"distance":961.6990173645806},{"start_region_id":64,"end_region_id":8,"start_point":[899,562],"end_point":[33,960],"distance":953.0792202120451}],"complexity_score":0.6644506159020687}
{"id":7482,"query_id":"Q01497","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of exposed, dry ground with no vegetation. The drone can fly over liquid surfaces and vertical obstacles like trees and structures, but these areas pose higher risks of collision or signal interference. The drone must avoid any terrain that could cause instability or damage during flight. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"exposed, dry ground with no vegetation","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":394,"end_region_id":8,"start_point":[954,73],"end_point":[33,960],"distance":1278.6750955578982},{"start_region_id":398,"end_region_id":8,"start_point":[779,103],"end_point":[33,960],"distance":1136.2064073045883},{"start_region_id":411,"end_region_id":8,"start_point":[924,458],"end_point":[33,960],"distance":1022.6851910534346},{"start_region_id":403,"end_region_id":8,"start_point":[599,192],"end_point":[33,960],"distance":954.0335423872684},{"start_region_id":423,"end_region_id":8,"start_point":[878,846],"end_point":[33,960],"distance":852.6552644533429}],"complexity_score":0.6644506159020687}
{"id":8519,"query_id":"Q01704","question":"A quadcopter drone is deployed from a patch of loose, dry soil and scattered rocks and needs to reach a flat, hard, artificial surface. The drone can fly over open liquid areas, but must avoid dense vertical obstacles like trees and structures. It can traverse grassy or shrub-covered areas, as well as vehicle lanes, but flying through or near dense vertical obstacles is prohibited. The drone's priority is to minimize travel time.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil and scattered rocks","end_land_type":"and needs to reach a flat, hard, artificial surface","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":152,"start_point":[33,960],"end_point":[941,204],"distance":1181.5244390193543},{"start_region_id":8,"end_region_id":102,"start_point":[33,960],"end_point":[743,41],"distance":1161.3186470560092},{"start_region_id":8,"end_region_id":101,"start_point":[33,960],"end_point":[592,71],"distance":1050.1437996769776},{"start_region_id":8,"end_region_id":164,"start_point":[33,960],"end_point":[661,249],"distance":948.6332273328824},{"start_region_id":8,"end_region_id":366,"start_point":[33,960],"end_point":[962,941],"distance":929.194274627217}],"complexity_score":0.6644506159020687}
{"id":10075,"query_id":"Q02015","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a flat, hard, artificial surface suitable for landing. The drone can fly over open ground with sparse grass or low bushes, as well as over paved or compacted surfaces. It can also pass through areas with tall, dense vegetation if necessary, but those areas slow it down due to navigation complexity. The drone cannot enter solid structures or bodies of liquid. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a flat, hard, artificial surface suitable for landing.","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":152,"start_point":[33,960],"end_point":[941,204],"distance":1181.5244390193543},{"start_region_id":8,"end_region_id":102,"start_point":[33,960],"end_point":[743,41],"distance":1161.3186470560092},{"start_region_id":8,"end_region_id":101,"start_point":[33,960],"end_point":[592,71],"distance":1050.1437996769776},{"start_region_id":8,"end_region_id":164,"start_point":[33,960],"end_point":[661,249],"distance":948.6332273328824},{"start_region_id":8,"end_region_id":366,"start_point":[33,960],"end_point":[962,941],"distance":929.194274627217}],"complexity_score":0.6644506159020687}
{"id":12207,"query_id":"Q02442","question":"A quadcopter drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a flat, hard, paved surface. The drone can fly over liquid surfaces, but it must avoid any areas with tall, dense vertical obstacles. What is the shortest path the drone can take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A patch of loose, dry soil and scattered rocks","end_land_type":"A flat, hard, paved surface","task_description":"What is the shortest path the drone can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":152,"start_point":[33,960],"end_point":[941,204],"distance":1181.5244390193543},{"start_region_id":8,"end_region_id":102,"start_point":[33,960],"end_point":[743,41],"distance":1161.3186470560092},{"start_region_id":8,"end_region_id":101,"start_point":[33,960],"end_point":[592,71],"distance":1050.1437996769776},{"start_region_id":8,"end_region_id":164,"start_point":[33,960],"end_point":[661,249],"distance":948.6332273328824},{"start_region_id":8,"end_region_id":366,"start_point":[33,960],"end_point":[962,941],"distance":929.194274627217}],"complexity_score":0.6644506159020687}
{"id":14623,"query_id":"Q02925","question":"A quadcopter starts from an open expanse of dry, sandy soil and needs to reach a cluster of tall, dense foliage. The environment includes areas of low vegetation, flat hard surfaces, and regularly planted crop rows. You can fly over the low vegetation, hard surfaces, and crop rows freely. You can also navigate around the foliage clusters, but flying directly through them is possible though less comfortable due to potential obstructions. However, you must avoid any liquid areas. To ensure the smoothest and most stable flight, which route should you take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Tree","task_description":"Which flight path offers the most comfortable journey from the sandy starting point to the foliage destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"palu_59.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":474,"start_point":[33,960],"end_point":[862,210],"distance":1117.9181544281316},{"start_region_id":8,"end_region_id":460,"start_point":[33,960],"end_point":[695,148],"distance":1047.6583412544378},{"start_region_id":8,"end_region_id":478,"start_point":[33,960],"end_point":[753,243],"distance":1016.1146588845178},{"start_region_id":8,"end_region_id":427,"start_point":[33,960],"end_point":[238,33],"distance":949.3966505102069},{"start_region_id":8,"end_region_id":445,"start_point":[33,960],"end_point":[235,121],"distance":862.9745071553389}],"complexity_score":0.6644506159020687}
{"id":627,"query_id":"Q00126","question":"A surveillance drone starts from sandy, open ground and needs to reach a paved, hard surface. The drone can fly over loose soil, hard artificial surfaces, vehicle lanes, and areas with trees, but must avoid any water bodies or structures to minimize collision risk. The goal is to find the path that minimizes risk of crashing or losing stability.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"sandy, open ground","end_land_type":"a paved, hard surface","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,2,2,1,0,0,0],"image_name":"palu_12.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":82,"start_point":[661,969],"end_point":[416,133],"distance":871.1607199592966},{"start_region_id":1,"end_region_id":98,"start_point":[999,216],"end_point":[185,452],"distance":847.5210911829864},{"start_region_id":9,"end_region_id":98,"start_point":[999,697],"end_point":[185,452],"distance":850.0711734907849},{"start_region_id":13,"end_region_id":85,"start_point":[661,969],"end_point":[925,167],"distance":844.3340571124678},{"start_region_id":9,"end_region_id":82,"start_point":[999,697],"end_point":[416,133],"distance":811.1627456928727}],"complexity_score":0.664466090616022}
{"id":2682,"query_id":"Q00537","question":"A hiker starts from loose, sandy ground and needs to reach a paved street. The hiker can traverse hard, flat surfaces like sidewalks and parking lots, and can also cross cultivated fields if they are dry and accessible. However, the hiker cannot enter any structures or cross any water bodies. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"loose, sandy ground","end_land_type":"a paved street","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"palu_12.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":134,"start_point":[999,216],"end_point":[792,214],"distance":207.00966161027364}],"complexity_score":0.664466090616022}
{"id":3301,"query_id":"Q00661","question":"A quadcopter drone is initially positioned on loose, sandy ground. It needs to reach a paved, hard surface as quickly as possible. The drone can fly over loose, sandy ground and paved, hard surfaces, but it must avoid all other terrain types, including areas with dense vegetation or vertical obstacles, to maintain maximum flight speed and efficiency.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to travel from the loose, sandy ground to the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"palu_12.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":134,"start_point":[999,216],"end_point":[792,214],"distance":207.00966161027364}],"complexity_score":0.664466090616022}
{"id":2320,"query_id":"Q00464","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with soft, tilled soil. The drone prefers stable, obstacle-free airspace for a smooth and comfortable flight. Paved areas, roads, and cultivated fields are naturally traversable. Trees are present but can be flown over or around if the canopy is open, though they may cause turbulence. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"christchurch_44.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":175,"start_point":[15,71],"end_point":[770,914],"distance":1131.6686794287452},{"start_region_id":81,"end_region_id":173,"start_point":[778,93],"end_point":[128,865],"distance":1009.1996829171123},{"start_region_id":83,"end_region_id":174,"start_point":[15,71],"end_point":[449,909],"distance":943.7160589923221},{"start_region_id":79,"end_region_id":173,"start_point":[521,58],"end_point":[128,865],"distance":897.6068181559228},{"start_region_id":81,"end_region_id":174,"start_point":[778,93],"end_point":[449,909],"distance":879.8278240655952}],"complexity_score":0.6645287069182063}
{"id":11837,"query_id":"Q02368","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes only hard, compacted surfaces like sidewalks and streets, as well as loose, dry ground without vegetation. All other surfaces, such as those covered by water, buildings, trees, crops, or grass, are not accessible. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"christchurch_44.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":83,"start_point":[703,864],"end_point":[15,71],"distance":1049.8537993454136},{"start_region_id":83,"end_region_id":128,"start_point":[15,71],"end_point":[703,864],"distance":1049.8537993454136},{"start_region_id":126,"end_region_id":81,"start_point":[49,834],"end_point":[778,93],"distance":1039.481601568782},{"start_region_id":81,"end_region_id":126,"start_point":[778,93],"end_point":[49,834],"distance":1039.481601568782},{"start_region_id":127,"end_region_id":83,"start_point":[451,797],"end_point":[15,71],"distance":846.8600828944531}],"complexity_score":0.6645287069182063}
{"id":1495,"query_id":"Q00299","question":"An aerial survey drone begins its mission on a cultivated field and needs to reach a paved lane for data transmission. The drone can fly over various surfaces including loose sandy or rocky ground, grassy or shrub-covered areas, liquid bodies, and other cultivated plots. However, it must avoid flying through dense vegetation clusters or near vertical structures. What is the fastest path to reach the paved lane?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest path to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_24.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":470,"end_region_id":244,"start_point":[669,83],"end_point":[428,985],"distance":933.6407231906715},{"start_region_id":470,"end_region_id":249,"start_point":[669,83],"end_point":[273,893],"distance":901.61854461851},{"start_region_id":470,"end_region_id":243,"start_point":[669,83],"end_point":[896,724],"distance":680.0073529014227},{"start_region_id":470,"end_region_id":231,"start_point":[669,83],"end_point":[304,417],"distance":494.7534739645594}],"complexity_score":0.6647929191594403}
{"id":2471,"query_id":"Q00495","question":"A hiker starts from a cultivated field with loose soil and crops and needs to reach a paved street. The hiker can only use surfaces that are stable and predictable to minimize risk: hard, flat surfaces like sidewalks and roads are allowed, as well as the cultivated field itself since it's dry and firm enough to walk on safely. Trees are also allowed because the hiker can navigate around them carefully without significant danger. Other terrain types like water bodies, buildings, bare sand or rock areas, and natural grassy or shrub-covered areas are not traversable due to potential hazards or obstacles. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the safest path for the hiker to take from the cultivated field to the paved street?","task_type":"Safest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,4,3,1,0,2,0],"image_name":"palu_24.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":470,"end_region_id":244,"start_point":[669,83],"end_point":[428,985],"distance":933.6407231906715},{"start_region_id":470,"end_region_id":249,"start_point":[669,83],"end_point":[273,893],"distance":901.61854461851},{"start_region_id":470,"end_region_id":243,"start_point":[669,83],"end_point":[896,724],"distance":680.0073529014227},{"start_region_id":470,"end_region_id":231,"start_point":[669,83],"end_point":[304,417],"distance":494.7534739645594}],"complexity_score":0.6647929191594403}
{"id":6596,"query_id":"Q01320","question":"A farm worker starts from a hard paved area and needs to reach a cultivated soil area. The worker can traverse vegetated or loose ground but cannot pass through liquid areas or vertical structures. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"farm worker","start_land_type":"hard paved area","end_land_type":"cultivated soil area","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"palu_24.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":470,"start_point":[56,944],"end_point":[669,83],"distance":1056.9247844572478},{"start_region_id":212,"end_region_id":470,"start_point":[730,992],"end_point":[669,83],"distance":911.0444555563686},{"start_region_id":180,"end_region_id":470,"start_point":[50,703],"end_point":[669,83],"distance":876.105587243912},{"start_region_id":141,"end_region_id":470,"start_point":[54,548],"end_point":[669,83],"distance":771.0058365537839},{"start_region_id":188,"end_region_id":470,"start_point":[787,830],"end_point":[669,83],"distance":756.2625205575112}],"complexity_score":0.6647929191594403}
{"id":1537,"query_id":"Q00308","question":"An off-road vehicle starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area while prioritizing safety. The vehicle can traverse paved, hard surfaces and compacted, flat areas, as well as cultivated fields with soft soil if they are dry and firm, but must avoid any areas with trees, water bodies, or structures. What is the safest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path for the off-road vehicle to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"joplin_35.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":4,"start_point":[873,983],"end_point":[76,64],"distance":1216.4579729690624},{"start_region_id":4,"end_region_id":51,"start_point":[76,64],"end_point":[873,983],"distance":1216.4579729690624},{"start_region_id":31,"end_region_id":4,"start_point":[961,685],"end_point":[76,64],"distance":1081.1410638764953},{"start_region_id":4,"end_region_id":31,"start_point":[76,64],"end_point":[961,685],"distance":1081.1410638764953},{"start_region_id":33,"end_region_id":4,"start_point":[896,749],"end_point":[76,64],"distance":1068.468530187015}],"complexity_score":0.6648480103436222}
{"id":6063,"query_id":"Q01213","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The drone can fly over all solid and liquid surfaces, including loose soil, grassy areas, and paved surfaces. However, areas with tall, dense vertical obstacles can only be traversed if there is sufficient clearance between them to fly through safely. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"joplin_35.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":127,"start_point":[189,63],"end_point":[954,986],"distance":1198.8135801699946},{"start_region_id":127,"end_region_id":63,"start_point":[954,986],"end_point":[189,63],"distance":1198.8135801699946},{"start_region_id":127,"end_region_id":81,"start_point":[954,986],"end_point":[67,233],"distance":1163.5196603409845},{"start_region_id":81,"end_region_id":127,"start_point":[67,233],"end_point":[954,986],"distance":1163.5196603409845},{"start_region_id":129,"end_region_id":68,"start_point":[39,985],"end_point":[672,21],"distance":1153.2497561239716}],"complexity_score":0.6648480103436222}
{"id":15830,"query_id":"Q03166","question":"A delivery drone starts from a grassy, uneven area with scattered shrubs and needs to reach another similar grassy, uneven area with scattered shrubs. You can fly over hard, flat surfaces; cultivated fields; open grassy areas; and wooded areas, but you must avoid flying too close to trees or structures to prevent collisions. However, you cannot fly over liquid surfaces. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"grassy, uneven ground with scattered shrubs","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"joplin_35.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":4,"start_point":[873,983],"end_point":[76,64],"distance":1216.4579729690624},{"start_region_id":4,"end_region_id":51,"start_point":[76,64],"end_point":[873,983],"distance":1216.4579729690624},{"start_region_id":31,"end_region_id":4,"start_point":[961,685],"end_point":[76,64],"distance":1081.1410638764953},{"start_region_id":4,"end_region_id":31,"start_point":[76,64],"end_point":[961,685],"distance":1081.1410638764953},{"start_region_id":33,"end_region_id":4,"start_point":[896,749],"end_point":[76,64],"distance":1068.468530187015}],"complexity_score":0.6648480103436222}
{"id":7793,"query_id":"Q01559","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with hard, flat surfaces. The aerial vehicle can fly over exposed earth surfaces, hard artificial surfaces, vehicle lanes, liquid bodies, and cultivated areas. It cannot pass through dense vertical obstacles or solid structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[1,0,1,1,0,1,1,0],"image_name":"lohur_5.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":392,"end_region_id":191,"start_point":[843,502],"end_point":[50,840],"distance":862.028421805221},{"start_region_id":392,"end_region_id":183,"start_point":[843,502],"end_point":[136,775],"distance":757.8772987759958},{"start_region_id":395,"end_region_id":191,"start_point":[779,607],"end_point":[50,840],"distance":765.3299941855147},{"start_region_id":402,"end_region_id":191,"start_point":[748,726],"end_point":[50,840],"distance":707.2481884034769},{"start_region_id":395,"end_region_id":183,"start_point":[779,607],"end_point":[136,775],"distance":664.5848328091757}],"complexity_score":0.6649387516454596}
{"id":7979,"query_id":"Q01596","question":"An agricultural monitoring drone starts from a cultivated field with crops and needs to reach a wooded area with tall vegetation. The drone can fly over the cultivated fields and wooded areas, but must navigate carefully through the tall vegetation in the wooded area due to potential obstacles. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field with crops","end_land_type":"wooded area with tall vegetation","task_description":"What is the fastest route from the cultivated field to the wooded area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"lohur_5.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":411,"end_region_id":254,"start_point":[261,966],"end_point":[947,320],"distance":942.2908255947311},{"start_region_id":385,"end_region_id":361,"start_point":[911,314],"end_point":[250,938],"distance":909.0088008374836},{"start_region_id":399,"end_region_id":263,"start_point":[932,862],"end_point":[198,490],"distance":822.8851681735429},{"start_region_id":378,"end_region_id":345,"start_point":[292,216],"end_point":[654,862],"distance":740.5133354639875},{"start_region_id":384,"end_region_id":361,"start_point":[618,300],"end_point":[250,938],"distance":736.5242697969973}],"complexity_score":0.6649387516454596}
{"id":9954,"query_id":"Q01991","question":"A quadcopter drone starts from a spot under tall vegetation and needs to reach another spot under similar vegetation as quickly as possible. You can fly over open grassy or shrubby areas, hard smooth surfaces, paved lanes, and even through the tall vegetation itself, though passing through dense vegetation will slow you down. You cannot fly into any solid vertical structures.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"a spot under tall vegetation","end_land_type":"another spot under similar vegetation","task_description":"What is the fastest route to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_52.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":313,"end_region_id":269,"start_point":[125,915],"end_point":[986,521],"distance":946.8669389095809},{"start_region_id":269,"end_region_id":313,"start_point":[986,521],"end_point":[125,915],"distance":946.8669389095809},{"start_region_id":313,"end_region_id":298,"start_point":[125,915],"end_point":[869,785],"distance":755.27213638529},{"start_region_id":298,"end_region_id":313,"start_point":[869,785],"end_point":[125,915],"distance":755.27213638529},{"start_region_id":313,"end_region_id":309,"start_point":[125,915],"end_point":[789,875],"distance":665.203728191597}],"complexity_score":0.6650131694206295}
{"id":1273,"query_id":"Q00255","question":"An aerial survey drone starts from a cultivated field with loose soil and crop vegetation and needs to reach a wooded area with tall vertical obstacles. The drone must maintain stable flight with minimal vibration, so rough surfaces and areas with dense vertical obstructions should be avoided. Smooth, open surfaces are preferred for comfortable navigation. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the most comfortable path from the cultivated field to the wooded area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"monrovia_56.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":388,"end_region_id":318,"start_point":[980,131],"end_point":[165,939],"distance":1147.6449799480674},{"start_region_id":388,"end_region_id":273,"start_point":[980,131],"end_point":[79,612],"distance":1021.3530241792013},{"start_region_id":388,"end_region_id":320,"start_point":[980,131],"end_point":[333,918],"distance":1018.8120533248515},{"start_region_id":388,"end_region_id":245,"start_point":[980,131],"end_point":[75,412],"distance":947.621232349719},{"start_region_id":388,"end_region_id":307,"start_point":[980,131],"end_point":[414,824],"distance":894.7653323637433}],"complexity_score":0.6651166178712027}
{"id":2570,"query_id":"Q00514","question":"An off-road vehicle starts from a grassy, open area and needs to reach another grassy, open area while prioritizing safety. The terrain consists of natural, uneven ground covered with grass and low shrubs, which is traversable with appropriate clearance. You must avoid any paved surfaces, any cultivated fields, any wooded areas, any water bodies, and any structures. What is the safest path to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Rangeland"],"traverse_vector":[0,1,0,0,0,0,0,0],"cost_vector":[0,1,0,0,0,0,0,0],"image_name":"monrovia_56.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":55,"start_point":[460,580],"end_point":[497,947],"distance":368.8604072003391},{"start_region_id":55,"end_region_id":14,"start_point":[497,947],"end_point":[460,580],"distance":368.8604072003391},{"start_region_id":1,"end_region_id":22,"start_point":[216,183],"end_point":[217,517],"distance":334.0014970026332},{"start_region_id":22,"end_region_id":1,"start_point":[217,517],"end_point":[216,183],"distance":334.0014970026332}],"complexity_score":0.6651166178712027}
{"id":12076,"query_id":"Q02416","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a paved lane used by vehicles. The drone can fly over areas with herbaceous vegetation or bushes, other paved or compacted surfaces, and bodies of liquid. The drone must avoid any vertical structures or dense vegetation that could obstruct its flight path. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved lane used by vehicles","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"monrovia_56.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":186,"start_point":[900,915],"end_point":[47,133],"distance":1157.2091427222651},{"start_region_id":150,"end_region_id":186,"start_point":[973,804],"end_point":[47,133],"distance":1143.55454614111},{"start_region_id":68,"end_region_id":186,"start_point":[885,437],"end_point":[47,133],"distance":891.4370420842966},{"start_region_id":162,"end_region_id":186,"start_point":[283,977],"end_point":[47,133],"distance":876.3743492366718},{"start_region_id":67,"end_region_id":186,"start_point":[740,487],"end_point":[47,133],"distance":778.1805703048618}],"complexity_score":0.6651166178712027}
{"id":68,"query_id":"Q00014","question":"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 rocks; open areas covered with natural grasses and shrubs; cultivated fields with rows of crops; and vertical obstacles formed by tall, leafy structures. The drone can fly over all these surfaces, but flying through vertical obstacles may cause turbulence and instability, so it should be avoided unless necessary. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"khartoum_43.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":20,"start_point":[401,237],"end_point":[373,23],"distance":215.82400237230334},{"start_region_id":20,"end_region_id":34,"start_point":[373,23],"end_point":[401,237],"distance":215.82400237230334}],"complexity_score":0.6651524409777763}
{"id":9155,"query_id":"Q01831","question":"A hiker starts from a paved lane and needs to reach a flat, hard-surfaced area as quickly as possible. The hiker can traverse loose, sandy ground; grassy or shrub-covered terrain; cultivated fields with crops; and the initial paved lane and destination hard surface. The hiker cannot enter any structures or bodies of water, and cannot pass through dense tree stands. Which path allows the hiker to reach the flat, hard-surfaced area in the minimum time?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which path allows the hiker to reach the flat, hard-surfaced area in the minimum time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"khartoum_43.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":16,"start_point":[358,292],"end_point":[63,592],"distance":420.7433897282285},{"start_region_id":17,"end_region_id":15,"start_point":[358,292],"end_point":[595,623],"distance":407.09949643791015},{"start_region_id":17,"end_region_id":3,"start_point":[358,292],"end_point":[600,38],"distance":350.8275929855005},{"start_region_id":17,"end_region_id":1,"start_point":[358,292],"end_point":[185,71],"distance":280.6599365780588},{"start_region_id":17,"end_region_id":4,"start_point":[358,292],"end_point":[70,269],"distance":288.9169430822637}],"complexity_score":0.6651524409777763}
{"id":9159,"query_id":"Q01832","question":"An off-road vehicle starts from a paved street, an off-road vehicle must reach a flat, artificial surface as quickly as possible. The vehicle can drive on loose, rocky ground; grassy or shrub-covered terrain; cultivated farmland; and the initial paved street and destination artificial surface. The vehicle cannot enter any structures, bodies of water, or areas with dense trees. Which route minimizes travel time to the flat, artificial surface?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which route minimizes travel time to the flat, artificial surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"khartoum_43.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":16,"start_point":[358,292],"end_point":[63,592],"distance":420.7433897282285},{"start_region_id":17,"end_region_id":15,"start_point":[358,292],"end_point":[595,623],"distance":407.09949643791015},{"start_region_id":17,"end_region_id":3,"start_point":[358,292],"end_point":[600,38],"distance":350.8275929855005},{"start_region_id":17,"end_region_id":1,"start_point":[358,292],"end_point":[185,71],"distance":280.6599365780588},{"start_region_id":17,"end_region_id":4,"start_point":[358,292],"end_point":[70,269],"distance":288.9169430822637}],"complexity_score":0.6651524409777763}
{"id":18001,"query_id":"Q03601","question":"A quadcopter starts from a paved lane and needs to reach a wooded area with tall vegetation while prioritizing a smooth and stable flight. The drone can traverse grassy and shrub-covered areas, cultivated fields, and forested zones, but must avoid all water bodies and structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved lane","end_land_type":"wooded area with tall vegetation","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[0,1,0,1,1,0,1,0],"cost_vector":[0,2,0,2,1,0,2,0],"image_name":"khartoum_43.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":26,"start_point":[358,292],"end_point":[501,155],"distance":198.0353503796734}],"complexity_score":0.6651524409777763}
{"id":9551,"query_id":"Q01911","question":"A hiker starts from a paved area and needs to reach a cultivated field. The terrain includes hard, compacted surfaces; loose, sandy ground; grassy and shrub-covered areas; and soft, tilled soil. The hiker can traverse all these surfaces, but must avoid any liquid bodies, vertical structures, and areas with dense tree cover. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"cultivated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"viru_22.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":296,"start_point":[37,752],"end_point":[989,349],"distance":1033.7857611710465},{"start_region_id":145,"end_region_id":296,"start_point":[155,939],"end_point":[989,349],"distance":1021.5948316235747},{"start_region_id":61,"end_region_id":296,"start_point":[30,205],"end_point":[989,349],"distance":969.7509989682918},{"start_region_id":87,"end_region_id":296,"start_point":[77,590],"end_point":[989,349],"distance":943.3053588313808},{"start_region_id":145,"end_region_id":295,"start_point":[155,939],"end_point":[721,273],"distance":874.0205947230305}],"complexity_score":0.6651947350445737}
{"id":12559,"query_id":"Q02512","question":"An off-road vehicle starts from a plowed agricultural field with soft, uneven soil and needs to reach an open grassland. The terrain includes paved surfaces like streets and parking lots, as well as unpaved, vegetated areas. However, you cannot drive through any wooded areas, water bodies, or structures. What is the fastest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"plowed agricultural field","end_land_type":"open grassland","task_description":"What is the fastest route from the plowed agricultural field to the open grassland?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"viru_22.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":296,"end_region_id":33,"start_point":[989,349],"end_point":[182,863],"distance":956.7889004372909},{"start_region_id":296,"end_region_id":16,"start_point":[989,349],"end_point":[92,466],"distance":904.5982533699697},{"start_region_id":300,"end_region_id":2,"start_point":[495,836],"end_point":[850,106],"distance":811.7419540716126},{"start_region_id":295,"end_region_id":33,"start_point":[721,273],"end_point":[182,863],"distance":799.1376602313271},{"start_region_id":295,"end_region_id":16,"start_point":[721,273],"end_point":[92,466],"distance":657.943766594076}],"complexity_score":0.6651947350445737}
{"id":14815,"query_id":"Q02963","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with crops. The hiker can traverse areas with loose soil and rocks, grassy or shrubby patches, paved or compacted surfaces, individual or clustered tall vegetation, and cultivated fields. However, the hiker cannot cross any liquid surfaces or enter any solid, enclosed structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"viru_22.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":296,"start_point":[37,752],"end_point":[989,349],"distance":1033.7857611710465},{"start_region_id":145,"end_region_id":296,"start_point":[155,939],"end_point":[989,349],"distance":1021.5948316235747},{"start_region_id":61,"end_region_id":296,"start_point":[30,205],"end_point":[989,349],"distance":969.7509989682918},{"start_region_id":87,"end_region_id":296,"start_point":[77,590],"end_point":[989,349],"distance":943.3053588313808},{"start_region_id":145,"end_region_id":295,"start_point":[155,939],"end_point":[721,273],"distance":874.0205947230305}],"complexity_score":0.6651947350445737}
{"id":17068,"query_id":"Q03414","question":"A quadcopter drone is hovering above a grassy, uneven field with scattered shrubs and loose soil. It needs to reach a flat, paved area with hard, stable surface. The drone can only travel across grassy fields, paved surfaces, and vehicle lanes. The grassy fields, paved surfaces, and vehicle lanes are all accessible for aerial navigation. The drone must avoid any water bodies, buildings, wooded areas, agricultural fields, and bare rocky ground. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, uneven field with scattered shrubs and loose soil","end_land_type":"A flat, paved area with hard, stable surface","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"viru_22.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":61,"start_point":[768,538],"end_point":[30,205],"distance":809.6499243500242},{"start_region_id":18,"end_region_id":106,"start_point":[768,538],"end_point":[37,752],"distance":761.6803791617584},{"start_region_id":26,"end_region_id":61,"start_point":[679,586],"end_point":[30,205],"distance":752.5702625004525},{"start_region_id":16,"end_region_id":138,"start_point":[92,466],"end_point":[734,828],"distance":737.0264581410901},{"start_region_id":18,"end_region_id":145,"start_point":[768,538],"end_point":[155,939],"distance":732.5093856053996}],"complexity_score":0.6651947350445737}
{"id":12567,"query_id":"Q02514","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach an open area covered with low, natural grass and shrubs. The terrain includes paved, hard surfaces and vehicle lanes that are smooth and stable, but these surfaces are currently blocked due to maintenance or restrictions, so they cannot be used. The tall, woody vegetation is passable because the plants are spaced widely enough to walk between without obstruction. You must find a path that maximizes ride comfort by prioritizing surfaces that are smooth, stable, and predictable.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"an open area covered with low, natural grass and shrubs","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Rangeland","Tree"],"traverse_vector":[0,1,0,0,1,0,0,0],"cost_vector":[0,2,0,0,1,0,0,0],"image_name":"chisinau_68.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":106,"start_point":[455,75],"end_point":[826,910],"distance":913.7100196451826},{"start_region_id":250,"end_region_id":71,"start_point":[455,75],"end_point":[954,754],"distance":842.6398993638979},{"start_region_id":247,"end_region_id":106,"start_point":[741,88],"end_point":[826,910],"distance":826.3830830795122},{"start_region_id":277,"end_region_id":106,"start_point":[382,301],"end_point":[826,910],"distance":753.6690255012475},{"start_region_id":270,"end_region_id":106,"start_point":[537,222],"end_point":[826,910],"distance":746.2338775477833}],"complexity_score":0.6653151481635174}
{"id":12893,"query_id":"Q02579","question":"A delivery drone starts from a flat, hard artificial surface and needs to reach a patch of natural grasses and low shrubs. The drone can fly over hard surfaces, vehicle lanes, cultivated fields, and grassy areas, but must avoid flying directly through tree canopies or close to buildings. Water bodies can be flown over but may cause stability issues due to wind patterns. The drone operator wants to minimize vibrations and maintain smooth flight.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat, hard artificial surface","end_land_type":"a patch of natural grasses and low shrubs","task_description":"What is the most comfortable flight path for the delivery drone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"melbourne_16.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":2,"start_point":[893,947],"end_point":[70,86],"distance":1191.070946669425},{"start_region_id":119,"end_region_id":1,"start_point":[893,947],"end_point":[185,40],"distance":1150.6141838166259},{"start_region_id":119,"end_region_id":7,"start_point":[893,947],"end_point":[144,183],"distance":1069.9051359816906},{"start_region_id":119,"end_region_id":4,"start_point":[893,947],"end_point":[263,119],"distance":1040.4249131965266},{"start_region_id":116,"end_region_id":2,"start_point":[672,914],"end_point":[70,86],"distance":1023.7128503638118}],"complexity_score":0.6654278944571582}
{"id":10503,"query_id":"Q02101","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation as quickly as possible. The hiker can traverse hard, flat surfaces; loose, sandy ground; grassy or shrub-covered terrain; and areas with trees, provided the vegetation is not too dense to walk through. However, water bodies and buildings are completely impassable. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved area","end_land_type":"wooded area with tall vegetation","task_description":"What is the fastest route for the hiker to reach the wooded area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"vegas_3.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":82,"start_point":[603,27],"end_point":[113,617],"distance":766.9419795525604},{"start_region_id":20,"end_region_id":82,"start_point":[632,187],"end_point":[113,617],"distance":673.9888723117022},{"start_region_id":21,"end_region_id":82,"start_point":[578,231],"end_point":[113,617],"distance":604.3351719038037},{"start_region_id":17,"end_region_id":82,"start_point":[120,54],"end_point":[113,617],"distance":563.0435151922096},{"start_region_id":19,"end_region_id":70,"start_point":[603,27],"end_point":[331,488],"distance":535.261618276521}],"complexity_score":0.6654596792557221}
{"id":12437,"query_id":"Q02488","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a vehicle lane. The hiker can traverse grassy or shrubby areas with low vegetation, as the ground is firm enough for walking. The hiker can also pass through areas with individual trees or small groves, as there is enough clearance between trunks to walk through. The hiker cannot cross any liquid bodies or enter any structures. What is the shortest path to the vehicle lane?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"vegas_3.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":36,"start_point":[120,54],"end_point":[439,321],"distance":415.99278839902985},{"start_region_id":19,"end_region_id":36,"start_point":[603,27],"end_point":[439,321],"distance":336.6481843111589},{"start_region_id":23,"end_region_id":36,"start_point":[129,504],"end_point":[439,321],"distance":359.9847218980272},{"start_region_id":29,"end_region_id":36,"start_point":[640,542],"end_point":[439,321],"distance":298.7339953872006},{"start_region_id":22,"end_region_id":36,"start_point":[121,229],"end_point":[439,321],"distance":331.0407829860242}],"complexity_score":0.6654596792557221}
{"id":16816,"query_id":"Q03364","question":"A delivery drone is positioned on a paved road surface and must reach another paved road surface. The drone's flight should prioritize stability and smooth operation. The drone can fly over various surfaces including dry, rocky terrain (bareland), grassy fields (rangeland), paved roads, and cultivated fields (agriculture land). However, the drone should avoid flying through dense tree canopies or close to buildings unless necessary, and flying over water is possible but less desirable for comfort. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable flight path for the delivery drone to travel from its current paved road location to the destination paved road?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"vegas_3.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":36,"start_point":[53,121],"end_point":[506,628],"distance":679.8955802180215}],"complexity_score":0.6654596792557221}
{"id":14582,"query_id":"Q02917","question":"A hiker starts from a paved area and needs to reach a wooded area. The hiker can traverse hard surfaces, loose soil, grassy patches, cultivated fields, and forested zones. However, all water bodies and structures are completely impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"wooded area","task_description":"What is the shortest path from the paved area to the wooded area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"abancay_10.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":225,"start_point":[1014,810],"end_point":[316,545],"distance":746.6116795228963},{"start_region_id":58,"end_region_id":225,"start_point":[896,141],"end_point":[316,545],"distance":706.8352000289742},{"start_region_id":55,"end_region_id":225,"start_point":[802,33],"end_point":[316,545],"distance":705.9320080574332},{"start_region_id":109,"end_region_id":225,"start_point":[848,728],"end_point":[316,545],"distance":562.594880886771},{"start_region_id":146,"end_region_id":225,"start_point":[741,962],"end_point":[316,545],"distance":595.4107825694795}],"complexity_score":0.6655875837295152}
{"id":17205,"query_id":"Q03441","question":"A quadcopter starts from a paved lane and needs to reach a grassy field. The drone can fly over hard surfaces, grassy areas, and liquid bodies, but must avoid vertical obstacles like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved lane","end_land_type":"a grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"abancay_10.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":155,"end_region_id":43,"start_point":[82,83],"end_point":[21,886],"distance":805.3136035110794},{"start_region_id":155,"end_region_id":8,"start_point":[82,83],"end_point":[835,221],"distance":765.5409851862929},{"start_region_id":156,"end_region_id":5,"start_point":[567,567],"end_point":[55,82],"distance":705.2439294315124},{"start_region_id":156,"end_region_id":43,"start_point":[567,567],"end_point":[21,886],"distance":632.3582845191482},{"start_region_id":155,"end_region_id":32,"start_point":[82,83],"end_point":[318,617],"distance":583.8253163404273}],"complexity_score":0.6655875837295152}
{"id":6658,"query_id":"Q01332","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow while prioritizing a smooth and stable flight path. The drone can fly over areas with hard surfaces, loose soil, grassy patches, and liquid surfaces, but must avoid dense vertical obstacles and solid structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_47.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":4,"start_point":[25,953],"end_point":[884,36],"distance":1256.4911460093938},{"start_region_id":469,"end_region_id":3,"start_point":[25,953],"end_point":[757,23],"distance":1183.5218629159328},{"start_region_id":469,"end_region_id":22,"start_point":[25,953],"end_point":[961,250],"distance":1170.6002733640548},{"start_region_id":470,"end_region_id":4,"start_point":[321,965],"end_point":[884,36],"distance":1086.2826519833593},{"start_region_id":467,"end_region_id":4,"start_point":[115,820],"end_point":[884,36],"distance":1098.1880531129448}],"complexity_score":0.6656209585357854}
{"id":10984,"query_id":"Q02197","question":"A four-wheel-drive SUV is currently positioned on a cultivated field with soft, tilled soil. The driver needs to reach a paved lane used by vehicles. The vehicle can traverse areas with hard, compacted surfaces like parking lots and sidewalks, as well as open areas with natural ground cover like grassy plains and sandy expanses. However, the vehicle cannot pass through areas with tall, dense vegetation that would obstruct its path, nor can it cross liquid bodies or enter structures. What is the shortest route to the paved lane?","agent_category":"Car","specific_agent":"A four-wheel-drive SUV","start_land_type":"Agriculture land","end_land_type":"Road","task_description":"What is the shortest route to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_47.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":272,"start_point":[25,953],"end_point":[907,247],"distance":1129.7610366798813},{"start_region_id":467,"end_region_id":272,"start_point":[115,820],"end_point":[907,247],"distance":977.5443723944197},{"start_region_id":470,"end_region_id":272,"start_point":[321,965],"end_point":[907,247],"distance":926.7793696452247},{"start_region_id":466,"end_region_id":272,"start_point":[131,519],"end_point":[907,247],"distance":822.2894867380952},{"start_region_id":464,"end_region_id":272,"start_point":[184,71],"end_point":[907,247],"distance":744.1135666012278}],"complexity_score":0.6656209585357854}
{"id":15396,"query_id":"Q03080","question":"A quadcopter drone starts from a cultivated field and needs to reach a paved lane. The terrain includes hard, flat surfaces; soft, grassy areas; loose, sandy patches; dense vegetation that requires careful navigation; liquid areas; and vertical structures that can be flown around. All surfaces are traversable, but dense vegetation may slow movement. What is the shortest path to the paved lane?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"koeln_47.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":272,"start_point":[25,953],"end_point":[907,247],"distance":1129.7610366798813},{"start_region_id":467,"end_region_id":272,"start_point":[115,820],"end_point":[907,247],"distance":977.5443723944197},{"start_region_id":470,"end_region_id":272,"start_point":[321,965],"end_point":[907,247],"distance":926.7793696452247},{"start_region_id":466,"end_region_id":272,"start_point":[131,519],"end_point":[907,247],"distance":822.2894867380952},{"start_region_id":464,"end_region_id":272,"start_point":[184,71],"end_point":[907,247],"distance":744.1135666012278}],"complexity_score":0.6656209585357854}
{"id":16449,"query_id":"Q03290","question":"A quadcopter drone is positioned in a cultivated field and needs to reach a wooded area. The drone can fly over open grassy areas, paved lanes, cultivated fields, and water surfaces. It can also navigate between buildings if necessary, but flying through dense tree canopies requires careful maneuvering and slows it down. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"koeln_47.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":293,"start_point":[25,953],"end_point":[964,167],"distance":1224.547671591433},{"start_region_id":464,"end_region_id":434,"start_point":[184,71],"end_point":[970,906],"distance":1146.74365051654},{"start_region_id":465,"end_region_id":434,"start_point":[358,31],"end_point":[970,906],"distance":1067.786963771332},{"start_region_id":467,"end_region_id":293,"start_point":[115,820],"end_point":[964,167],"distance":1071.0788953200413},{"start_region_id":469,"end_region_id":283,"start_point":[25,953],"end_point":[621,89],"distance":1049.624694831443}],"complexity_score":0.6656209585357854}
{"id":4890,"query_id":"Q00978","question":"A delivery drone is starting from a flat paved surface and needs to reach another flat paved surface as quickly as possible. The airspace includes open areas over hard surfaces and cultivated fields, all of which are clear for flight. Vertical structures and dense tree canopies are obstructed and must be avoided.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat paved surface","end_land_type":"flat paved surface","task_description":"What is the fastest path for the delivery drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_20.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":52,"start_point":[201,877],"end_point":[964,17],"distance":1149.6821299820224},{"start_region_id":52,"end_region_id":103,"start_point":[964,17],"end_point":[201,877],"distance":1149.6821299820224},{"start_region_id":97,"end_region_id":52,"start_point":[103,645],"end_point":[964,17],"distance":1065.694609163432},{"start_region_id":52,"end_region_id":97,"start_point":[964,17],"end_point":[103,645],"distance":1065.694609163432},{"start_region_id":81,"end_region_id":52,"start_point":[16,465],"end_point":[964,17],"distance":1048.5265852614325}],"complexity_score":0.6656931032119909}
{"id":13149,"query_id":"Q02630","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface while prioritizing stable and predictable flight conditions. The drone can fly over hard surfaces like roads and parking lots, open grassy fields, cultivated crop fields, and wooded areas with trees. However, flying through wooded areas involves navigating around tree branches and trunks, which creates turbulence and requires careful maneuvering, making the flight less comfortable. Flying over bodies of water or near building structures is not permitted for this mission due to safety regulations.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_20.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":147,"start_point":[581,460],"end_point":[940,885],"distance":556.3326343115241},{"start_region_id":147,"end_region_id":121,"start_point":[940,885],"end_point":[581,460],"distance":556.3326343115241}],"complexity_score":0.6656931032119909}
{"id":1106,"query_id":"Q00222","question":"An aerial surveillance 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 any terrain except dense tree canopies and solid structures, which are blocked due to collision risk. Hard surfaces like paved areas and roads are available for high-speed flight, while water bodies and loose, sandy or rocky ground are also traversable. The objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"grassy, open field with low vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_13.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":14,"start_point":[995,891],"end_point":[49,112],"distance":1225.4619537137821},{"start_region_id":14,"end_region_id":54,"start_point":[49,112],"end_point":[995,891],"distance":1225.4619537137821},{"start_region_id":54,"end_region_id":8,"start_point":[995,891],"end_point":[117,54],"distance":1213.0346244027826},{"start_region_id":8,"end_region_id":54,"start_point":[117,54],"end_point":[995,891],"distance":1213.0346244027826},{"start_region_id":54,"end_region_id":24,"start_point":[995,891],"end_point":[20,276],"distance":1152.757563410451}],"complexity_score":0.6657126941375332}
{"id":3768,"query_id":"Q00754","question":"A hiker starts from a densely vegetated area with tall, leafy plants and a canopy overhead and needs to reach another densely vegetated area with tall, leafy plants and a canopy overhead. The terrain includes hard, flat surfaces suitable for walking, loose soil and rocks, grassy or shrubby patches, cultivated fields with rows of crops, and areas with individual or clustered tall plants. However, vertical structures and liquid surfaces are completely impassable and must be avoided.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, leafy plants and a canopy overhead","end_land_type":"another densely vegetated area with tall, leafy plants and a canopy overhead","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"mahe_13.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":209,"start_point":[922,71],"end_point":[105,704],"distance":1033.526971104286},{"start_region_id":209,"end_region_id":151,"start_point":[105,704],"end_point":[922,71],"distance":1033.526971104286},{"start_region_id":151,"end_region_id":232,"start_point":[922,71],"end_point":[519,975],"distance":989.7600719366285},{"start_region_id":232,"end_region_id":151,"start_point":[519,975],"end_point":[922,71],"distance":989.7600719366285},{"start_region_id":148,"end_region_id":232,"start_point":[378,33],"end_point":[519,975],"distance":952.4940944698817}],"complexity_score":0.6657126941375332}
{"id":4341,"query_id":"Q00869","question":"A quadcopter drone starts from an area with elevated, branching structures that rise above the ground and needs to reach a flat, open area with a hard, smooth surface. The environment includes loose, unpaved ground that is currently dry and firm, paved lanes and pathways, and vertical structures that can be flown around if necessary. What is the shortest route to your destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"an area with elevated, branching structures that rise above the ground","end_land_type":"a flat, open area with a hard, smooth surface","task_description":"What is the shortest route to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"mexico_city_34.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1205,"end_region_id":180,"start_point":[31,968],"end_point":[953,77],"distance":1282.17198534362},{"start_region_id":1205,"end_region_id":186,"start_point":[31,968],"end_point":[904,148],"distance":1197.718247335324},{"start_region_id":1210,"end_region_id":259,"start_point":[966,982],"end_point":[117,300],"distance":1089.0018365457424},{"start_region_id":1053,"end_region_id":832,"start_point":[21,151],"end_point":[807,892],"distance":1080.2208107604667},{"start_region_id":1053,"end_region_id":563,"start_point":[21,151],"end_point":[893,784],"distance":1077.5309740327652}],"complexity_score":0.6658918911797812}
{"id":4737,"query_id":"Q00948","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane as quickly as possible. The drone can fly over all surfaces, including paved areas, vehicle lanes, and areas with tall, vertical obstacles like trees, by navigating around or above them. However, liquid surfaces and solid vertical structures are conditionally traversable only if avoided, but in this scenario, they are not allowed due to regulatory restrictions or safety concerns. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the fastest path for the quadcopter drone to reach the vehicle lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"mexico_city_34.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":1037,"start_point":[953,77],"end_point":[34,678],"distance":1098.0719466410205},{"start_region_id":531,"end_region_id":1005,"start_point":[117,792],"end_point":[913,83],"distance":1065.9723260948194},{"start_region_id":186,"end_region_id":1037,"start_point":[904,148],"end_point":[34,678],"distance":1018.7246929372037},{"start_region_id":750,"end_region_id":1005,"start_point":[382,919],"end_point":[913,83],"distance":990.3822494370545},{"start_region_id":180,"end_region_id":1047,"start_point":[953,77],"end_point":[616,967],"distance":951.6664331581734}],"complexity_score":0.6658918911797812}
{"id":9532,"query_id":"Q01907","question":"A hiker starts from a paved road surface and needs to reach a grassy, open area covered with low vegetation and shrubs. The terrain includes hard, flat surfaces like sidewalks and parking lots, loose sandy or rocky ground without plants, and cultivated fields with crops. You cannot travel over water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mexico_city_34.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1005,"end_region_id":51,"start_point":[913,83],"end_point":[166,632],"distance":927.0436882909025},{"start_region_id":1005,"end_region_id":32,"start_point":[913,83],"end_point":[118,502],"distance":898.6578881866002},{"start_region_id":1037,"end_region_id":5,"start_point":[34,678],"end_point":[731,141],"distance":879.8738545950778},{"start_region_id":1011,"end_region_id":78,"start_point":[140,238],"end_point":[763,828],"distance":858.0378779517837},{"start_region_id":1047,"end_region_id":5,"start_point":[616,967],"end_point":[731,141],"distance":833.9670257270368}],"complexity_score":0.6658918911797812}
{"id":13308,"query_id":"Q02662","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over open grassy areas with low vegetation, hard flat artificial surfaces, paved lanes, liquid bodies, and cultivated fields with crops. However, it must avoid areas with tall vertical obstacles that could cause collisions. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"mexico_city_34.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1037,"end_region_id":180,"start_point":[34,678],"end_point":[953,77],"distance":1098.0719466410205},{"start_region_id":1005,"end_region_id":531,"start_point":[913,83],"end_point":[117,792],"distance":1065.9723260948194},{"start_region_id":1037,"end_region_id":186,"start_point":[34,678],"end_point":[904,148],"distance":1018.7246929372037},{"start_region_id":1005,"end_region_id":750,"start_point":[913,83],"end_point":[382,919],"distance":990.3822494370545},{"start_region_id":1047,"end_region_id":180,"start_point":[616,967],"end_point":[953,77],"distance":951.6664331581734}],"complexity_score":0.6658918911797812}
{"id":1671,"query_id":"Q00335","question":"A quadcopter drone starts from a paved surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over hard, flat surfaces like parking lots and sidewalks, as well as vehicle lanes and railways. It can also traverse cultivated fields with regular crop patterns. However, it must avoid areas with liquid surfaces and solid vertical structures like buildings. The drone's flight path should prioritize terrains that allow maximum speed and minimal navigation complexity.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the fastest route for the drone to reach the destination?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,2,2,1,0,2,0],"image_name":"santa_rosa_37.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":274,"end_region_id":295,"start_point":[99,993],"end_point":[455,75],"distance":984.6115985504132},{"start_region_id":274,"end_region_id":306,"start_point":[99,993],"end_point":[595,170],"distance":960.9084243568686},{"start_region_id":259,"end_region_id":384,"start_point":[735,127],"end_point":[27,600],"distance":851.4652077448615},{"start_region_id":259,"end_region_id":404,"start_point":[735,127],"end_point":[169,755],"distance":845.4229710624144},{"start_region_id":274,"end_region_id":355,"start_point":[99,993],"end_point":[753,579],"distance":774.0232554645887}],"complexity_score":0.6659733837430674}
{"id":5838,"query_id":"Q01168","question":"A quadcopter drone starts from a paved concrete area and needs to reach another paved concrete area. The drone can fly over most surfaces but must avoid vertical obstacles like trees and buildings. Liquid surfaces may cause discomfort due to spray and turbulence. The objective is to find the most comfortable route.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved concrete area","end_land_type":"another paved concrete area","task_description":"What is the most comfortable path from the starting paved area to the destination paved area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santa_rosa_37.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":199,"start_point":[75,130],"end_point":[963,533],"distance":975.1681906214948},{"start_region_id":199,"end_region_id":156,"start_point":[963,533],"end_point":[75,130],"distance":975.1681906214948},{"start_region_id":156,"end_region_id":237,"start_point":[75,130],"end_point":[328,834],"distance":748.0808779804494},{"start_region_id":237,"end_region_id":156,"start_point":[328,834],"end_point":[75,130],"distance":748.0808779804494},{"start_region_id":199,"end_region_id":237,"start_point":[963,533],"end_point":[328,834],"distance":702.727543219988}],"complexity_score":0.6659733837430674}
{"id":7108,"query_id":"Q01422","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground; flat, open areas with short vegetation; liquid bodies; and cultivated fields with crops, but must avoid tall, dense vegetation and vertical structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_37.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":199,"start_point":[75,130],"end_point":[963,533],"distance":975.1681906214948},{"start_region_id":199,"end_region_id":156,"start_point":[963,533],"end_point":[75,130],"distance":975.1681906214948},{"start_region_id":156,"end_region_id":237,"start_point":[75,130],"end_point":[328,834],"distance":748.0808779804494},{"start_region_id":237,"end_region_id":156,"start_point":[328,834],"end_point":[75,130],"distance":748.0808779804494},{"start_region_id":199,"end_region_id":237,"start_point":[963,533],"end_point":[328,834],"distance":702.727543219988}],"complexity_score":0.6659733837430674}
{"id":2526,"query_id":"Q00506","question":"A pedestrian starts from a paved road surface and needs to reach another paved road surface while ensuring a comfortable walk. The pedestrian must stay on hard, even surfaces to avoid uneven or rough terrain, and cannot walk on soft ground, vegetation, liquid areas, or vertical obstacles. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable path for the pedestrian to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"panama_city_22.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":211,"start_point":[486,613],"end_point":[833,242],"distance":507.98622028555064},{"start_region_id":211,"end_region_id":210,"start_point":[833,242],"end_point":[486,613],"distance":507.98622028555064}],"complexity_score":0.6659825475150615}
{"id":5922,"query_id":"Q01185","question":"A person walking starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The environment contains only firm, stable surfaces suitable for walking, including smooth paved areas and vehicle lanes. All other terrain types—such as loose soil, vegetation, water bodies, and vertical structures—are impassable due to safety restrictions. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person walking","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"panama_city_22.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":113,"start_point":[960,916],"end_point":[86,140],"distance":1168.7822722817111},{"start_region_id":113,"end_region_id":200,"start_point":[86,140],"end_point":[960,916],"distance":1168.7822722817111},{"start_region_id":187,"end_region_id":111,"start_point":[83,768],"end_point":[829,88],"distance":1009.4136912089116},{"start_region_id":111,"end_region_id":187,"start_point":[829,88],"end_point":[83,768],"distance":1009.4136912089116},{"start_region_id":111,"end_region_id":197,"start_point":[829,88],"end_point":[244,905],"distance":1004.8452617194351}],"complexity_score":0.6659825475150615}
{"id":12174,"query_id":"Q02435","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a flat, paved area. The drone can fly over any terrain except dense tree canopies and solid structures, which are blocked. The grassy field, paved area, vehicle lanes, and water surfaces are all accessible for flight. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a flat, paved area","task_description":"What is the shortest path for the drone to reach the flat, paved area from the grassy, open field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_22.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":200,"start_point":[161,80],"end_point":[960,916],"distance":1156.4155827383165},{"start_region_id":15,"end_region_id":200,"start_point":[59,288],"end_point":[960,916],"distance":1098.2645400813049},{"start_region_id":86,"end_region_id":125,"start_point":[27,770],"end_point":[974,262],"distance":1074.6501756385655},{"start_region_id":86,"end_region_id":111,"start_point":[27,770],"end_point":[829,88],"distance":1052.7715801635225},{"start_region_id":95,"end_region_id":111,"start_point":[222,910],"end_point":[829,88],"distance":1021.828263457221}],"complexity_score":0.6659825475150615}
{"id":3089,"query_id":"Q00618","question":"A quadcopter drone starts from a paved, hard-surfaced lane and needs to reach another paved, hard-surfaced lane. The drone can fly over paved lanes and also over rough, loose-soil terrain composed of sand or rocks, as it operates aerially without ground contact. However, it must avoid areas with dense vertical obstacles or structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"another paved, hard-surfaced lane","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Road"],"traverse_vector":[1,0,0,1,0,0,0,0],"cost_vector":[1,0,0,1,0,0,0,0],"image_name":"vegas_12.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":43,"start_point":[649,598],"end_point":[16,158],"distance":770.901420416385}],"complexity_score":0.6659927965568386}
{"id":10497,"query_id":"Q02100","question":"A quadcopter drone starts from a paved, hard-surfaced lane and needs to reach a grassy, open area with low vegetation. The drone can fly over hard, compacted surfaces, loose, sandy or rocky ground, and vegetated areas, but must avoid flying close to tall, dense vegetation or vertical structures to minimize collision risk. The drone cannot traverse any liquid surfaces. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a grassy, open area with low vegetation","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"vegas_12.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":6,"start_point":[327,325],"end_point":[498,92],"distance":289.0155705148081},{"start_region_id":43,"end_region_id":17,"start_point":[327,325],"end_point":[541,301],"distance":215.34158910902465},{"start_region_id":43,"end_region_id":12,"start_point":[327,325],"end_point":[169,198],"distance":202.71408436514716}],"complexity_score":0.6659927965568386}
{"id":15319,"query_id":"Q03064","question":"A hiker starts from a grassy, uneven area with scattered shrubs and needs to reach a dense cluster of tall vegetation with an overhead canopy. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as cultivated fields with rows of crops. However, all water bodies and structures are completely blocked due to flooding and security barriers. You must find a path that minimizes the total travel distance.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a dense cluster of tall vegetation with overhead canopy","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"vegas_12.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":61,"start_point":[169,198],"end_point":[602,410],"distance":482.11305728013633},{"start_region_id":18,"end_region_id":61,"start_point":[196,404],"end_point":[602,410],"distance":406.0443325549564},{"start_region_id":6,"end_region_id":61,"start_point":[498,92],"end_point":[602,410],"distance":334.5743564590687},{"start_region_id":13,"end_region_id":61,"start_point":[440,230],"end_point":[602,410],"distance":242.1652328473268}],"complexity_score":0.6659927965568386}
{"id":1253,"query_id":"Q00251","question":"A hiker starts from a grassy, uneven area with scattered shrubs and needs to reach a paved vehicle lane. The terrain includes areas with loose soil and vegetation that can be crossed with careful footing, as well as cultivated fields with soft, tilled earth that are accessible. All other surfaces are blocked: solid vertical structures cannot be entered, and liquid surfaces cannot be crossed. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved vehicle lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Road","Agriculture land"],"traverse_vector":[1,1,0,1,0,0,1,0],"cost_vector":[1,1,0,1,0,0,1,0],"image_name":"accra_67.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":197,"start_point":[47,976],"end_point":[507,476],"distance":679.4115100585211},{"start_region_id":66,"end_region_id":197,"start_point":[66,864],"end_point":[507,476],"distance":587.3882872512867},{"start_region_id":5,"end_region_id":197,"start_point":[895,56],"end_point":[507,476],"distance":571.7901713041244},{"start_region_id":71,"end_region_id":197,"start_point":[914,895],"end_point":[507,476],"distance":584.1318344346591},{"start_region_id":70,"end_region_id":197,"start_point":[156,888],"end_point":[507,476],"distance":541.2439376103903}],"complexity_score":0.6661409918800137}
{"id":3645,"query_id":"Q00729","question":"A hiker starts from a paved area and needs to reach another paved area. The terrain includes hard surfaces, soft ground with loose soil, grassy or shrubby areas, cultivated fields, and wooded patches. The hiker can traverse all these surfaces, but must avoid liquid bodies and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"accra_67.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":84,"start_point":[912,981],"end_point":[40,31],"distance":1289.5285960381027},{"start_region_id":84,"end_region_id":190,"start_point":[40,31],"end_point":[912,981],"distance":1289.5285960381027},{"start_region_id":190,"end_region_id":94,"start_point":[912,981],"end_point":[17,139],"distance":1228.816096899776},{"start_region_id":94,"end_region_id":190,"start_point":[17,139],"end_point":[912,981],"distance":1228.816096899776},{"start_region_id":176,"end_region_id":84,"start_point":[940,850],"end_point":[40,31],"distance":1216.8652349377066}],"complexity_score":0.6661409918800137}
{"id":5529,"query_id":"Q01106","question":"A delivery drone starts from a flat concrete rooftop and needs to reach another flat concrete rooftop while flying a delivery drone. You can fly over hard surfaces, loose ground, cultivated fields, and water bodies, which are comfortable by default. You are also allowed to fly near trees if they are sparse enough to avoid collisions, and you can fly near buildings if you maintain a safe distance. What is the most comfortable flight path to take?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat concrete rooftop","end_land_type":"a flat concrete rooftop","task_description":"What is the most comfortable flight path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"accra_67.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":84,"start_point":[912,981],"end_point":[40,31],"distance":1289.5285960381027},{"start_region_id":84,"end_region_id":190,"start_point":[40,31],"end_point":[912,981],"distance":1289.5285960381027},{"start_region_id":190,"end_region_id":94,"start_point":[912,981],"end_point":[17,139],"distance":1228.816096899776},{"start_region_id":94,"end_region_id":190,"start_point":[17,139],"end_point":[912,981],"distance":1228.816096899776},{"start_region_id":176,"end_region_id":84,"start_point":[940,850],"end_point":[40,31],"distance":1216.8652349377066}],"complexity_score":0.6661409918800137}
{"id":8143,"query_id":"Q01629","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface destination while minimizing operational risk. The drone can fly over open, dry ground with loose soil and rocks; hard, flat surfaces like sidewalks and parking lots; vehicle lanes; liquid bodies; and cultivated fields with crops. However, the drone must avoid flying through dense vegetation or near vertical structures to prevent collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial surveillance drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"accra_67.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":197,"start_point":[765,111],"end_point":[51,929],"distance":1085.780825028698}],"complexity_score":0.6661409918800137}
{"id":7797,"query_id":"Q01560","question":"A hiker starts from a paved, hard surface and needs to reach a shaded area with tall, vertical obstacles. The terrain includes soft, cultivated ground that is currently dry and firm enough to walk on, but the tall, vertical obstacles are dense and require careful navigation to avoid discomfort. You must avoid any liquid surfaces and solid structures. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a shaded area with tall, vertical obstacles","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"houston_14.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":180,"start_point":[366,614],"end_point":[972,779],"distance":628.0613027404252},{"start_region_id":110,"end_region_id":180,"start_point":[632,367],"end_point":[972,779],"distance":534.1760009584856},{"start_region_id":110,"end_region_id":154,"start_point":[632,367],"end_point":[206,489],"distance":443.12526445690276}],"complexity_score":0.666284092813933}
{"id":1686,"query_id":"Q00338","question":"A quadcopter drone is currently positioned over a grassy, open field with low vegetation. It needs to reach cultivated crop fields. The drone can fly over various surfaces including loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved lanes and streets used by vehicles; bodies of water such as rivers or lakes; and cultivated agricultural areas. However, it cannot fly through dense tree canopies or between buildings due to collision risks. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop fields","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"aachen_68.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":182,"start_point":[781,901],"end_point":[125,206],"distance":955.6992204663558},{"start_region_id":16,"end_region_id":182,"start_point":[951,660],"end_point":[125,206],"distance":942.5454896184057},{"start_region_id":2,"end_region_id":182,"start_point":[957,232],"end_point":[125,206],"distance":832.4061508662703},{"start_region_id":5,"end_region_id":182,"start_point":[913,367],"end_point":[125,206],"distance":804.279180384523},{"start_region_id":2,"end_region_id":184,"start_point":[957,232],"end_point":[376,757],"distance":783.0619388017783}],"complexity_score":0.6665117557763354}
{"id":14451,"query_id":"Q02891","question":"An aerial survey drone starts from a cluster of tall, leafy vegetation that provides elevated coverage and needs to reach a long, paved strip designed for high-speed ground vehicles. The drone must avoid any liquid surfaces and man-made structures. It can traverse open areas of loose soil and rocks, grassy or shrub-covered fields, and cultivated crop fields. The tall vegetation areas are passable but require careful navigation to avoid collisions. The primary objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation that provides elevated coverage.","end_land_type":"A long, paved strip designed for high-speed ground vehicles.","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[2,2,0,2,1,0,2,0],"image_name":"paris_23.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":31,"start_point":[117,173],"end_point":[367,558],"distance":459.04792778096714},{"start_region_id":58,"end_region_id":31,"start_point":[50,498],"end_point":[367,558],"distance":322.628269065189},{"start_region_id":43,"end_region_id":30,"start_point":[433,314],"end_point":[140,432],"distance":315.86864358463947},{"start_region_id":58,"end_region_id":29,"start_point":[50,498],"end_point":[280,416],"distance":244.18026128252055},{"start_region_id":32,"end_region_id":30,"start_point":[117,173],"end_point":[140,432],"distance":260.0192300580863}],"complexity_score":0.6666190027865326}
{"id":17262,"query_id":"Q03453","question":"A hiker starts from a paved, hard surface and needs to reach a cluster of tall, vertical structures with foliage. The hiker can traverse soft, grassy areas and is permitted to walk through areas with scattered bushes and low vegetation. However. The hiker must avoid any liquid surfaces and cannot pass through solid, enclosed structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall, vertical structures with foliage","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"paris_23.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":58,"start_point":[322,34],"end_point":[50,498],"distance":537.8475620470915},{"start_region_id":17,"end_region_id":32,"start_point":[435,486],"end_point":[117,173],"distance":446.19838637090567},{"start_region_id":17,"end_region_id":58,"start_point":[435,486],"end_point":[50,498],"distance":385.18696758846863},{"start_region_id":11,"end_region_id":43,"start_point":[75,192],"end_point":[433,314],"distance":378.2168690050723},{"start_region_id":10,"end_region_id":45,"start_point":[322,34],"end_point":[223,356],"distance":336.8753478662397}],"complexity_score":0.6666190027865326}
{"id":2774,"query_id":"Q00555","question":"An off-road vehicle starts from a cultivated field and needs to reach a patch of sandy or rocky ground. The terrain includes loose, dry soil and rocks, as well as paved surfaces like parking lots and roads. However, grassy or shrubby areas are too soft for stable driving, and trees, water bodies, and buildings are impassable. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","task_description":"What is the shortest path from the cultivated field to the sandy or rocky ground?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":365,"end_region_id":14,"start_point":[35,110],"end_point":[685,865],"distance":996.2554893198833},{"start_region_id":365,"end_region_id":1,"start_point":[35,110],"end_point":[656,707],"distance":861.4232409216737},{"start_region_id":373,"end_region_id":14,"start_point":[144,270],"end_point":[685,865],"distance":804.180328035945},{"start_region_id":364,"end_region_id":14,"start_point":[634,65],"end_point":[685,865],"distance":801.6239766873244},{"start_region_id":380,"end_region_id":14,"start_point":[48,515],"end_point":[685,865],"distance":726.8211609467628}],"complexity_score":0.666662881866309}
{"id":13430,"query_id":"Q02686","question":"An aerial survey drone starts from a grassy, vegetated area and needs to reach an exposed area of loose soil or rocky ground. The drone must maintain stable flight with minimal vibration and turbulence. The drone can fly over open water surfaces, but flying through dense vegetation or near vertical structures is prohibited due to collision risk. The drone can also traverse paved, hard surfaces. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, vegetated area","end_land_type":"exposed, loose soil or rocky ground","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":14,"start_point":[72,231],"end_point":[685,865],"distance":881.8871809931245},{"start_region_id":35,"end_region_id":14,"start_point":[489,32],"end_point":[685,865],"distance":855.748210632076},{"start_region_id":52,"end_region_id":14,"start_point":[123,221],"end_point":[685,865],"distance":854.7397264664841},{"start_region_id":47,"end_region_id":14,"start_point":[262,124],"end_point":[685,865],"distance":853.2350203783246},{"start_region_id":76,"end_region_id":14,"start_point":[50,369],"end_point":[685,865],"distance":805.7549255201609}],"complexity_score":0.666662881866309}
{"id":14369,"query_id":"Q02874","question":"A delivery drone starts from a flat, artificial surface and needs to reach a sandy area. The drone can fly over most surfaces, including grass and cultivated fields, but it should avoid trees and buildings due to navigation challenges, and water surfaces may cause discomfort due to wind effects. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat, artificial surface","end_land_type":"sandy area","task_description":"What is the most comfortable flight path for the delivery drone to take from the flat, artificial surface to the sandy area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":14,"start_point":[314,49],"end_point":[685,865],"distance":896.3799417657671},{"start_region_id":137,"end_region_id":14,"start_point":[109,245],"end_point":[685,865],"distance":846.271823943111},{"start_region_id":133,"end_region_id":1,"start_point":[314,49],"end_point":[656,707],"distance":741.5713047307049},{"start_region_id":137,"end_region_id":1,"start_point":[109,245],"end_point":[656,707],"distance":715.997905024868},{"start_region_id":138,"end_region_id":14,"start_point":[392,249],"end_point":[685,865],"distance":682.1326850400881}],"complexity_score":0.666662881866309}
{"id":14387,"query_id":"Q02878","question":"An aerial drone starts from a paved surface and needs to reach an area of exposed, loose ground. The drone can fly over liquid surfaces, but must avoid vertical obstacles like trees and buildings. The drone's priority is to minimize travel time by selecting surfaces that allow stable, high-speed flight.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved surface","end_land_type":"exposed, loose ground","task_description":"What is the fastest path for the drone to reach the exposed, loose ground?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":14,"start_point":[329,341],"end_point":[685,865],"distance":633.4919099720216},{"start_region_id":219,"end_region_id":1,"start_point":[329,341],"end_point":[656,707],"distance":490.80036674802926}],"complexity_score":0.666662881866309}
{"id":15853,"query_id":"Q03171","question":"An aerial drone starts from a paved surface and needs to reach an area of exposed, loose soil. The drone can fly over hard surfaces, grassy or shrub-covered ground, liquid bodies, and loose soil, but must avoid dense vertical obstacles and solid structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved surface","end_land_type":"exposed, loose soil","task_description":"What is the fastest path for the aerial drone to reach the exposed, loose soil from the paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":14,"start_point":[329,341],"end_point":[685,865],"distance":633.4919099720216},{"start_region_id":219,"end_region_id":1,"start_point":[329,341],"end_point":[656,707],"distance":490.80036674802926}],"complexity_score":0.666662881866309}
{"id":15952,"query_id":"Q03191","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, hard, artificial surface. The drone can fly over open ground with sparse vegetation, paved lanes, liquid surfaces, cultivated fields, and even vertical structures, but it must avoid areas with dense, tall vegetation that could entangle its rotors. The priority is to minimize the risk of collision, loss of control, or damage to the aircraft.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks.","end_land_type":"The destination is a flat, hard, artificial surface.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":133,"start_point":[685,865],"end_point":[314,49],"distance":896.3799417657671},{"start_region_id":14,"end_region_id":137,"start_point":[685,865],"end_point":[109,245],"distance":846.271823943111},{"start_region_id":1,"end_region_id":133,"start_point":[656,707],"end_point":[314,49],"distance":741.5713047307049},{"start_region_id":1,"end_region_id":137,"start_point":[656,707],"end_point":[109,245],"distance":715.997905024868},{"start_region_id":14,"end_region_id":138,"start_point":[685,865],"end_point":[392,249],"distance":682.1326850400881}],"complexity_score":0.666662881866309}
{"id":17710,"query_id":"Q03542","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a dry, sandy expanse with no vegetation as quickly as possible. The drone can fly over open areas with low vegetation, hard paved surfaces, and water bodies, but must avoid dense tree canopies and solid structures like buildings due to collision risk. Which path allows the drone to travel at maximum speed?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a dry, sandy expanse with no vegetation","task_description":"Which path allows the drone to travel at maximum speed?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ngaoundere_10.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":365,"end_region_id":14,"start_point":[35,110],"end_point":[685,865],"distance":996.2554893198833},{"start_region_id":365,"end_region_id":1,"start_point":[35,110],"end_point":[656,707],"distance":861.4232409216737},{"start_region_id":373,"end_region_id":14,"start_point":[144,270],"end_point":[685,865],"distance":804.180328035945},{"start_region_id":364,"end_region_id":14,"start_point":[634,65],"end_point":[685,865],"distance":801.6239766873244},{"start_region_id":380,"end_region_id":14,"start_point":[48,515],"end_point":[685,865],"distance":726.8211609467628}],"complexity_score":0.666662881866309}
{"id":10207,"query_id":"Q02042","question":"An off-road vehicle starts from a paved street and needs to reach a grassy meadow. The available terrain includes firm, compacted surfaces, loose sandy areas, and vegetated patches with low bushes. You cannot drive through wooded areas, across water, or into any buildings. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved street","end_land_type":"grassy meadow","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_52.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":21,"start_point":[60,954],"end_point":[965,322],"distance":1103.8337737177642},{"start_region_id":167,"end_region_id":40,"start_point":[60,954],"end_point":[917,569],"distance":939.5073176936942},{"start_region_id":167,"end_region_id":54,"start_point":[60,954],"end_point":[899,770],"distance":858.9394623604157},{"start_region_id":167,"end_region_id":56,"start_point":[60,954],"end_point":[797,927],"distance":737.4944067584513},{"start_region_id":167,"end_region_id":49,"start_point":[60,954],"end_point":[724,671],"distance":721.7929065874782}],"complexity_score":0.6668881765631415}
{"id":12734,"query_id":"Q02547","question":"A hiker starts from a paved road and needs to reach a flat, hard-surfaced area like a sidewalk or parking lot. The terrain includes soft, grassy fields that are dry and firm enough to walk on, cultivated fields with even soil, and the paved road and hard surface at the start and end. You must avoid any water bodies, buildings, bare rocky or sandy ground, and wooded areas. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"chisinau_52.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":67,"start_point":[60,954],"end_point":[790,132],"distance":1099.356175222571},{"start_region_id":167,"end_region_id":66,"start_point":[60,954],"end_point":[714,145],"distance":1040.286979635908},{"start_region_id":167,"end_region_id":139,"start_point":[60,954],"end_point":[828,670],"distance":818.8284313578761},{"start_region_id":165,"end_region_id":65,"start_point":[815,208],"end_point":[361,494],"distance":536.5743191767567},{"start_region_id":167,"end_region_id":65,"start_point":[60,954],"end_point":[361,494],"distance":549.7281146166712}],"complexity_score":0.6668881765631415}
{"id":14797,"query_id":"Q02960","question":"A hiker starts from a paved lane and needs to reach a grassy area. The terrain includes loose, sandy ground and areas with scattered trees. You cannot cross any water bodies or enter any structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved lane","end_land_type":"grassy area","task_description":"What is the shortest path from the paved lane to the grassy area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"chisinau_52.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":7,"start_point":[60,954],"end_point":[985,68],"distance":1280.8672843038814},{"start_region_id":167,"end_region_id":6,"start_point":[60,954],"end_point":[934,30],"distance":1271.8694901600556},{"start_region_id":167,"end_region_id":21,"start_point":[60,954],"end_point":[965,322],"distance":1103.8337737177642},{"start_region_id":167,"end_region_id":40,"start_point":[60,954],"end_point":[917,569],"distance":939.5073176936942},{"start_region_id":167,"end_region_id":54,"start_point":[60,954],"end_point":[899,770],"distance":858.9394623604157}],"complexity_score":0.6668881765631415}
{"id":4882,"query_id":"Q00977","question":"A delivery van is starting from a paved loading dock and needs to reach another paved delivery bay as quickly as possible. The area includes hard, smooth surfaces suitable for high-speed travel, as well as cultivated fields that are currently dry and firm enough to support vehicle weight, allowing for traversal. All other terrain types, such as loose soil, dense vegetation, liquid bodies, and vertical structures, are impassable for the van.","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved area","end_land_type":"paved area","task_description":"What is the fastest path for the delivery van to take?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"santiago_10.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":78,"start_point":[375,878],"end_point":[809,118],"distance":875.1891224186919},{"start_region_id":78,"end_region_id":109,"start_point":[809,118],"end_point":[375,878],"distance":875.1891224186919},{"start_region_id":95,"end_region_id":78,"start_point":[81,360],"end_point":[809,118],"distance":767.1688210557048},{"start_region_id":78,"end_region_id":95,"start_point":[809,118],"end_point":[81,360],"distance":767.1688210557048},{"start_region_id":113,"end_region_id":78,"start_point":[517,731],"end_point":[809,118],"distance":678.9941089582442}],"complexity_score":0.6668906860895045}
{"id":8718,"query_id":"Q01744","question":"A quadcopter drone is deployed from a flat, paved surface and must reach another flat, paved surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock; overgrown grassy and shrubby terrain; all paved and hard-packed surfaces including vehicle lanes; and open liquid bodies. However, it must avoid any areas with tall, dense vertical obstacles like trees or structures, as these require careful navigation and slow flight. Given these constraints, what is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, paved surface","end_land_type":"another flat, paved surface","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"santiago_10.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":110,"start_point":[81,360],"end_point":[995,658],"distance":961.3532129243653},{"start_region_id":110,"end_region_id":95,"start_point":[995,658],"end_point":[81,360],"distance":961.3532129243653},{"start_region_id":95,"end_region_id":128,"start_point":[81,360],"end_point":[807,912],"distance":912.0197366285447},{"start_region_id":128,"end_region_id":95,"start_point":[807,912],"end_point":[81,360],"distance":912.0197366285447},{"start_region_id":107,"end_region_id":95,"start_point":[854,726],"end_point":[81,360],"distance":855.2689635430482}],"complexity_score":0.6668906860895045}
{"id":9766,"query_id":"Q01954","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, paved or compacted surfaces, liquid bodies, cultivated fields, and vertical structures, but must avoid dense vegetation due to collision risk. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"santiago_10.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":67,"start_point":[61,133],"end_point":[1003,900],"distance":1214.7645862470638},{"start_region_id":145,"end_region_id":11,"start_point":[5,697],"end_point":[1001,233],"distance":1098.7775024999373},{"start_region_id":145,"end_region_id":4,"start_point":[5,697],"end_point":[907,94],"distance":1084.9944700319904},{"start_region_id":145,"end_region_id":67,"start_point":[5,697],"end_point":[1003,900],"distance":1018.4365468697596},{"start_region_id":137,"end_region_id":72,"start_point":[61,133],"end_point":[615,992],"distance":1022.1531196449972}],"complexity_score":0.6668906860895045}
{"id":13154,"query_id":"Q02631","question":"A hiker starts from a paved, hard surface and needs to reach a cluster of tall, leafy vegetation. The hiker can traverse areas with soft, grassy ground, paved surfaces, vehicle lanes, tall vegetation, and cultivated fields, but must avoid any liquid surfaces or vertical structures. The hiker seeks the path that minimizes risk of slips, falls, or unstable footing.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved, hard surface","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"santiago_10.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":167,"start_point":[66,967],"end_point":[945,196],"distance":1169.2228187988806},{"start_region_id":128,"end_region_id":149,"start_point":[807,912],"end_point":[56,46],"distance":1146.2796342952272},{"start_region_id":110,"end_region_id":149,"start_point":[995,658],"end_point":[56,46],"distance":1120.8322800490714},{"start_region_id":130,"end_region_id":187,"start_point":[66,967],"end_point":[942,317],"distance":1090.814374676095},{"start_region_id":95,"end_region_id":254,"start_point":[81,360],"end_point":[951,963],"distance":1058.5409770056142}],"complexity_score":0.6668906860895045}
{"id":5857,"query_id":"Q01172","question":"A quadcopter drone starts from a flat artificial surface and needs to reach an area with vertical obstacles like tall vegetation. The flat surfaces allow stable flight, while areas with vertical obstacles require careful maneuvering to avoid collisions. Water surfaces may cause signal interference and are to be avoided. All other terrain types are inaccessible. What is the most comfortable route to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat artificial surface","end_land_type":"area with vertical obstacles like tall vegetation","task_description":"What is the most comfortable route to take?","task_type":"Comfort","input_classes":["Developed space","Road","Tree"],"traverse_vector":[0,0,1,1,1,0,0,0],"cost_vector":[0,0,2,2,1,0,0,0],"image_name":"christchurch_34.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":516,"start_point":[112,143],"end_point":[870,920],"distance":1085.4920543237522},{"start_region_id":211,"end_region_id":516,"start_point":[18,250],"end_point":[870,920],"distance":1083.8837576050303},{"start_region_id":211,"end_region_id":458,"start_point":[18,250],"end_point":[928,770],"distance":1048.0935072788116},{"start_region_id":270,"end_region_id":343,"start_point":[970,915],"end_point":[165,297],"distance":1014.8640303015966},{"start_region_id":195,"end_region_id":516,"start_point":[235,88],"end_point":[870,920],"distance":1046.636995333148}],"complexity_score":0.6669009649822241}
{"id":10769,"query_id":"Q02154","question":"A quadcopter drone is positioned on a vegetated area with tall, upright structures and needs to reach another similar vegetated area with tall, upright structures. The drone must avoid any built structures and liquid surfaces entirely, as they pose collision or signal interference risks. The drone can traverse open, dry ground with loose soil or rocks, areas covered with low vegetation or bushes, and the vegetated upright structures themselves, though flying through these structures requires careful navigation to avoid entanglement. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, upright structures","end_land_type":"another vegetated area with tall, upright structures","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"christchurch_34.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":342,"end_region_id":458,"start_point":[798,260],"end_point":[928,770],"distance":526.3078946776307},{"start_region_id":458,"end_region_id":342,"start_point":[928,770],"end_point":[798,260],"distance":526.3078946776307},{"start_region_id":370,"end_region_id":458,"start_point":[914,401],"end_point":[928,770],"distance":369.2654871498283},{"start_region_id":458,"end_region_id":370,"start_point":[928,770],"end_point":[914,401],"distance":369.2654871498283},{"start_region_id":343,"end_region_id":393,"start_point":[165,297],"end_point":[224,500],"distance":211.4000946073582}],"complexity_score":0.6669009649822241}
{"id":15541,"query_id":"Q03109","question":"A quadcopter drone is on a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over solid ground, loose soil, vegetated fields, hard artificial surfaces, liquid surfaces, and vertical structures, but must avoid dense clusters of tall vegetation that could entangle its rotors. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, vegetated area","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"christchurch_34.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":23,"start_point":[696,756],"end_point":[286,102],"distance":771.8911840408595},{"start_region_id":294,"end_region_id":7,"start_point":[696,756],"end_point":[492,23],"distance":760.8580682361198},{"start_region_id":294,"end_region_id":15,"start_point":[696,756],"end_point":[964,83],"distance":724.3983710638781},{"start_region_id":290,"end_region_id":156,"start_point":[501,307],"end_point":[954,847],"distance":704.8467918633098},{"start_region_id":294,"end_region_id":133,"start_point":[696,756],"end_point":[22,650],"distance":682.2843981801137}],"complexity_score":0.6669009649822241}
{"id":12301,"query_id":"Q02461","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane or street. The drone can fly over hard surfaces, unpaved vegetated ground, and cultivated plots, but must avoid tall, dense vegetation and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane or street","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"palu_56.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":210,"start_point":[307,934],"end_point":[713,37],"distance":984.6039813041587},{"start_region_id":205,"end_region_id":210,"start_point":[831,967],"end_point":[713,37],"distance":937.4561323070003},{"start_region_id":181,"end_region_id":210,"start_point":[329,860],"end_point":[713,37],"distance":908.1767449125748},{"start_region_id":151,"end_region_id":210,"start_point":[322,739],"end_point":[713,37],"distance":803.5452694154823},{"start_region_id":165,"end_region_id":210,"start_point":[728,813],"end_point":[713,37],"distance":776.1449606871129}],"complexity_score":0.6669675277300244}
{"id":15425,"query_id":"Q03085","question":"An aerial surveillance drone starts from a paved, hard surface and needs to return to another paved, hard surface while minimizing risk. The drone can fly over areas with soft, grassy vegetation, other paved surfaces, liquid bodies, and cultivated fields with planted crops. The drone must avoid any vertical structures or dense vegetation that could cause collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_56.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":205,"start_point":[91,143],"end_point":[831,967],"distance":1107.5089164426622},{"start_region_id":205,"end_region_id":79,"start_point":[831,967],"end_point":[91,143],"distance":1107.5089164426622},{"start_region_id":88,"end_region_id":205,"start_point":[160,244],"end_point":[831,967],"distance":986.3924168402756},{"start_region_id":205,"end_region_id":88,"start_point":[831,967],"end_point":[160,244],"distance":986.3924168402756},{"start_region_id":165,"end_region_id":79,"start_point":[728,813],"end_point":[91,143],"distance":924.4830988179286}],"complexity_score":0.6669675277300244}
{"id":16490,"query_id":"Q03298","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a hard, paved surface used by vehicles. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated crop fields. However, it must avoid densely packed vertical obstacles that could obstruct flight. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"hard, paved surface used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_56.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":210,"start_point":[968,984],"end_point":[713,37],"distance":980.7313597514867},{"start_region_id":56,"end_region_id":210,"start_point":[491,836],"end_point":[713,37],"distance":829.2677492824619},{"start_region_id":15,"end_region_id":208,"start_point":[898,71],"end_point":[307,620],"distance":806.6486223877159},{"start_region_id":53,"end_region_id":210,"start_point":[263,665],"end_point":[713,37],"distance":772.5826816593807},{"start_region_id":69,"end_region_id":208,"start_point":[968,984],"end_point":[307,620],"distance":754.5972435677194}],"complexity_score":0.6669675277300244}
{"id":13863,"query_id":"Q02773","question":"An off-road vehicle is positioned on uneven ground covered with grass and shrubs and must reach a hard, paved surface. The vehicle can drive across loose, sandy or rocky terrain, as well as cultivated fields with soft soil. However, the vehicle cannot pass through areas with dense vegetation or trees, cross any water bodies, or enter any structures. What is the safest route for the off-road vehicle?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"uneven ground covered with grass and shrubs","end_land_type":"a hard, paved surface","task_description":"What is the safest route for the off-road vehicle?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"mexico_city_9.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":509,"start_point":[51,210],"end_point":[917,985],"distance":1162.144999559005},{"start_region_id":47,"end_region_id":500,"start_point":[51,210],"end_point":[855,860],"distance":1033.8839393278145},{"start_region_id":13,"end_region_id":509,"start_point":[486,59],"end_point":[917,985],"distance":1021.389739521599},{"start_region_id":7,"end_region_id":509,"start_point":[737,62],"end_point":[917,985],"distance":940.3876860104028},{"start_region_id":125,"end_region_id":509,"start_point":[187,418],"end_point":[917,985],"distance":924.3316504372227}],"complexity_score":0.6670376765292102}
{"id":17617,"query_id":"Q03524","question":"A quadcopter starts from a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes areas with loose, uneven ground covered in natural vegetation, hard, smooth surfaces designed for vehicle movement, dense clusters of tall plants that obstruct movement, and cultivated fields with soft, tilled soil. You must avoid any built structures, water bodies, and bare rocky or sandy surfaces. Tall vegetation can be flown through but slows movement, while built structures and water are accessible but not preferred. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"wooded area with tall vegetation","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,2,2,1,0,2,0],"image_name":"mexico_city_9.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":742,"start_point":[51,210],"end_point":[967,945],"distance":1174.4279458527883},{"start_region_id":12,"end_region_id":742,"start_point":[257,51],"end_point":[967,945],"distance":1141.6374205499749},{"start_region_id":350,"end_region_id":532,"start_point":[721,908],"end_point":[53,36],"distance":1098.457099754014},{"start_region_id":111,"end_region_id":742,"start_point":[83,348],"end_point":[967,945],"distance":1066.7075512997928},{"start_region_id":270,"end_region_id":532,"start_point":[897,667],"end_point":[53,36],"distance":1053.8012146510366}],"complexity_score":0.6670376765292102}
{"id":1394,"query_id":"Q00279","question":"A quadcopter starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes grassy expanses with low vegetation and cultivated fields with soft soil. The drone can fly over these surfaces, but must avoid densely packed vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path for the quadcopter to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"austin_24.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":99,"start_point":[941,5],"end_point":[160,757],"distance":1084.1886367233333}],"complexity_score":0.6670885087868144}
{"id":15117,"query_id":"Q03024","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy field. The drone can fly over grassy areas, paved surfaces, and liquid surfaces, but must avoid vertical obstacles like tall vegetation or structures. The drone cannot fly through dense vertical obstacles. What is the shortest path to the grassy field?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy field","task_description":"What is the shortest path to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"austin_24.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":63,"start_point":[78,35],"end_point":[956,918],"distance":1245.220060872776},{"start_region_id":78,"end_region_id":52,"start_point":[976,102],"end_point":[31,810],"distance":1180.8001524390145},{"start_region_id":74,"end_region_id":68,"start_point":[78,35],"end_point":[752,954],"distance":1139.6653017443323},{"start_region_id":82,"end_region_id":63,"start_point":[97,193],"end_point":[956,918],"distance":1124.0578276939314},{"start_region_id":77,"end_region_id":52,"start_point":[820,28],"end_point":[31,810],"distance":1110.8757806343606}],"complexity_score":0.6670885087868144}
{"id":1351,"query_id":"Q00271","question":"An aerial photography drone starts from a paved surface and needs to return to another paved surface while maintaining stable flight for clear image capture. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, other paved or compacted artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid areas with tall vertical obstacles that could cause turbulence and sudden movements, and it should minimize flying directly over liquid surfaces where downdrafts or spray might affect stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the aerial photography drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_47.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":176,"start_point":[994,242],"end_point":[793,157],"distance":218.23381956058049}],"complexity_score":0.6671393980938591}
{"id":1573,"query_id":"Q00315","question":"A surveillance drone starts from a paved road surface and needs to reach a flat, hard, artificial surface such as a paved area or tennis court. The drone can fly over loose, sandy or rocky ground without vegetation, areas with natural grass or shrubs, flat, stable paved surfaces, shallow, calm water bodies, and wooded areas with trees, but must avoid vertical structures or buildings. The goal is to minimize risk during the flight.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved road surface","end_land_type":"a flat, hard, artificial surface such as a paved area or tennis court","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"chicago_21.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":82,"start_point":[286,154],"end_point":[871,928],"distance":970.2066790122608},{"start_region_id":103,"end_region_id":62,"start_point":[612,853],"end_point":[184,148],"distance":824.7478402517947},{"start_region_id":87,"end_region_id":83,"start_point":[286,154],"end_point":[549,932],"distance":821.2508751897924},{"start_region_id":87,"end_region_id":78,"start_point":[286,154],"end_point":[906,649],"distance":793.3630946798571},{"start_region_id":103,"end_region_id":55,"start_point":[612,853],"end_point":[94,273],"distance":777.6400195463194}],"complexity_score":0.6672053781712319}
{"id":5763,"query_id":"Q01153","question":"A quadcopter drone starts from a vegetated area with grass and shrubs and needs to reach a flat, hard surface like a paved courtyard. The drone requires a path that ensures stable flight and minimizes turbulence or obstacles that could cause discomfort from sudden movements. Only areas clear of dense vertical obstacles and with stable air conditions are allowed for travel, avoiding liquid surfaces and tall structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with grass and shrubs","end_land_type":"a flat, hard surface like a paved courtyard","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chicago_21.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":82,"start_point":[242,67],"end_point":[871,928],"distance":1066.2842022650434},{"start_region_id":2,"end_region_id":83,"start_point":[242,67],"end_point":[549,932],"distance":917.8638243225407},{"start_region_id":2,"end_region_id":78,"start_point":[242,67],"end_point":[906,649],"distance":882.9609277878608},{"start_region_id":2,"end_region_id":85,"start_point":[242,67],"end_point":[188,925],"distance":859.6976212599404},{"start_region_id":20,"end_region_id":82,"start_point":[423,313],"end_point":[871,928],"distance":760.8738397395458}],"complexity_score":0.6672053781712319}
{"id":15431,"query_id":"Q03087","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over liquid surfaces and cultivated fields with crops, but must avoid areas with tall, dense vegetation or vertical structures. Which path minimizes risk?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open field","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_21.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":2,"start_point":[871,928],"end_point":[242,67],"distance":1066.2842022650434},{"start_region_id":83,"end_region_id":2,"start_point":[549,932],"end_point":[242,67],"distance":917.8638243225407},{"start_region_id":78,"end_region_id":2,"start_point":[906,649],"end_point":[242,67],"distance":882.9609277878608},{"start_region_id":85,"end_region_id":2,"start_point":[188,925],"end_point":[242,67],"distance":859.6976212599404},{"start_region_id":82,"end_region_id":20,"start_point":[871,928],"end_point":[423,313],"distance":760.8738397395458}],"complexity_score":0.6672053781712319}
{"id":4326,"query_id":"Q00866","question":"An aerial survey drone starts from a densely vegetated area with tall, leafy structures and needs to reach a cultivated field with rows of low-growing plants. The aerial survey drone must fly over surfaces that are either solid and open, such as paved or compacted areas, or natural expanses like loose soil and sand, but it can also pass through areas with tall vegetation if necessary, though these may slow it down. The drone cannot enter any vertical structures or liquid surfaces. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a cultivated field with rows of low-growing plants","task_description":"What is the fastest route for the aerial survey drone to travel from the densely vegetated area to the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"lima_27.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":372,"start_point":[794,934],"end_point":[50,42],"distance":1161.5506876585282},{"start_region_id":338,"end_region_id":372,"start_point":[689,928],"end_point":[50,42],"distance":1092.3904979447598},{"start_region_id":253,"end_region_id":372,"start_point":[985,353],"end_point":[50,42],"distance":985.3659218787709},{"start_region_id":291,"end_region_id":372,"start_point":[835,589],"end_point":[50,42],"distance":956.7831520255778},{"start_region_id":338,"end_region_id":373,"start_point":[689,928],"end_point":[842,58],"distance":883.3510061125193}],"complexity_score":0.667280663090945}
{"id":4622,"query_id":"Q00925","question":"A delivery van is currently parked on a paved parking lot and needs to reach a cultivated field. The vehicle requires hard, stable surfaces to maintain high speeds, but can also traverse firm, level agricultural terrain if necessary. What is the fastest route?","agent_category":"Car","specific_agent":"Delivery van","start_land_type":"paved parking lot","end_land_type":"cultivated field","task_description":"What is the fastest route from the paved parking lot to the cultivated field?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"lima_27.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":373,"start_point":[85,888],"end_point":[842,58],"distance":1123.3650341718849},{"start_region_id":172,"end_region_id":374,"start_point":[85,888],"end_point":[803,91],"distance":1072.722238046737},{"start_region_id":177,"end_region_id":373,"start_point":[421,922],"end_point":[842,58],"distance":961.1123763639713},{"start_region_id":177,"end_region_id":372,"start_point":[421,922],"end_point":[50,42],"distance":955.008376926611},{"start_region_id":138,"end_region_id":372,"start_point":[965,160],"end_point":[50,42],"distance":922.5773680293702}],"complexity_score":0.667280663090945}
{"id":7821,"query_id":"Q01565","question":"An aerial delivery drone starts from a cultivated field with soft, tilled soil and needs to reach a paved roadway. The drone can fly over open sandy or rocky ground, hard artificial surfaces like parking lots and sports fields, liquid bodies, and cultivated areas. However, it must avoid flying through dense vegetation or near vertical structures. The drone's priority is to maintain stable flight with minimal turbulence for the safety of its cargo.","agent_category":"Drone","specific_agent":"Aerial delivery drone","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"lima_27.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":373,"end_region_id":194,"start_point":[842,58],"end_point":[434,582],"distance":664.1084248825639},{"start_region_id":374,"end_region_id":194,"start_point":[803,91],"end_point":[434,582],"distance":614.2002930640786},{"start_region_id":372,"end_region_id":194,"start_point":[50,42],"end_point":[434,582],"distance":662.6130092293691},{"start_region_id":378,"end_region_id":194,"start_point":[627,581],"end_point":[434,582],"distance":193.00259065618783}],"complexity_score":0.667280663090945}
{"id":7957,"query_id":"Q01592","question":"A hiker with a heavy backpack starts from a cultivated field with soft, uneven soil and needs to reach a paved, stable area. The terrain includes loose, rocky ground without vegetation; smooth, hard surfaces like sidewalks and parking lots; vehicle lanes with asphalt or concrete; areas with tall, dense vegetation that obstructs movement; and planted crop fields. You can only traverse loose rocky ground, smooth hard surfaces, vehicle lanes, tall vegetation areas, and planted fields. The tall vegetation areas are passable because the vegetation is sparse enough to walk through without significant obstruction. What is the most comfortable path to reach the paved area?","agent_category":"Pedestrian","specific_agent":"A hiker with a heavy backpack","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the most comfortable path to reach the paved area?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,5,4,1,0,3,0],"image_name":"lima_27.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":372,"end_region_id":168,"start_point":[50,42],"end_point":[994,763],"distance":1187.8455286778665},{"start_region_id":372,"end_region_id":191,"start_point":[50,42],"end_point":[698,998],"distance":1154.919910643158},{"start_region_id":373,"end_region_id":172,"start_point":[842,58],"end_point":[85,888],"distance":1123.3650341718849},{"start_region_id":374,"end_region_id":172,"start_point":[803,91],"end_point":[85,888],"distance":1072.722238046737},{"start_region_id":372,"end_region_id":164,"start_point":[50,42],"end_point":[904,661],"distance":1054.7402523844437}],"complexity_score":0.667280663090945}
{"id":1660,"query_id":"Q00332","question":"An aerial survey drone starts from a grassy, open field and needs to reach another grassy, open field. The terrain includes areas of loose, dry soil and rocks; patches of low vegetation and shrubs; hard, paved surfaces used by vehicles; bodies of liquid; and cultivated fields with crops. The drone can fly over most surfaces, but must avoid dense clusters of tall vegetation with vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the shortest path from the starting grassy field to the destination grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"palu_63.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":36,"start_point":[960,139],"end_point":[318,922],"distance":1012.5477766505638},{"start_region_id":36,"end_region_id":4,"start_point":[318,922],"end_point":[960,139],"distance":1012.5477766505638},{"start_region_id":4,"end_region_id":33,"start_point":[960,139],"end_point":[231,833],"distance":1006.5172626438158},{"start_region_id":33,"end_region_id":4,"start_point":[231,833],"end_point":[960,139],"distance":1006.5172626438158},{"start_region_id":1,"end_region_id":34,"start_point":[461,117],"end_point":[1008,922],"distance":973.2594720833699}],"complexity_score":0.6673575870806205}
{"id":2738,"query_id":"Q00548","question":"A family sedan starts from a paved lane and needs to reach another paved lane. The vehicle must stay on hard, smooth surfaces designed for wheeled traffic to maintain stability and control. All other surfaces—including loose soil, vegetation, water bodies, and vertical structures—are prohibited due to safety risks. What is the safest route?","agent_category":"Car","specific_agent":"family sedan","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the safest route from the starting paved lane to the destination paved lane?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"palu_63.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":97,"start_point":[244,440],"end_point":[825,281],"distance":602.3636775238028},{"start_region_id":97,"end_region_id":96,"start_point":[825,281],"end_point":[244,440],"distance":602.3636775238028}],"complexity_score":0.6673575870806205}
{"id":5778,"query_id":"Q01156","question":"An aerial drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The only traversable surfaces are paved, hard-surfaced areas and vehicle lanes. All other surfaces—including loose soil, vegetation, water bodies, and structures—are impassable.","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to reach the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"palu_63.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":97,"start_point":[76,862],"end_point":[825,281],"distance":947.9251025265656},{"start_region_id":91,"end_region_id":97,"start_point":[207,951],"end_point":[825,281],"distance":911.4954744813602},{"start_region_id":80,"end_region_id":97,"start_point":[192,790],"end_point":[825,281],"distance":812.2622729143586},{"start_region_id":53,"end_region_id":97,"start_point":[94,312],"end_point":[825,281],"distance":731.6570234747973},{"start_region_id":45,"end_region_id":97,"start_point":[130,87],"end_point":[825,281],"distance":721.5684305732894}],"complexity_score":0.6673575870806205}
{"id":10693,"query_id":"Q02139","question":"A pedestrian is standing on a paved street and wants to walk to a nearby flat, hard-surfaced area like a sidewalk or a paved courtyard. The pedestrian prefers surfaces that are smooth and stable to avoid tripping or discomfort, and must avoid any ground that is loose, soft, or uneven. Which route should the pedestrian take to reach the destination while maximizing walking comfort?","agent_category":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which route should the pedestrian take to reach the destination while maximizing walking comfort?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"palu_63.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":78,"start_point":[825,281],"end_point":[76,862],"distance":947.9251025265656},{"start_region_id":97,"end_region_id":91,"start_point":[825,281],"end_point":[207,951],"distance":911.4954744813602},{"start_region_id":97,"end_region_id":80,"start_point":[825,281],"end_point":[192,790],"distance":812.2622729143586},{"start_region_id":97,"end_region_id":53,"start_point":[825,281],"end_point":[94,312],"distance":731.6570234747973},{"start_region_id":97,"end_region_id":45,"start_point":[825,281],"end_point":[130,87],"distance":721.5684305732894}],"complexity_score":0.6673575870806205}
{"id":5417,"query_id":"Q01084","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes only hard, flat surfaces and soft, grassy ground with low vegetation; all other surfaces like loose soil, water bodies, vertical structures, and dense tree cover are impassable. The grassy areas are dry and firm enough to walk on without sinking. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"mahe_9.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":61,"start_point":[157,964],"end_point":[829,122],"distance":1077.2873340014723},{"start_region_id":61,"end_region_id":98,"start_point":[829,122],"end_point":[157,964],"distance":1077.2873340014723},{"start_region_id":98,"end_region_id":74,"start_point":[157,964],"end_point":[928,306],"distance":1013.6098855082265},{"start_region_id":74,"end_region_id":98,"start_point":[928,306],"end_point":[157,964],"distance":1013.6098855082265},{"start_region_id":85,"end_region_id":56,"start_point":[751,803],"end_point":[69,104],"distance":976.5884496552271}],"complexity_score":0.6673619327633419}
{"id":9170,"query_id":"Q01834","question":"A rally car is positioned on a paved, hard surface area and needs to reach a grassy, open field as quickly as possible. The vehicle can travel across compacted, dry earth surfaces, grassy or shrub-covered terrain, and cultivated fields with low crops, as these conditions provide sufficient traction and clearance for off-road capability. However, the vehicle cannot enter areas with dense vertical obstacles like trees or structures, nor can it cross liquid bodies. What is the fastest path?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a paved, hard surface area","end_land_type":"a grassy, open field","task_description":"What is the fastest path from the paved, hard surface area to the grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"bielefeld_42.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":89,"start_point":[909,63],"end_point":[55,841],"distance":1155.2488909321662},{"start_region_id":115,"end_region_id":93,"start_point":[909,63],"end_point":[220,944],"distance":1118.428361586025},{"start_region_id":108,"end_region_id":106,"start_point":[146,144],"end_point":[869,980],"distance":1105.27145986857},{"start_region_id":115,"end_region_id":75,"start_point":[909,63],"end_point":[91,742],"distance":1063.0921879122243},{"start_region_id":108,"end_region_id":87,"start_point":[146,144],"end_point":[934,857],"distance":1062.6913945261813}],"complexity_score":0.667440293941722}
{"id":13458,"query_id":"Q02692","question":"A quadcopter drone starts from a paved, hard surface and needs to return to another paved, hard surface while prioritizing safety. The drone can fly over loose, sandy or rocky ground, grassy or shrub-covered areas, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. Which path minimizes risk?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_42.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":207,"start_point":[146,144],"end_point":[822,909],"distance":1020.8824614028787},{"start_region_id":207,"end_region_id":108,"start_point":[822,909],"end_point":[146,144],"distance":1020.8824614028787},{"start_region_id":181,"end_region_id":115,"start_point":[359,702],"end_point":[909,63],"distance":843.1020104352735},{"start_region_id":115,"end_region_id":181,"start_point":[909,63],"end_point":[359,702],"distance":843.1020104352735},{"start_region_id":207,"end_region_id":115,"start_point":[822,909],"end_point":[909,63],"distance":850.4616393465375}],"complexity_score":0.667440293941722}
{"id":17849,"query_id":"Q03570","question":"A quadcopter drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard surface used by vehicles. The drone can fly over most terrain types, including grassy areas, cultivated fields, liquid surfaces, and paved areas, but it must avoid dense vertical obstacles like trees and buildings to prevent collisions and ensure stable flight. The goal is to find a path that maximizes flight comfort by prioritizing open, unobstructed areas that provide smooth airflow and minimal turbulence, while avoiding rough or hazardous surfaces.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, open field with low vegetation","end_land_type":"A paved, hard surface used by vehicles","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_42.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":218,"start_point":[887,104],"end_point":[181,702],"distance":925.2242971301607},{"start_region_id":26,"end_region_id":218,"start_point":[890,277],"end_point":[181,702],"distance":826.6232515481282},{"start_region_id":14,"end_region_id":218,"start_point":[766,138],"end_point":[181,702],"distance":812.6013782907337},{"start_region_id":40,"end_region_id":218,"start_point":[928,412],"end_point":[181,702],"distance":801.3170408770801},{"start_region_id":87,"end_region_id":218,"start_point":[934,857],"end_point":[181,702],"distance":768.7873568159143}],"complexity_score":0.667440293941722}
{"id":17944,"query_id":"Q03589","question":"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; grassy or bushy areas that are not cultivated; paved lanes used by vehicles; individual or clustered tall vegetation with distinct height and shadow; and cultivated fields with crops. You must avoid any built structures and water bodies entirely. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_42.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":89,"start_point":[887,104],"end_point":[55,841],"distance":1111.4823435394735},{"start_region_id":89,"end_region_id":8,"start_point":[55,841],"end_point":[887,104],"distance":1111.4823435394735},{"start_region_id":3,"end_region_id":106,"start_point":[296,60],"end_point":[869,980],"distance":1083.8491592468022},{"start_region_id":106,"end_region_id":3,"start_point":[869,980],"end_point":[296,60],"distance":1083.8491592468022},{"start_region_id":1,"end_region_id":106,"start_point":[115,215],"end_point":[869,980],"distance":1074.1233634922946}],"complexity_score":0.667440293941722}
{"id":451,"query_id":"Q00091","question":"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 would physically block its movement. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"duesseldorf_53.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":402,"end_region_id":196,"start_point":[780,65],"end_point":[748,933],"distance":868.5896614627646},{"start_region_id":403,"end_region_id":196,"start_point":[793,173],"end_point":[748,933],"distance":761.331071216721},{"start_region_id":402,"end_region_id":195,"start_point":[780,65],"end_point":[444,471],"distance":527.0028462921239},{"start_region_id":403,"end_region_id":195,"start_point":[793,173],"end_point":[444,471],"distance":458.9172038614373}],"complexity_score":0.6674761562132833}
{"id":3420,"query_id":"Q00684","question":"A quadcopter drone starts from a grassy, uneven area and needs to reach another grassy, uneven area while prioritizing a comfortable flight. The drone can fly over both grassy, uneven terrain and loose, rocky ground, but must avoid all trees, buildings, water bodies, paved surfaces, roads, and agricultural fields. The loose, rocky ground is traversable because the drone can fly at a safe altitude above it. Trees and buildings are not allowed because the drone operator wants to avoid obstacles that require complex maneuvering. Water bodies, paved surfaces, roads, and agricultural fields are not accessible in this scenario. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland"],"traverse_vector":[1,1,0,0,0,0,0,0],"cost_vector":[1,1,0,0,0,0,0,0],"image_name":"duesseldorf_53.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":63,"start_point":[426,376],"end_point":[565,534],"distance":210.440015206234},{"start_region_id":63,"end_region_id":44,"start_point":[565,534],"end_point":[426,376],"distance":210.440015206234}],"complexity_score":0.6674761562132833}
{"id":7169,"query_id":"Q01434","question":"A quadcopter drone is on a flat, artificial surface and must fly to a planted agricultural area. The drone can fly over open ground, grassy areas, paved zones, and the agricultural field. It can also fly near vertical structures and over liquid surfaces, but must avoid dense clusters of tall vegetation. What is the safest route for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"a planted agricultural area","task_description":"What is the safest route for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"duesseldorf_53.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":402,"start_point":[169,786],"end_point":[780,65],"distance":945.07248399263},{"start_region_id":171,"end_region_id":403,"start_point":[169,786],"end_point":[793,173],"distance":874.7256712821454},{"start_region_id":146,"end_region_id":402,"start_point":[142,420],"end_point":[780,65],"distance":730.1157442488143},{"start_region_id":183,"end_region_id":402,"start_point":[729,801],"end_point":[780,65],"distance":737.7648676915973},{"start_region_id":146,"end_region_id":403,"start_point":[142,420],"end_point":[793,173],"distance":696.282988446508}],"complexity_score":0.6674761562132833}
{"id":17245,"query_id":"Q03449","question":"A quadcopter starts from a concrete surface and needs to reach an asphalt lane. You can fly over hard surfaces, grassy or shrub-covered areas, and vehicle lanes. However, you must avoid flying through any dense tree canopies or building interiors. What is the shortest path to the asphalt lane?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"concrete surface","end_land_type":"asphalt lane","task_description":"What is the shortest path to the asphalt lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"duesseldorf_53.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":196,"start_point":[101,172],"end_point":[748,933],"distance":998.8643551553935},{"start_region_id":128,"end_region_id":196,"start_point":[382,79],"end_point":[748,933],"distance":929.1243189153968},{"start_region_id":146,"end_region_id":196,"start_point":[142,420],"end_point":[748,933],"distance":793.9804783494365},{"start_region_id":131,"end_region_id":196,"start_point":[491,136],"end_point":[748,933],"distance":837.4114878600603},{"start_region_id":147,"end_region_id":196,"start_point":[215,347],"end_point":[748,933],"distance":792.1395079151147}],"complexity_score":0.6674761562132833}
{"id":5174,"query_id":"Q01035","question":"A quadcopter drone starts from a paved lane and needs to reach a cultivated field while prioritizing safety. The drone is permitted to fly over cultivated fields because the crops are low. The drone must avoid flying near trees or vertical structures due to collision risk, and should minimize flight over liquid surfaces due to splash risk. The drone can fly over hard, paved surfaces; firm, cultivated ground; and open, solid terrain.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a cultivated field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"abancay_45.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":334,"start_point":[104,139],"end_point":[593,752],"distance":784.1492204931405},{"start_region_id":219,"end_region_id":333,"start_point":[858,701],"end_point":[251,293],"distance":731.377467522756},{"start_region_id":217,"end_region_id":333,"start_point":[814,245],"end_point":[251,293],"distance":565.0424762794387},{"start_region_id":217,"end_region_id":334,"start_point":[814,245],"end_point":[593,752],"distance":553.0732320407488},{"start_region_id":218,"end_region_id":334,"start_point":[603,212],"end_point":[593,752],"distance":540.0925846556311}],"complexity_score":0.6675055902130445}
{"id":9495,"query_id":"Q01899","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The drone can fly over open, dry ground composed of loose earth and rocks, and also over liquid surfaces, but must avoid any areas with tall, dense vertical obstacles that could obstruct its flight path. Which route allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with soft, tilled soil","task_description":"Which route allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"abancay_45.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":334,"start_point":[104,139],"end_point":[593,752],"distance":784.1492204931405},{"start_region_id":219,"end_region_id":333,"start_point":[858,701],"end_point":[251,293],"distance":731.377467522756},{"start_region_id":217,"end_region_id":333,"start_point":[814,245],"end_point":[251,293],"distance":565.0424762794387},{"start_region_id":217,"end_region_id":334,"start_point":[814,245],"end_point":[593,752],"distance":553.0732320407488},{"start_region_id":218,"end_region_id":334,"start_point":[603,212],"end_point":[593,752],"distance":540.0925846556311}],"complexity_score":0.6675055902130445}
{"id":12632,"query_id":"Q02527","question":"An agricultural drone starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field with similar loose soil and crop rows. The drone can fly over areas with soft, grassy vegetation and bushes, hard, paved surfaces like sidewalks and parking lots, vehicle lanes and streets, and loose, sandy or rocky ground. The drone can also fly over cultivated areas with loose soil. The drone must avoid flying through dense tree canopies or close to structures, as these pose collision risks.","agent_category":"Drone","specific_agent":"An agricultural drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"another cultivated field with similar loose soil and crop rows","task_description":"What is the fastest path for the agricultural drone to reach the destination field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"abancay_45.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":333,"end_region_id":334,"start_point":[251,293],"end_point":[593,752],"distance":572.4028301816825},{"start_region_id":334,"end_region_id":333,"start_point":[593,752],"end_point":[251,293],"distance":572.4028301816825}],"complexity_score":0.6675055902130445}
{"id":14691,"query_id":"Q02939","question":"An agricultural monitoring drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field with planted crops. The drone can fly over loose, dry soil areas without vegetation, but must avoid flying through areas with tall trees or buildings that could obstruct its path. What is the shortest possible route?","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A cultivated field with planted crops","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"abancay_45.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":334,"start_point":[104,139],"end_point":[593,752],"distance":784.1492204931405},{"start_region_id":219,"end_region_id":333,"start_point":[858,701],"end_point":[251,293],"distance":731.377467522756},{"start_region_id":217,"end_region_id":333,"start_point":[814,245],"end_point":[251,293],"distance":565.0424762794387},{"start_region_id":217,"end_region_id":334,"start_point":[814,245],"end_point":[593,752],"distance":553.0732320407488},{"start_region_id":218,"end_region_id":334,"start_point":[603,212],"end_point":[593,752],"distance":540.0925846556311}],"complexity_score":0.6675055902130445}
{"id":8862,"query_id":"Q01773","question":"An aerial surveillance drone starts from a paved lane and needs to reach a paved area. The drone can fly over dry, loose ground; grassy or shrubby vegetation; paved surfaces; and water bodies. However, it cannot fly through dense vegetation or near vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mexico_city_3.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":414,"end_region_id":320,"start_point":[113,705],"end_point":[946,47],"distance":1061.5333249597018},{"start_region_id":420,"end_region_id":326,"start_point":[737,918],"end_point":[105,123],"distance":1015.602776679938},{"start_region_id":415,"end_region_id":320,"start_point":[285,734],"end_point":[946,47],"distance":953.3572258078291},{"start_region_id":420,"end_region_id":320,"start_point":[737,918],"end_point":[946,47],"distance":895.7242879368629},{"start_region_id":415,"end_region_id":326,"start_point":[285,734],"end_point":[105,123],"distance":636.9623222766006}],"complexity_score":0.6675685465378031}
{"id":13784,"query_id":"Q02757","question":"An off-road vehicle is starting from a grassy, open field and needs to reach another grassy, open field. The terrain includes patches of loose sand and gravel, as well as flat, paved areas like parking lots and compacted soil paths. The nearby cultivated fields are dry and firm enough for vehicle passage. The vehicle cannot drive through wooded areas, cross any water, or go through buildings. What is the safest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"mexico_city_3.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":59,"start_point":[905,904],"end_point":[186,196],"distance":1009.0713552569016},{"start_region_id":59,"end_region_id":253,"start_point":[186,196],"end_point":[905,904],"distance":1009.0713552569016},{"start_region_id":205,"end_region_id":138,"start_point":[51,741],"end_point":[995,478],"distance":979.9515294135725},{"start_region_id":138,"end_region_id":205,"start_point":[995,478],"end_point":[51,741],"distance":979.9515294135725},{"start_region_id":57,"end_region_id":205,"start_point":[833,177],"end_point":[51,741],"distance":964.168035147401}],"complexity_score":0.6675685465378031}
{"id":17664,"query_id":"Q03533","question":"An aerial surveillance drone is positioned on a paved, hard surface and needs to reach an open grassy area. The drone can fly over liquid surfaces and cultivated fields, but must avoid dense vertical obstacles and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open grassy area","task_description":"What is the shortest path for the aerial surveillance drone to travel from the paved, hard surface to the open grassy area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mexico_city_3.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":414,"end_region_id":138,"start_point":[113,705],"end_point":[995,478],"distance":910.7431031855251},{"start_region_id":420,"end_region_id":59,"start_point":[737,918],"end_point":[186,196],"distance":908.2317986065011},{"start_region_id":414,"end_region_id":57,"start_point":[113,705],"end_point":[833,177],"distance":892.8516114114371},{"start_region_id":420,"end_region_id":5,"start_point":[737,918],"end_point":[380,104],"distance":888.844755848849},{"start_region_id":414,"end_region_id":10,"start_point":[113,705],"end_point":[762,125],"distance":870.4027803264418}],"complexity_score":0.6675685465378031}
{"id":5674,"query_id":"Q01135","question":"A person walking starts from a paved road surface and needs to reach a paved sidewalk or parking lot. The terrain consists of hard, smooth surfaces that are stable and predictable for walking. Other surfaces like loose soil, vegetation, or water are not allowed due to potential unevenness or instability. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a person walking","start_land_type":"a paved road surface","end_land_type":"a paved sidewalk or parking lot","task_description":"What is the most comfortable path from the paved road surface to the paved sidewalk or parking lot?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"vegas_47.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":20,"start_point":[365,239],"end_point":[564,105],"distance":239.91039994131143},{"start_region_id":39,"end_region_id":35,"start_point":[365,239],"end_point":[376,579],"distance":340.177894637497},{"start_region_id":39,"end_region_id":29,"start_point":[365,239],"end_point":[596,310],"distance":241.66505746590673}],"complexity_score":0.6676842086429348}
{"id":7498,"query_id":"Q01500","question":"An aerial surveillance drone starts from a location with tall vertical structures that provide overhead cover and needs to reach a flat, hard, artificial surface designed for vehicle movement. The drone must avoid any liquid areas that could cause signal interference or corrosion, and must steer clear of loose, unconsolidated ground that could create dust clouds obscuring sensors. The drone can fly over the tall vertical structures only if they are sparse enough to navigate between without collision risk. The objective is to find the path that minimizes risk of damage or signal loss.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall vertical structures that provide overhead cover.","end_land_type":"The destination is a flat, hard, artificial surface designed for vehicle movement.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[0,1,1,1,1,0,1,1],"cost_vector":[0,2,2,2,1,0,2,1],"image_name":"vegas_47.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":39,"start_point":[32,148],"end_point":[365,239],"distance":345.21008096520006},{"start_region_id":60,"end_region_id":39,"start_point":[51,234],"end_point":[365,239],"distance":314.0398063940302},{"start_region_id":46,"end_region_id":37,"start_point":[387,69],"end_point":[66,13],"distance":325.84812413147324},{"start_region_id":57,"end_region_id":37,"start_point":[292,190],"end_point":[66,13],"distance":287.06271091871196},{"start_region_id":46,"end_region_id":39,"start_point":[387,69],"end_point":[365,239],"distance":171.41761869772895}],"complexity_score":0.6676842086429348}
{"id":10537,"query_id":"Q02108","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy canopies, an aerial surveillance drone must navigate to another densely vegetated area with tall, leafy canopies. The drone can fly over open, solid ground with loose soil and rocks; grassy or shrub-covered terrain; flat, hard surfaces like pavements or parking lots; and bodies of water. However, vertical structures and buildings are strictly off-limits due to collision risks. The drone's priority is to avoid any terrain that could cause instability, signal interference, or unexpected obstacles.","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy canopies","end_land_type":"another densely vegetated area with tall, leafy canopies","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"vegas_47.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":60,"start_point":[387,69],"end_point":[51,234],"distance":374.3273968065923},{"start_region_id":60,"end_region_id":46,"start_point":[51,234],"end_point":[387,69],"distance":374.3273968065923},{"start_region_id":46,"end_region_id":52,"start_point":[387,69],"end_point":[32,148],"distance":363.68392870733237},{"start_region_id":52,"end_region_id":46,"start_point":[32,148],"end_point":[387,69],"distance":363.68392870733237},{"start_region_id":57,"end_region_id":52,"start_point":[292,190],"end_point":[32,148],"distance":263.3704615176121}],"complexity_score":0.6676842086429348}
{"id":16621,"query_id":"Q03325","question":"An aerial surveillance drone starts from a vegetated area with tall, distinct vertical structures that provide overhead cover and needs to reach another similar vegetated area with tall, distinct vertical structures. The drone must maintain a safe flight path. The terrain includes open grassy areas with scattered low vegetation, hard paved surfaces designed for vehicle traffic, liquid surfaces that are calm and reflective, cultivated fields with organized rows of low crops, and additional vegetated areas with tall vertical structures. The drone can fly over all these terrain types, but must exercise caution around tall vertical structures due to collision risk, and should avoid flying directly over liquid surfaces or near tall vertical structures unless necessary for safety reasons, as these present higher operational risks.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A vegetated area with tall, distinct vertical structures that provide overhead cover.","end_land_type":"Another vegetated area with tall, distinct vertical structures that provide overhead cover.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"vegas_47.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":60,"start_point":[387,69],"end_point":[51,234],"distance":374.3273968065923},{"start_region_id":60,"end_region_id":46,"start_point":[51,234],"end_point":[387,69],"distance":374.3273968065923},{"start_region_id":46,"end_region_id":52,"start_point":[387,69],"end_point":[32,148],"distance":363.68392870733237},{"start_region_id":52,"end_region_id":46,"start_point":[32,148],"end_point":[387,69],"distance":363.68392870733237},{"start_region_id":57,"end_region_id":52,"start_point":[292,190],"end_point":[32,148],"distance":263.3704615176121}],"complexity_score":0.6676842086429348}
{"id":2795,"query_id":"Q00559","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The drone can fly over hard surfaces, loose sandy or rocky terrain without vegetation, and cultivated land with crops. All other terrain types are accessible except areas with trees or structures, which are blocked due to flight restrictions. What is the shortest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"soriano_6.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":194,"start_point":[889,769],"end_point":[5,19],"distance":1159.2911627369544}],"complexity_score":0.6679060800616982}
{"id":5740,"query_id":"Q01148","question":"A passenger vehicle starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists of smooth, stable surfaces like streets and parking lots, which provide a comfortable ride. You must avoid any rough, uneven, or soft ground, such as loose soil, vegetation, or liquid areas, as these could cause vibration or discomfort. What is the most comfortable path to take?","agent_category":"Car","specific_agent":"A passenger vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"soriano_6.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":180,"start_point":[943,90],"end_point":[80,925],"distance":1200.830545913952},{"start_region_id":180,"end_region_id":74,"start_point":[80,925],"end_point":[943,90],"distance":1200.830545913952},{"start_region_id":74,"end_region_id":161,"start_point":[943,90],"end_point":[190,766],"distance":1011.9214396384731},{"start_region_id":161,"end_region_id":74,"start_point":[190,766],"end_point":[943,90],"distance":1011.9214396384731},{"start_region_id":70,"end_region_id":180,"start_point":[522,55],"end_point":[80,925],"distance":975.8401508443891}],"complexity_score":0.6679060800616982}
{"id":12323,"query_id":"Q02465","question":"A quadcopter drone starts from a paved lane and needs to reach a paved parking lot. The drone can fly over areas with hard surfaces, soft vegetated ground, and cultivated soil. However. The drone must avoid flying through any areas with dense vertical obstacles. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"soriano_6.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":180,"start_point":[540,509],"end_point":[80,925],"distance":620.206417251547},{"start_region_id":194,"end_region_id":68,"start_point":[540,509],"end_point":[66,147],"distance":596.4226689186117},{"start_region_id":194,"end_region_id":74,"start_point":[540,509],"end_point":[943,90],"distance":581.3518727930615},{"start_region_id":194,"end_region_id":82,"start_point":[540,509],"end_point":[63,245],"distance":545.1834553615874},{"start_region_id":194,"end_region_id":75,"start_point":[540,509],"end_point":[299,78],"distance":493.8036046851015}],"complexity_score":0.6679060800616982}
{"id":8376,"query_id":"Q01676","question":"An aerial survey drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over loose, dry soil without vegetation, overgrown grassy areas, and open water bodies. It must maintain maximum speed throughout the flight. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the fastest path for the aerial survey drone to reach the hard, flat artificial surface from the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"melbourne_66.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":68,"start_point":[983,35],"end_point":[43,537],"distance":1065.6472211759387},{"start_region_id":99,"end_region_id":93,"start_point":[983,35],"end_point":[582,972],"distance":1019.2006671897345},{"start_region_id":102,"end_region_id":69,"start_point":[21,260],"end_point":[993,574],"distance":1021.4597397841973},{"start_region_id":110,"end_region_id":47,"start_point":[834,767],"end_point":[102,113],"distance":981.6007334960585},{"start_region_id":99,"end_region_id":72,"start_point":[983,35],"end_point":[300,737],"distance":979.4350412355074}],"complexity_score":0.6680760965773546}
{"id":5913,"query_id":"Q01183","question":"A delivery van starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The van must travel only on surfaces that are smooth and durable, like streets or parking lots, to achieve high speed. Surfaces that are unpaved, loose, or covered with obstacles like trees or water are prohibited because they would reduce speed or cause damage. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"panama_city_32.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":147,"start_point":[570,888],"end_point":[120,832],"distance":453.47105751084047},{"start_region_id":147,"end_region_id":151,"start_point":[120,832],"end_point":[570,888],"distance":453.47105751084047},{"start_region_id":155,"end_region_id":147,"start_point":[475,981],"end_point":[120,832],"distance":385.0012986991083},{"start_region_id":147,"end_region_id":155,"start_point":[120,832],"end_point":[475,981],"distance":385.0012986991083},{"start_region_id":149,"end_region_id":147,"start_point":[478,878],"end_point":[120,832],"distance":360.9432088293115}],"complexity_score":0.6682041663597953}
{"id":7036,"query_id":"Q01408","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable sensor readings. The drone can fly over loose, sandy or rocky ground, cultivated fields with low vegetation, and areas with scattered trees, but must avoid flying directly through dense tree canopies as they cause turbulence and instability. The drone cannot fly over liquid surfaces or solid vertical structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"panama_city_32.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":102,"start_point":[120,832],"end_point":[992,142],"distance":1111.9730212554618},{"start_region_id":102,"end_region_id":147,"start_point":[992,142],"end_point":[120,832],"distance":1111.9730212554618},{"start_region_id":138,"end_region_id":102,"start_point":[110,646],"end_point":[992,142],"distance":1015.8444762856172},{"start_region_id":102,"end_region_id":138,"start_point":[992,142],"end_point":[110,646],"distance":1015.8444762856172},{"start_region_id":155,"end_region_id":102,"start_point":[475,981],"end_point":[992,142],"distance":985.4998731608239}],"complexity_score":0.6682041663597953}
{"id":4079,"query_id":"Q00816","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a cultivated crop field with rows of plants. The terrain consists of areas with herbaceous vegetation and bushes, patches of tall woody plants with distinct vertical structures, and cultivated plots with organized rows of crops. You must find a path that minimizes the total travel distance.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"cultivated crop field with rows of plants","task_description":"What is the shortest path from the grassy starting point to the cultivated destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"duesseldorf_43.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":637,"start_point":[849,852],"end_point":[101,72],"distance":1080.696071983238},{"start_region_id":107,"end_region_id":637,"start_point":[957,604],"end_point":[101,72],"distance":1007.8491950683892},{"start_region_id":144,"end_region_id":638,"start_point":[849,852],"end_point":[174,208],"distance":932.9314015510465},{"start_region_id":171,"end_region_id":637,"start_point":[300,963],"end_point":[101,72],"distance":912.9523536307905},{"start_region_id":1,"end_region_id":639,"start_point":[310,32],"end_point":[586,871],"distance":883.23100036174}],"complexity_score":0.6683596704930399}
{"id":2238,"query_id":"Q00448","question":"A quadcopter drone starts from a paved roadway and needs to reach a paved courtyard. The terrain includes open, solid surfaces; cultivated fields with low vegetation; and wooded areas with gaps between trees. You must avoid any liquid surfaces and cannot fly through dense vertical structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved roadway","end_land_type":"paved courtyard","task_description":"What is the most comfortable route from the paved roadway to the paved courtyard?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"little_rock_48.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":34,"start_point":[97,893],"end_point":[961,22],"distance":1226.8402503993746},{"start_region_id":80,"end_region_id":39,"start_point":[97,893],"end_point":[865,111],"distance":1096.0602173238476},{"start_region_id":80,"end_region_id":38,"start_point":[97,893],"end_point":[726,106],"distance":1007.4770468849403},{"start_region_id":77,"end_region_id":40,"start_point":[35,76],"end_point":[877,715],"distance":1057.01702919111},{"start_region_id":80,"end_region_id":31,"start_point":[97,893],"end_point":[429,34],"distance":920.9261642498817}],"complexity_score":0.668374254072559}
{"id":2244,"query_id":"Q00449","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over hard, flat surfaces like parking lots and streets, as well as cultivated fields with low vegetation. It can also cross over liquid areas. However, the drone cannot pass through dense vertical obstacles like trees or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_48.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":77,"start_point":[97,893],"end_point":[35,76],"distance":819.3491319333901},{"start_region_id":77,"end_region_id":80,"start_point":[35,76],"end_point":[97,893],"distance":819.3491319333901},{"start_region_id":78,"end_region_id":80,"start_point":[561,389],"end_point":[97,893],"distance":685.0635007063214},{"start_region_id":80,"end_region_id":78,"start_point":[97,893],"end_point":[561,389],"distance":685.0635007063214},{"start_region_id":78,"end_region_id":77,"start_point":[561,389],"end_point":[35,76],"distance":612.0825107777546}],"complexity_score":0.668374254072559}
{"id":6175,"query_id":"Q01235","question":"An aerial survey drone is positioned on a grassy, open field with scattered low shrubs. It needs to reach a flat, hard-surfaced area composed of artificial materials like concrete or asphalt. The drone can fly over most surfaces, including loose sandy or rocky ground, grassy or shrubby terrain, all paved and compacted surfaces, bodies of liquid, and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles like trees. What is the shortest possible flight path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest possible flight path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_48.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":35,"start_point":[848,876],"end_point":[202,20],"distance":1072.4047743273059},{"start_region_id":27,"end_region_id":34,"start_point":[384,923],"end_point":[961,22],"distance":1069.9205577985686},{"start_region_id":17,"end_region_id":34,"start_point":[37,503],"end_point":[961,22],"distance":1041.6990928286345},{"start_region_id":24,"end_region_id":46,"start_point":[848,876],"end_point":[13,299],"distance":1014.9650240279219},{"start_region_id":24,"end_region_id":43,"start_point":[848,876],"end_point":[96,221],"distance":997.2607482499249}],"complexity_score":0.668374254072559}
{"id":6588,"query_id":"Q01318","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over most surfaces, but areas with tall, dense vertical obstacles require careful navigation to avoid collisions, making them riskier. The paved lane is open and hazard-free. What is the safest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the safest path for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"little_rock_48.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":77,"start_point":[97,893],"end_point":[35,76],"distance":819.3491319333901},{"start_region_id":77,"end_region_id":80,"start_point":[35,76],"end_point":[97,893],"distance":819.3491319333901},{"start_region_id":78,"end_region_id":80,"start_point":[561,389],"end_point":[97,893],"distance":685.0635007063214},{"start_region_id":80,"end_region_id":78,"start_point":[97,893],"end_point":[561,389],"distance":685.0635007063214},{"start_region_id":78,"end_region_id":77,"start_point":[561,389],"end_point":[35,76],"distance":612.0825107777546}],"complexity_score":0.668374254072559}
{"id":706,"query_id":"Q00142","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, hard, paved surface as quickly as possible. The drone can fly over most surfaces, but must navigate carefully around tall vertical obstacles like individual trees or groups of trees. The drone cannot land on or pass through liquid surfaces like rivers or lakes, but can fly over them. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, hard, paved surface","task_description":"What is the fastest route for the aerial survey drone to reach the flat, hard, paved surface from the grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"shanghai_28.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":29,"start_point":[566,628],"end_point":[70,296],"distance":596.858442178713},{"start_region_id":24,"end_region_id":28,"start_point":[566,628],"end_point":[310,97],"distance":589.4887615552989},{"start_region_id":18,"end_region_id":28,"start_point":[479,589],"end_point":[310,97],"distance":520.2163011671203},{"start_region_id":10,"end_region_id":29,"start_point":[564,422],"end_point":[70,296],"distance":509.8156529570272},{"start_region_id":17,"end_region_id":44,"start_point":[114,549],"end_point":[582,354],"distance":507.0}],"complexity_score":0.6683750095126836}
{"id":4834,"query_id":"Q00967","question":"A standard passenger vehicle starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. Your vehicle can drive on paved, hard surfaces, on vehicle lanes with hard surfaces, and across cultivated fields with soft, tilled soil. The cultivated fields are currently dry and compacted enough to support vehicle weight without getting stuck. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"A standard passenger vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"shanghai_28.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":44,"start_point":[70,296],"end_point":[582,354],"distance":515.2746840278494},{"start_region_id":44,"end_region_id":29,"start_point":[582,354],"end_point":[70,296],"distance":515.2746840278494},{"start_region_id":29,"end_region_id":47,"start_point":[70,296],"end_point":[448,490],"distance":424.87645263064417},{"start_region_id":47,"end_region_id":29,"start_point":[448,490],"end_point":[70,296],"distance":424.87645263064417},{"start_region_id":37,"end_region_id":44,"start_point":[176,456],"end_point":[582,354],"distance":418.6167698504206}],"complexity_score":0.6683750095126836}
{"id":8754,"query_id":"Q01751","question":"A quadcopter is hovering above grassy, uneven terrain with scattered bushes and needs to reach a position above a paved lane used by vehicles. The drone can fly over soft, loose ground composed of sand or rocks, grassy areas with bushes, and paved lanes, but must avoid flying through any dense tree canopies or buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven terrain with scattered bushes","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"shanghai_28.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":54,"start_point":[325,198],"end_point":[500,611],"distance":448.5465416208222},{"start_region_id":17,"end_region_id":54,"start_point":[114,549],"end_point":[500,611],"distance":390.9475668168303},{"start_region_id":24,"end_region_id":53,"start_point":[566,628],"end_point":[308,388],"distance":352.36912464062453},{"start_region_id":5,"end_region_id":54,"start_point":[429,309],"end_point":[500,611],"distance":310.2337828154761},{"start_region_id":18,"end_region_id":53,"start_point":[479,589],"end_point":[308,388],"distance":263.89770745499095}],"complexity_score":0.6683750095126836}
{"id":13213,"query_id":"Q02643","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while prioritizing a smooth and stable flight. You can traverse areas with hard surfaces, loose sandy ground, open grassy areas, cultivated fields, and liquid surfaces. However, you must avoid areas with dense vertical obstacles and solid vertical structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"shanghai_28.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":44,"start_point":[70,296],"end_point":[582,354],"distance":515.2746840278494},{"start_region_id":44,"end_region_id":29,"start_point":[582,354],"end_point":[70,296],"distance":515.2746840278494},{"start_region_id":29,"end_region_id":47,"start_point":[70,296],"end_point":[448,490],"distance":424.87645263064417},{"start_region_id":47,"end_region_id":29,"start_point":[448,490],"end_point":[70,296],"distance":424.87645263064417},{"start_region_id":37,"end_region_id":44,"start_point":[176,456],"end_point":[582,354],"distance":418.6167698504206}],"complexity_score":0.6683750095126836}
{"id":17503,"query_id":"Q03501","question":"A hiker is standing on a paved, hard surface and needs to reach an area of low, uncultivated vegetation as quickly as possible. The hiker can walk on loose, sandy or rocky ground; low, uncultivated vegetation; paved, hard surfaces; and cultivated fields with crops, but must avoid tall, vertical obstacles with branches and leaves due to obstruction, and cannot traverse liquid surfaces or solid vertical structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard surface","end_land_type":"an area of low, uncultivated vegetation","task_description":"What is the fastest path for the hiker to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"shanghai_28.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":2,"start_point":[500,611],"end_point":[325,198],"distance":448.5465416208222},{"start_region_id":54,"end_region_id":17,"start_point":[500,611],"end_point":[114,549],"distance":390.9475668168303},{"start_region_id":53,"end_region_id":24,"start_point":[308,388],"end_point":[566,628],"distance":352.36912464062453},{"start_region_id":54,"end_region_id":5,"start_point":[500,611],"end_point":[429,309],"distance":310.2337828154761},{"start_region_id":53,"end_region_id":18,"start_point":[308,388],"end_point":[479,589],"distance":263.89770745499095}],"complexity_score":0.6683750095126836}
{"id":733,"query_id":"Q00147","question":"An off-road vehicle starts from a hard, paved surface and needs to reach another hard, paved surface. The terrain includes firm, compacted surfaces suitable for driving, areas with low vegetation and shrubs that the vehicle can traverse, and cultivated fields with soft soil that are accessible. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a hard, paved surface","end_land_type":"another hard, paved surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"wielkopolskie_19.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":84,"start_point":[44,117],"end_point":[956,793],"distance":1135.218040730502},{"start_region_id":84,"end_region_id":55,"start_point":[956,793],"end_point":[44,117],"distance":1135.218040730502},{"start_region_id":84,"end_region_id":56,"start_point":[956,793],"end_point":[119,56],"distance":1115.23002111672},{"start_region_id":56,"end_region_id":84,"start_point":[119,56],"end_point":[956,793],"distance":1115.23002111672},{"start_region_id":55,"end_region_id":83,"start_point":[44,117],"end_point":[903,748],"distance":1065.852710274736}],"complexity_score":0.6684618562804001}
{"id":4881,"query_id":"Q00977","question":"A delivery van is starting from a paved loading dock and needs to reach another paved delivery bay as quickly as possible. The area includes hard, smooth surfaces suitable for high-speed travel, as well as cultivated fields that are currently dry and firm enough to support vehicle weight, allowing for traversal. All other terrain types, such as loose soil, dense vegetation, liquid bodies, and vertical structures, are impassable for the van.","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved area","end_land_type":"paved area","task_description":"What is the fastest path for the delivery van to take?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"wielkopolskie_19.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":58,"start_point":[482,468],"end_point":[321,647],"distance":240.75298544358697},{"start_region_id":58,"end_region_id":59,"start_point":[321,647],"end_point":[482,468],"distance":240.75298544358697}],"complexity_score":0.6684618562804001}
{"id":8717,"query_id":"Q01744","question":"A quadcopter drone is deployed from a flat, paved surface and must reach another flat, paved surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock; overgrown grassy and shrubby terrain; all paved and hard-packed surfaces including vehicle lanes; and open liquid bodies. However, it must avoid any areas with tall, dense vertical obstacles like trees or structures, as these require careful navigation and slow flight. Given these constraints, what is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, paved surface","end_land_type":"another flat, paved surface","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"wielkopolskie_19.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":84,"start_point":[44,117],"end_point":[956,793],"distance":1135.218040730502},{"start_region_id":84,"end_region_id":55,"start_point":[956,793],"end_point":[44,117],"distance":1135.218040730502},{"start_region_id":84,"end_region_id":56,"start_point":[956,793],"end_point":[119,56],"distance":1115.23002111672},{"start_region_id":56,"end_region_id":84,"start_point":[119,56],"end_point":[956,793],"distance":1115.23002111672},{"start_region_id":55,"end_region_id":83,"start_point":[44,117],"end_point":[903,748],"distance":1065.852710274736}],"complexity_score":0.6684618562804001}
{"id":13163,"query_id":"Q02633","question":"A quadcopter drone is on a grassy, uneven field and needs to reach another grassy, uneven field. The operator wants to maximize flight comfort by avoiding turbulent areas. The drone can fly over grassy fields, cultivated fields, paved areas, vehicle lanes, and wooded areas without issue. The drone can also fly near structures, but must maintain a safe distance. The drone cannot land on or traverse any liquid surfaces, as moisture could damage it.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, uneven field","end_land_type":"Another grassy, uneven field","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"wielkopolskie_19.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":52,"start_point":[901,252],"end_point":[118,1000],"distance":1082.8633339438545},{"start_region_id":52,"end_region_id":5,"start_point":[118,1000],"end_point":[901,252],"distance":1082.8633339438545},{"start_region_id":52,"end_region_id":28,"start_point":[118,1000],"end_point":[966,611],"distance":932.9657014060056},{"start_region_id":28,"end_region_id":52,"start_point":[966,611],"end_point":[118,1000],"distance":932.9657014060056},{"start_region_id":3,"end_region_id":52,"start_point":[553,170],"end_point":[118,1000],"distance":937.0832406995656}],"complexity_score":0.6684618562804001}
{"id":13504,"query_id":"Q02701","question":"An aerial photography drone starts from a grassy, vegetated area and needs to reach a paved, hard surface while maintaining stable flight. The drone can fly over loose, sandy or rocky ground, grassy or shrubby terrain, paved areas, and liquid surfaces, but must avoid flying through dense vertical obstacles like tall vegetation or structures. The flight path should prioritize smooth, predictable surfaces to minimize vibration and ensure stable camera operation.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"grassy, vegetated area","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_33.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":232,"start_point":[35,944],"end_point":[956,177],"distance":1198.5532946014541},{"start_region_id":190,"end_region_id":214,"start_point":[35,944],"end_point":[823,43],"distance":1196.973266201046},{"start_region_id":7,"end_region_id":346,"start_point":[935,49],"end_point":[234,891],"distance":1095.6117012883717},{"start_region_id":1,"end_region_id":353,"start_point":[83,14],"end_point":[654,944],"distance":1091.3024328755068},{"start_region_id":190,"end_region_id":230,"start_point":[35,944],"end_point":[776,178],"distance":1065.7565388023665}],"complexity_score":0.6684733214304275}
{"id":17918,"query_id":"Q03584","question":"A hiker starts from a paved road surface and needs to reach a grassy field with scattered shrubs. The hiker can traverse loose sandy or rocky ground, grassy areas with bushes, cultivated crop fields, and wooded areas with individual trees, but cannot cross water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"grassy field with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_33.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":361,"end_region_id":195,"start_point":[120,343],"end_point":[949,957],"distance":1031.6186310841813},{"start_region_id":361,"end_region_id":7,"start_point":[120,343],"end_point":[935,49],"distance":866.4069482639206},{"start_region_id":361,"end_region_id":143,"start_point":[120,343],"end_point":[953,723],"distance":915.5812361554817},{"start_region_id":362,"end_region_id":1,"start_point":[701,543],"end_point":[83,14],"distance":813.4893975953221},{"start_region_id":361,"end_region_id":57,"start_point":[120,343],"end_point":[938,325],"distance":818.1980200416034}],"complexity_score":0.6684733214304275}
{"id":17925,"query_id":"Q03585","question":"A hiker starts from a shaded area under a tall, leafy canopy and needs to reach a paved lane used by vehicles. The terrain includes loose, sandy ground; grassy fields with scattered bushes; cultivated fields with crops; and areas with individual trees. The hiker has permission to walk through grassy fields, cultivated areas, and sandy ground, and can pass through wooded spots when necessary. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"tree","end_land_type":"road","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_33.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":595,"end_region_id":361,"start_point":[880,884],"end_point":[120,343],"distance":932.8885249589042},{"start_region_id":461,"end_region_id":361,"start_point":[886,403],"end_point":[120,343],"distance":768.346276102123},{"start_region_id":371,"end_region_id":361,"start_point":[721,47],"end_point":[120,343],"distance":669.9380568380931},{"start_region_id":562,"end_region_id":362,"start_point":[154,838],"end_point":[701,543],"distance":621.4772723117073},{"start_region_id":538,"end_region_id":362,"start_point":[113,605],"end_point":[701,543],"distance":591.2596722253261}],"complexity_score":0.6684733214304275}
{"id":1612,"query_id":"Q00323","question":"An off-road vehicle starts from a paved road and needs to reach a cultivated field. The vehicle can drive on the road, and is equipped to handle rough, vegetated terrain and loose soil in the field, but must avoid trees, water, and buildings. What is the safest route?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":254,"start_point":[769,297],"end_point":[111,496],"distance":687.4336331603218},{"start_region_id":148,"end_region_id":253,"start_point":[217,134],"end_point":[701,380],"distance":542.9290929762376},{"start_region_id":147,"end_region_id":253,"start_point":[300,33],"end_point":[701,380],"distance":530.292372187268},{"start_region_id":147,"end_region_id":254,"start_point":[300,33],"end_point":[111,496],"distance":500.08999190145767},{"start_region_id":150,"end_region_id":253,"start_point":[499,771],"end_point":[701,380],"distance":440.096580309368}],"complexity_score":0.6685752727735186}
{"id":2157,"query_id":"Q00432","question":"A quadcopter drone starts from a cultivated crop field and needs to reach a paved sports court as quickly as possible. The drone can fly over open areas like fields, paved surfaces, and roads, and can navigate around trees and buildings if necessary, but must minimize time spent maneuvering through dense vegetation. Which flight path allows the drone to travel at maximum speed?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated crop field","end_land_type":"a paved sports court","task_description":"Which flight path allows the drone to travel at maximum speed?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":99,"start_point":[111,496],"end_point":[999,537],"distance":888.9460051094217},{"start_region_id":254,"end_region_id":82,"start_point":[111,496],"end_point":[920,129],"distance":888.3524075500668},{"start_region_id":254,"end_region_id":95,"start_point":[111,496],"end_point":[977,395],"distance":871.8698297337739},{"start_region_id":254,"end_region_id":84,"start_point":[111,496],"end_point":[774,99],"distance":772.7729291324846},{"start_region_id":254,"end_region_id":91,"start_point":[111,496],"end_point":[861,319],"distance":770.6030106351778}],"complexity_score":0.6685752727735186}
{"id":6189,"query_id":"Q01238","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes only firm, stable surfaces and cultivated fields with crops. The hiker can walk on the firm surfaces without restriction, and the cultivated fields are accessible because the crops are low-growing and the soil is dry and firm enough to walk on. All other terrain types are not available for passage.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path the hiker can take?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":130,"start_point":[164,711],"end_point":[582,850],"distance":440.50539156745856},{"start_region_id":130,"end_region_id":107,"start_point":[582,850],"end_point":[164,711],"distance":440.50539156745856},{"start_region_id":132,"end_region_id":130,"start_point":[170,882],"end_point":[582,850],"distance":413.2408498684514},{"start_region_id":130,"end_region_id":132,"start_point":[582,850],"end_point":[170,882],"distance":413.2408498684514},{"start_region_id":90,"end_region_id":91,"start_point":[515,376],"end_point":[861,319],"distance":350.66365651433}],"complexity_score":0.6685752727735186}
{"id":6538,"query_id":"Q01308","question":"An aerial surveillance drone starts from a flat, paved area and needs to reach a vehicle lane. The drone must avoid any vertical obstacles like trees or structures, and should minimize risk by staying away from liquid surfaces that could cause signal interference or damage if contact occurs. The terrain includes expanses of loose, dry soil; areas covered with low, non-cultivated vegetation; flat paved surfaces; vehicle lanes; liquid bodies; and cultivated fields with crops. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, paved area","end_land_type":"A vehicle lane","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":148,"start_point":[999,537],"end_point":[217,134],"distance":879.7346190755483},{"start_region_id":130,"end_region_id":147,"start_point":[582,850],"end_point":[300,33],"distance":864.2991380303465},{"start_region_id":132,"end_region_id":147,"start_point":[170,882],"end_point":[300,33],"distance":858.8952206177422},{"start_region_id":99,"end_region_id":147,"start_point":[999,537],"end_point":[300,33],"distance":861.752284592272},{"start_region_id":132,"end_region_id":149,"start_point":[170,882],"end_point":[769,297],"distance":837.2729542986564}],"complexity_score":0.6685752727735186}
{"id":11281,"query_id":"Q02257","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, paved areas, bodies of water, and agricultural fields. However, it must avoid densely packed vertical obstacles like tall vegetation clusters. The drone's priority is to complete the survey mission as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, vegetated area","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":132,"end_region_id":7,"start_point":[170,882],"end_point":[963,100],"distance":1113.720341917126},{"start_region_id":99,"end_region_id":14,"start_point":[999,537],"end_point":[38,184],"distance":1023.7822034007038},{"start_region_id":107,"end_region_id":7,"start_point":[164,711],"end_point":[963,100],"distance":1005.8439242745368},{"start_region_id":131,"end_region_id":7,"start_point":[375,867],"end_point":[963,100],"distance":966.4538271433354},{"start_region_id":95,"end_region_id":14,"start_point":[977,395],"end_point":[38,184],"distance":962.4146715423659}],"complexity_score":0.6685752727735186}
{"id":11651,"query_id":"Q02331","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, paved surface. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable camera operation. You can traverse areas with loose soil and scattered rocks, as well as open grassy terrain. You can also fly over liquid surfaces, but these may cause turbulence. You can navigate around vertical obstacles like tall vegetation, but these require careful maneuvering. The goal is to find the most comfortable route.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, paved surface","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"lambayeque_49.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":132,"start_point":[963,100],"end_point":[170,882],"distance":1113.720341917126},{"start_region_id":14,"end_region_id":99,"start_point":[38,184],"end_point":[999,537],"distance":1023.7822034007038},{"start_region_id":7,"end_region_id":107,"start_point":[963,100],"end_point":[164,711],"distance":1005.8439242745368},{"start_region_id":7,"end_region_id":131,"start_point":[963,100],"end_point":[375,867],"distance":966.4538271433354},{"start_region_id":14,"end_region_id":95,"start_point":[38,184],"end_point":[977,395],"distance":962.4146715423659}],"complexity_score":0.6685752727735186}
{"id":10492,"query_id":"Q02099","question":"An off-road vehicle starts from a paved, hard-surfaced lane and needs to reach a grassy, open area with low vegetation. The vehicle can traverse hard, compacted surfaces like parking lots and construction sites, as well as loose, sandy or rocky ground and vegetated areas, provided the terrain is firm enough to support the vehicle's weight without sinking or losing traction. The vehicle must avoid any areas with tall, dense vegetation or vertical obstacles. What is the safest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a grassy, open area with low vegetation","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"rotterdam_33.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":2,"start_point":[82,489],"end_point":[826,126],"distance":827.831504594987},{"start_region_id":44,"end_region_id":16,"start_point":[504,61],"end_point":[30,710],"distance":803.664731091268},{"start_region_id":51,"end_region_id":5,"start_point":[82,489],"end_point":[878,411],"distance":799.8124780221924},{"start_region_id":51,"end_region_id":1,"start_point":[82,489],"end_point":[797,134],"distance":798.2793997091494},{"start_region_id":51,"end_region_id":9,"start_point":[82,489],"end_point":[877,533],"distance":796.216679051626}],"complexity_score":0.6685790003171598}
{"id":15327,"query_id":"Q03066","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field. The area contains patches of soft, uneven ground with scattered vegetation, cultivated fields with loose soil, and areas with dense vertical obstacles. You can traverse the grassy areas, cultivated fields, and areas with vertical obstacles, but you cannot cross any liquid surfaces or enter any solid structures. You can also use any hard, paved surfaces that are available. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,1,1,1,1,0,1,0],"image_name":"rotterdam_33.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":16,"start_point":[826,126],"end_point":[30,710],"distance":987.2547796794909},{"start_region_id":16,"end_region_id":2,"start_point":[30,710],"end_point":[826,126],"distance":987.2547796794909},{"start_region_id":16,"end_region_id":1,"start_point":[30,710],"end_point":[797,134],"distance":959.200187656362},{"start_region_id":1,"end_region_id":16,"start_point":[797,134],"end_point":[30,710],"distance":959.200187656362},{"start_region_id":5,"end_region_id":16,"start_point":[878,411],"end_point":[30,710],"distance":899.1690608556324}],"complexity_score":0.6685790003171598}
{"id":16633,"query_id":"Q03327","question":"An aerial surveillance drone starts from an area of open, grassy terrain with scattered low shrubs and needs to reach a long, flat, hard-surfaced strip used for vehicle movement. The drone must avoid tall, dense vertical obstacles that could cause collisions, and should minimize flight over large liquid bodies to reduce the risk of signal interference or loss upon water impact. The drone can traverse cultivated fields with low, uniform vegetation. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of open, grassy terrain with scattered low shrubs.","end_land_type":"The destination is a long, flat, hard-surfaced strip used for vehicle movement.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"rotterdam_33.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":51,"start_point":[826,126],"end_point":[82,489],"distance":827.831504594987},{"start_region_id":16,"end_region_id":44,"start_point":[30,710],"end_point":[504,61],"distance":803.664731091268},{"start_region_id":5,"end_region_id":51,"start_point":[878,411],"end_point":[82,489],"distance":799.8124780221924},{"start_region_id":1,"end_region_id":51,"start_point":[797,134],"end_point":[82,489],"distance":798.2793997091494},{"start_region_id":9,"end_region_id":51,"start_point":[877,533],"end_point":[82,489],"distance":796.216679051626}],"complexity_score":0.6685790003171598}
{"id":4368,"query_id":"Q00874","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over liquid surfaces and hard, flat areas, but cannot pass through dense vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Developed space","Road","Water"],"traverse_vector":[0,0,1,1,0,1,0,0],"cost_vector":[0,0,1,1,0,1,0,0],"image_name":"duesseldorf_22.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":253,"start_point":[662,379],"end_point":[276,928],"distance":671.1162343439473},{"start_region_id":253,"end_region_id":186,"start_point":[276,928],"end_point":[662,379],"distance":671.1162343439473},{"start_region_id":252,"end_region_id":253,"start_point":[932,889],"end_point":[276,928],"distance":657.1582762166204},{"start_region_id":253,"end_region_id":252,"start_point":[276,928],"end_point":[932,889],"distance":657.1582762166204},{"start_region_id":202,"end_region_id":155,"start_point":[453,511],"end_point":[70,64],"distance":588.6408072840346}],"complexity_score":0.6686478920785833}
{"id":4688,"query_id":"Q00938","question":"A quadcopter starts from a densely vegetated area with tall vertical obstacles and needs to reach a hard, paved surface designed for vehicle movement. The terrain includes loose, sandy or rocky ground without vegetation; smooth, artificial surfaces like sidewalks and parking lots; and cultivated fields with planted crops. The tall vertical obstacles can be flown around with careful navigation. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall vertical obstacles","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"duesseldorf_22.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":289,"end_region_id":286,"start_point":[229,24],"end_point":[432,959],"distance":956.7831520255778},{"start_region_id":298,"end_region_id":286,"start_point":[379,124],"end_point":[432,959],"distance":836.6803451737109},{"start_region_id":289,"end_region_id":281,"start_point":[229,24],"end_point":[267,844],"distance":820.880015593022},{"start_region_id":403,"end_region_id":270,"start_point":[48,828],"end_point":[604,322],"distance":751.7792229105563},{"start_region_id":289,"end_region_id":280,"start_point":[229,24],"end_point":[451,780],"distance":787.9213158685327}],"complexity_score":0.6686478920785833}
{"id":9498,"query_id":"Q01900","question":"A hiker is standing on a paved, hard surface and aims to reach a cluster of tall, leafy vegetation. The hiker can walk across loose, sandy ground and cultivated fields with rows of crops, but must avoid areas with standing liquid and vertical structures. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface","end_land_type":"A cluster of tall, leafy vegetation","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"duesseldorf_22.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":286,"end_region_id":289,"start_point":[432,959],"end_point":[229,24],"distance":956.7831520255778},{"start_region_id":286,"end_region_id":298,"start_point":[432,959],"end_point":[379,124],"distance":836.6803451737109},{"start_region_id":281,"end_region_id":289,"start_point":[267,844],"end_point":[229,24],"distance":820.880015593022},{"start_region_id":270,"end_region_id":403,"start_point":[604,322],"end_point":[48,828],"distance":751.7792229105563},{"start_region_id":280,"end_region_id":289,"start_point":[451,780],"end_point":[229,24],"distance":787.9213158685327}],"complexity_score":0.6686478920785833}
{"id":757,"query_id":"Q00152","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The terrain includes areas of soft, grassy ground, cultivated fields, and paved, hard surfaces. The drone can fly over all these areas, but must avoid any dense vegetation or vertical structures that could obstruct its flight path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"niamey_6.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":13,"start_point":[994,919],"end_point":[26,40],"distance":1307.5415863367405},{"start_region_id":13,"end_region_id":174,"start_point":[26,40],"end_point":[994,919],"distance":1307.5415863367405},{"start_region_id":192,"end_region_id":13,"start_point":[872,998],"end_point":[26,40],"distance":1278.076680015718},{"start_region_id":13,"end_region_id":192,"start_point":[26,40],"end_point":[872,998],"distance":1278.076680015718},{"start_region_id":174,"end_region_id":14,"start_point":[994,919],"end_point":[174,24],"distance":1213.8471897236489}],"complexity_score":0.6687186903588782}
{"id":4127,"query_id":"Q00826","question":"An aerial survey drone starts from a paved surface and needs to reach a tall, leafy canopy while prioritizing smooth, stable flight. The drone can traverse open, solid ground; hard, flat surfaces; liquid bodies; and vegetated areas with vertical structures, but must avoid rough, turbulent air near dense foliage. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"a tall, leafy canopy","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"niamey_6.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":393,"start_point":[125,64],"end_point":[848,974],"distance":1162.251693911435},{"start_region_id":234,"end_region_id":393,"start_point":[71,346],"end_point":[848,974],"distance":999.0560544834309},{"start_region_id":232,"end_region_id":400,"start_point":[125,64],"end_point":[219,997],"distance":937.723306738187},{"start_region_id":236,"end_region_id":256,"start_point":[630,784],"end_point":[84,31],"distance":930.1209598756498},{"start_region_id":232,"end_region_id":373,"start_point":[125,64],"end_point":[497,840],"distance":860.5579585362045}],"complexity_score":0.6687186903588782}
{"id":17393,"query_id":"Q03479","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a vertical vegetation structure as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, areas with low herbaceous plants or bushes, the paved surface itself, liquid surfaces, and the vegetation structure destination. However, the vegetation structure presents a conditional obstacle due to potential collision risk with branches and leaves, requiring careful navigation. The drone cannot pass through solid vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"vertical vegetation structure","task_description":"What is the fastest route for the aerial survey drone to reach the vertical vegetation structure from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water"],"traverse_vector":[1,1,1,1,1,1,0,0],"cost_vector":[2,2,2,2,1,2,0,0],"image_name":"niamey_6.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":393,"start_point":[125,64],"end_point":[848,974],"distance":1162.251693911435},{"start_region_id":234,"end_region_id":393,"start_point":[71,346],"end_point":[848,974],"distance":999.0560544834309},{"start_region_id":232,"end_region_id":400,"start_point":[125,64],"end_point":[219,997],"distance":937.723306738187},{"start_region_id":236,"end_region_id":256,"start_point":[630,784],"end_point":[84,31],"distance":930.1209598756498},{"start_region_id":232,"end_region_id":373,"start_point":[125,64],"end_point":[497,840],"distance":860.5579585362045}],"complexity_score":0.6687186903588782}
{"id":4554,"query_id":"Q00911","question":"A hiker starts from a vegetated area with tall, solid vertical obstacles and needs to reach a flat, hard, artificial surface. The terrain includes loose, dry soil without vegetation; smooth, paved surfaces for vehicles; and cultivated fields with soft, tilled soil. You can traverse vegetated areas with solid vertical obstacles only if you carefully navigate around them. What is the fastest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Tree","end_land_type":"Developed space","task_description":"What is the fastest path to your destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,5,4,1,0,3,0],"image_name":"bielefeld_39.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":224,"start_point":[787,90],"end_point":[286,972],"distance":1014.3594037618028},{"start_region_id":373,"end_region_id":97,"start_point":[128,967],"end_point":[473,64],"distance":966.6612643527204},{"start_region_id":246,"end_region_id":194,"start_point":[787,90],"end_point":[269,854],"distance":923.0492944583187},{"start_region_id":365,"end_region_id":97,"start_point":[727,919],"end_point":[473,64],"distance":891.9310511468922},{"start_region_id":278,"end_region_id":224,"start_point":[938,403],"end_point":[286,972],"distance":865.369863122122}],"complexity_score":0.66873850954351}
{"id":7853,"query_id":"Q01571","question":"An aerial surveillance drone is currently positioned on a paved, hard surface and needs to reach a cultivated, vegetated field. The drone can fly over areas of loose, dry soil and sand, other paved or compacted surfaces, vehicle lanes, bodies of liquid, and the cultivated field itself. However, the drone must avoid any tall, vertical structures and dense clusters of tall vegetation to minimize the risk of collision or signal interference. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"cultivated, vegetated field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"bielefeld_39.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":396,"start_point":[286,972],"end_point":[831,347],"distance":829.2466460589394},{"start_region_id":194,"end_region_id":396,"start_point":[269,854],"end_point":[831,347],"distance":756.8969546774515},{"start_region_id":143,"end_region_id":396,"start_point":[622,417],"end_point":[831,347],"distance":220.41097976280582}],"complexity_score":0.66873850954351}
{"id":7944,"query_id":"Q01589","question":"An agricultural monitoring drone is positioned above a dense canopy of tall vegetation and needs to reach a cultivated field with planted crops. The drone can fly through gaps in the vegetation when necessary, but must avoid solid vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"a dense canopy of tall vegetation","end_land_type":"a cultivated field with planted crops","task_description":"What is the fastest route for the agricultural monitoring drone to travel from the dense vegetation canopy to the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"bielefeld_39.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":373,"end_region_id":395,"start_point":[128,967],"end_point":[955,194],"distance":1132.01501756823},{"start_region_id":235,"end_region_id":398,"start_point":[121,88],"end_point":[894,873],"distance":1101.705042195959},{"start_region_id":253,"end_region_id":398,"start_point":[164,209],"end_point":[894,873],"distance":986.811025475496},{"start_region_id":259,"end_region_id":398,"start_point":[155,286],"end_point":[894,873],"distance":943.7637416218108},{"start_region_id":373,"end_region_id":396,"start_point":[128,967],"end_point":[831,347],"distance":937.3414532602301}],"complexity_score":0.66873850954351}
{"id":17825,"query_id":"Q03565","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane. The hiker can walk on paved surfaces and developed areas. Walking on open sandy or rocky terrain is allowed only if it's compacted and stable, walking on grassy or shrub-covered terrain is allowed only if it's dry and clear of obstacles, walking through cultivated fields is allowed only if crops are low and the ground is firm, and walking through areas with tall vertical obstacles like dense vegetation clusters is allowed only if there are clear paths. However, liquid surfaces and vertical structures are completely impassable. What is the safest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"bielefeld_39.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":398,"end_region_id":226,"start_point":[894,873],"end_point":[627,121],"distance":797.9931077396596},{"start_region_id":395,"end_region_id":227,"start_point":[955,194],"end_point":[445,565],"distance":630.6671071175347},{"start_region_id":398,"end_region_id":227,"start_point":[894,873],"end_point":[445,565],"distance":544.4859961468247},{"start_region_id":396,"end_region_id":227,"start_point":[831,347],"end_point":[445,565],"distance":443.30576355378014},{"start_region_id":397,"end_region_id":226,"start_point":[588,538],"end_point":[627,121],"distance":418.81977030699016}],"complexity_score":0.66873850954351}
{"id":7762,"query_id":"Q01553","question":"A surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over hard surfaces, vegetated areas, and cultivated fields without restriction, but must avoid dense tree canopies that could slow it down or cause collisions, and cannot enter buildings or liquid areas as they are hazardous. What is the fastest route?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the fastest route for the surveillance drone to travel from the starting paved lane to the destination paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_59.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":260,"end_region_id":262,"start_point":[730,659],"end_point":[162,746],"distance":574.6242250375458},{"start_region_id":262,"end_region_id":260,"start_point":[162,746],"end_point":[730,659],"distance":574.6242250375458},{"start_region_id":256,"end_region_id":263,"start_point":[380,361],"end_point":[566,840],"distance":513.845307461302},{"start_region_id":263,"end_region_id":256,"start_point":[566,840],"end_point":[380,361],"distance":513.845307461302},{"start_region_id":257,"end_region_id":262,"start_point":[642,530],"end_point":[162,746],"distance":526.3610927870714}],"complexity_score":0.6687743905195473}
{"id":10427,"query_id":"Q02086","question":"A quadcopter drone begins above grassy, uneven terrain with scattered shrubs and needs to reach a position above a paved, hard-surfaced lane. The drone can fly over loose, sandy or rocky ground without vegetation, flat, compacted surfaces like parking lots and sidewalks, and liquid bodies. However, it must avoid areas with tall, dense vertical obstacles. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard-surfaced lane","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"koeln_59.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":262,"start_point":[984,502],"end_point":[162,746],"distance":857.4497069799488},{"start_region_id":2,"end_region_id":263,"start_point":[410,34],"end_point":[566,840],"distance":820.9579770000411},{"start_region_id":6,"end_region_id":260,"start_point":[59,232],"end_point":[730,659],"distance":795.3426934347232},{"start_region_id":6,"end_region_id":263,"start_point":[59,232],"end_point":[566,840],"distance":791.6520700408735},{"start_region_id":34,"end_region_id":262,"start_point":[942,538],"end_point":[162,746],"distance":807.2570842055212}],"complexity_score":0.6687743905195473}
{"id":12448,"query_id":"Q02490","question":"A hiker starts from a paved lane and needs to reach a flat, hard-surfaced area. The hiker can walk on grassy or shrubby terrain if it's dry and firm enough for stable footing. The hiker can also pass through areas with individual trees or small groups of trees if there's enough clearance between them to walk without obstruction. The hiker cannot enter any structures or cross any liquid surfaces. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,4,3,1,0,0,0],"image_name":"koeln_59.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":212,"start_point":[82,933],"end_point":[973,703],"distance":920.2070419204582},{"start_region_id":265,"end_region_id":192,"start_point":[82,933],"end_point":[882,638],"distance":852.6576100639694},{"start_region_id":263,"end_region_id":152,"start_point":[566,840],"end_point":[164,123],"distance":822.0054744343252},{"start_region_id":265,"end_region_id":152,"start_point":[82,933],"end_point":[164,123],"distance":814.1400370943564},{"start_region_id":262,"end_region_id":212,"start_point":[162,746],"end_point":[973,703],"distance":812.1391506386083}],"complexity_score":0.6687743905195473}
{"id":15221,"query_id":"Q03045","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over areas of loose, sandy soil; grassy or shrubby terrain; paved or compacted surfaces; bodies of water; and cultivated crop fields. However, it must avoid flying too close to tall, dense vegetation or man-made structures to minimize collision risk. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_59.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":6,"start_point":[973,703],"end_point":[59,232],"distance":1028.220307132669},{"start_region_id":212,"end_region_id":9,"start_point":[973,703],"end_point":[142,186],"distance":978.698114844409},{"start_region_id":212,"end_region_id":58,"start_point":[973,703],"end_point":[30,704],"distance":943.0005302225445},{"start_region_id":192,"end_region_id":6,"start_point":[882,638],"end_point":[59,232],"distance":917.6954832622856},{"start_region_id":152,"end_region_id":35,"start_point":[164,123],"end_point":[984,502],"distance":903.3498768472822}],"complexity_score":0.6687743905195473}
{"id":1308,"query_id":"Q00262","question":"An agricultural monitoring drone starts from a cultivated field and needs to reach another cultivated field while prioritizing safety. The drone can fly over areas with herbaceous vegetation or bushes, individual trees or groups of trees, water bodies, and other cultivated fields. However. The drone must avoid any structures or buildings, and flying over water bodies or trees should be minimized due to potential risks. What is the safest path?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the agricultural monitoring drone to reach the destination cultivated field?","task_type":"Safest","input_classes":["Rangeland","Tree","Water","Agriculture land"],"traverse_vector":[0,1,0,0,1,1,1,0],"cost_vector":[0,2,0,0,1,1,2,0],"image_name":"kagera_26.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":235,"end_region_id":237,"start_point":[153,303],"end_point":[976,314],"distance":823.0735082603497},{"start_region_id":237,"end_region_id":235,"start_point":[976,314],"end_point":[153,303],"distance":823.0735082603497},{"start_region_id":235,"end_region_id":232,"start_point":[153,303],"end_point":[600,121],"distance":482.6313292773274},{"start_region_id":232,"end_region_id":235,"start_point":[600,121],"end_point":[153,303],"distance":482.6313292773274},{"start_region_id":244,"end_region_id":246,"start_point":[889,728],"end_point":[432,611],"distance":471.73933480260047}],"complexity_score":0.668804881472451}
{"id":12107,"query_id":"Q02422","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The drone can fly over liquid surfaces and open grassy areas, but must avoid dense vertical obstacles and solid structures. The paved surfaces and vehicle lanes are available for takeoff and landing. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"kagera_26.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":9,"start_point":[933,929],"end_point":[66,168],"distance":1153.6073855519476},{"start_region_id":67,"end_region_id":54,"start_point":[40,51],"end_point":[683,905],"distance":1069.0018709057529},{"start_region_id":67,"end_region_id":31,"start_point":[40,51],"end_point":[943,544],"distance":1028.8138801552009},{"start_region_id":123,"end_region_id":11,"start_point":[933,929],"end_point":[283,147],"distance":1016.8697065012803},{"start_region_id":67,"end_region_id":47,"start_point":[40,51],"end_point":[683,760],"distance":957.1468016976288}],"complexity_score":0.668804881472451}
{"id":16577,"query_id":"Q03316","question":"An aerial survey drone starts from a cultivated field with loose soil and crop residues and needs to reach a paved lane designed for vehicle traffic. The drone can fly over all terrain types except densely packed vertical obstacles like trees, which require careful navigation. The water bodies are fully traversable by air. What is the fastest path to reach the paved lane?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest path to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"kagera_26.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":237,"end_region_id":135,"start_point":[976,314],"end_point":[431,459],"distance":563.9592183837409},{"start_region_id":244,"end_region_id":135,"start_point":[889,728],"end_point":[431,459],"distance":531.1544031635245},{"start_region_id":239,"end_region_id":135,"start_point":[908,456],"end_point":[431,459],"distance":477.00943386897495},{"start_region_id":232,"end_region_id":135,"start_point":[600,121],"end_point":[431,459],"distance":377.89548819746443},{"start_region_id":235,"end_region_id":135,"start_point":[153,303],"end_point":[431,459],"distance":318.7789202566569}],"complexity_score":0.668804881472451}
{"id":5866,"query_id":"Q01174","question":"A commuter starts from a paved, hard-surfaced area and needs to reach a vehicle lane as quickly as possible. The commuter can only travel on surfaces that are firm, stable, and provide good traction for walking. Soft, uneven, or obstructed surfaces are not allowed.","agent_category":"Pedestrian","specific_agent":"a commuter","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the fastest path from the starting point to the destination?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"tokyo_62.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":318,"start_point":[92,895],"end_point":[884,93],"distance":1127.150389256021},{"start_region_id":308,"end_region_id":318,"start_point":[623,1001],"end_point":[884,93],"distance":944.7671670840388},{"start_region_id":268,"end_region_id":318,"start_point":[462,922],"end_point":[884,93],"distance":930.2284665607691},{"start_region_id":235,"end_region_id":318,"start_point":[226,685],"end_point":[884,93],"distance":885.1146818350716},{"start_region_id":292,"end_region_id":318,"start_point":[911,981],"end_point":[884,93],"distance":888.4103781473965}],"complexity_score":0.6688108310101574}
{"id":10779,"query_id":"Q02156","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an area with tall vertical obstacles. The drone must avoid liquid surfaces and man-made structures with solid roofs, but can traverse soft ground with low vegetation, paved areas, vehicle lanes, and cultivated fields. The priority is to minimize collision risk and maintain stable flight conditions. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"area with tall vertical obstacles","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tokyo_62.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":467,"start_point":[967,65],"end_point":[267,957],"distance":1133.871244895116},{"start_region_id":102,"end_region_id":449,"start_point":[967,65],"end_point":[190,840],"distance":1097.4306356212223},{"start_region_id":89,"end_region_id":467,"start_point":[842,76],"end_point":[267,957],"distance":1052.0389726621347},{"start_region_id":120,"end_region_id":467,"start_point":[940,158],"end_point":[267,957],"distance":1044.6674111888433},{"start_region_id":292,"end_region_id":333,"start_point":[911,981],"end_point":[437,68],"distance":1028.710357680917}],"complexity_score":0.6688108310101574}
{"id":16305,"query_id":"Q03261","question":"An off-road vehicle starts from a hard paved lane and needs to reach an open grassy field. The available terrain includes loose sandy patches and cultivated agricultural fields. The vehicle has high clearance and all-terrain tires, allowing it to drive over sandy ground and cultivated fields, but it cannot pass through trees, water, or structures. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard paved lane","end_land_type":"open grassy field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tokyo_62.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":318,"end_region_id":58,"start_point":[884,93],"end_point":[196,797],"distance":984.3576585774096},{"start_region_id":318,"end_region_id":54,"start_point":[884,93],"end_point":[871,777],"distance":684.1235268575406},{"start_region_id":315,"end_region_id":36,"start_point":[530,556],"end_point":[982,527],"distance":452.9293543147761},{"start_region_id":318,"end_region_id":24,"start_point":[884,93],"end_point":[515,339],"distance":443.4828068820707},{"start_region_id":318,"end_region_id":36,"start_point":[884,93],"end_point":[982,527],"distance":444.9269602979797}],"complexity_score":0.6688108310101574}
{"id":4820,"query_id":"Q00964","question":"A car starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft soil. You cannot travel on loose sand, natural grass or shrubs, vertical obstacles like trees, liquid surfaces, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"a car","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"buenos_aires_56.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":237,"end_region_id":228,"start_point":[494,492],"end_point":[749,942],"distance":517.228189487},{"start_region_id":237,"end_region_id":128,"start_point":[494,492],"end_point":[527,42],"distance":451.20837758179977},{"start_region_id":237,"end_region_id":211,"start_point":[494,492],"end_point":[267,874],"distance":444.3568385880879},{"start_region_id":237,"end_region_id":127,"start_point":[494,492],"end_point":[125,444],"distance":372.1088550411022},{"start_region_id":237,"end_region_id":224,"start_point":[494,492],"end_point":[596,922],"distance":441.9321214847366}],"complexity_score":0.6689135056335304}
{"id":1177,"query_id":"Q00236","question":"A quadcopter drone starts from a paved, hard-surfaced lane and needs to reach another paved, hard-surfaced lane. The drone can fly over grassy areas, shrub-covered ground, and tall vertical obstacles, but must avoid liquid surfaces and solid structures due to safety protocols. The drone operator wants to find a path that minimizes turbulence and ensures stable flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"Another paved, hard-surfaced lane","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_34.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":121,"start_point":[9,10],"end_point":[980,1003],"distance":1388.8448437460536}],"complexity_score":0.6692692242311639}
{"id":10220,"query_id":"Q02044","question":"An aerial surveillance drone starts from a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over loose, dry soil areas; hard, flat surfaces designed for vehicles; areas with tall vegetation that may require careful navigation; liquid bodies; and cultivated fields with planted crops. What path should the drone take to reach the destination in the shortest possible time?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What path should the drone take to reach the destination in the shortest possible time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"chisinau_34.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":121,"start_point":[23,992],"end_point":[932,288],"distance":1149.737796195289}],"complexity_score":0.6692692242311639}
{"id":14855,"query_id":"Q02971","question":"An aerial surveillance drone is positioned on a paved, hard surface and needs to reach a grassy, shrub-covered area as quickly as possible. The drone can fly over loose, sandy or rocky ground, grassy or shrubby terrain, paved areas, liquid surfaces, and cultivated fields, but must avoid tall, dense vertical obstacles and solid structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, shrub-covered area","task_description":"What is the fastest path for the drone to reach the grassy, shrub-covered area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_34.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":53,"start_point":[760,99],"end_point":[215,839],"distance":919.0348197973785},{"start_region_id":119,"end_region_id":3,"start_point":[342,969],"end_point":[587,85],"distance":917.3227349193958},{"start_region_id":119,"end_region_id":5,"start_point":[342,969],"end_point":[848,220],"distance":903.9009901532357},{"start_region_id":98,"end_region_id":5,"start_point":[100,719],"end_point":[848,220],"distance":899.1690608556324},{"start_region_id":83,"end_region_id":58,"start_point":[760,99],"end_point":[303,854],"distance":882.5383844343543}],"complexity_score":0.6692692242311639}
{"id":4446,"query_id":"Q00890","question":"A quadcopter drone is currently on a paved lane and needs to reach a paved area. The drone can fly over all surfaces except vertical obstacles and dense vegetation, which are blocked. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_35.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":247,"end_region_id":171,"start_point":[262,753],"end_point":[842,116],"distance":861.4923098902276},{"start_region_id":259,"end_region_id":182,"start_point":[855,739],"end_point":[155,209],"distance":878.0091115700337},{"start_region_id":245,"end_region_id":239,"start_point":[659,268],"end_point":[190,964],"distance":839.2717080898176},{"start_region_id":259,"end_region_id":168,"start_point":[855,739],"end_point":[376,70],"distance":822.8013125901052},{"start_region_id":259,"end_region_id":176,"start_point":[855,739],"end_point":[320,159],"distance":789.0659034580065}],"complexity_score":0.6693859093638614}
{"id":13657,"query_id":"Q02732","question":"A quadcopter starts from a paved area and needs to reach a grassy field. The terrain includes loose, sandy ground and cultivated fields, but avoid flying through areas with dense trees or vertical structures. You want to get there as quickly as possible.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved area","end_land_type":"grassy field","task_description":"What is the fastest path from the paved area to the grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"bielefeld_35.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":33,"start_point":[190,964],"end_point":[958,141],"distance":1125.678906260573},{"start_region_id":171,"end_region_id":153,"start_point":[842,116],"end_point":[121,968],"distance":1116.129472776344},{"start_region_id":182,"end_region_id":148,"start_point":[155,209],"end_point":[947,943],"distance":1079.8240597430677},{"start_region_id":168,"end_region_id":148,"start_point":[376,70],"end_point":[947,943],"distance":1043.1538716795333},{"start_region_id":176,"end_region_id":148,"start_point":[320,159],"end_point":[947,943],"distance":1003.8849535678877}],"complexity_score":0.6693859093638614}
{"id":2759,"query_id":"Q00552","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial grass area. The environment includes loose, sandy ground and cultivated fields, but the drone can fly over these areas. You must avoid tall vegetation and vertical structures unless flying at a safe altitude. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or artificial grass area","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chicago_45.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":85,"start_point":[465,62],"end_point":[920,950],"distance":997.7820403274454},{"start_region_id":91,"end_region_id":89,"start_point":[465,62],"end_point":[75,962],"distance":980.8669634563089},{"start_region_id":91,"end_region_id":86,"start_point":[465,62],"end_point":[765,961],"distance":947.7346675098469},{"start_region_id":91,"end_region_id":83,"start_point":[465,62],"end_point":[915,841],"distance":899.6338143933897},{"start_region_id":91,"end_region_id":87,"start_point":[465,62],"end_point":[500,959],"distance":897.6825719595986}],"complexity_score":0.6695396240366447}
{"id":15423,"query_id":"Q03085","question":"An aerial surveillance drone starts from a paved, hard surface and needs to return to another paved, hard surface while minimizing risk. The drone can fly over areas with soft, grassy vegetation, other paved surfaces, liquid bodies, and cultivated fields with planted crops. The drone must avoid any vertical structures or dense vegetation that could cause collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_45.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":89,"start_point":[886,100],"end_point":[75,962],"distance":1183.539183973222},{"start_region_id":89,"end_region_id":65,"start_point":[75,962],"end_point":[886,100],"distance":1183.539183973222},{"start_region_id":68,"end_region_id":85,"start_point":[256,169],"end_point":[920,950],"distance":1025.11316448478},{"start_region_id":85,"end_region_id":68,"start_point":[920,950],"end_point":[256,169],"distance":1025.11316448478},{"start_region_id":70,"end_region_id":85,"start_point":[280,192],"end_point":[920,950],"distance":992.050401945385}],"complexity_score":0.6695396240366447}
{"id":16489,"query_id":"Q03298","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a hard, paved surface used by vehicles. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated crop fields. However, it must avoid densely packed vertical obstacles that could obstruct flight. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"hard, paved surface used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chicago_45.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":91,"start_point":[881,834],"end_point":[465,62],"distance":876.9492573689769},{"start_region_id":22,"end_region_id":91,"start_point":[909,715],"end_point":[465,62],"distance":789.6486560490051},{"start_region_id":1,"end_region_id":93,"start_point":[837,202],"end_point":[492,774],"distance":667.9887723607336},{"start_region_id":17,"end_region_id":91,"start_point":[564,755],"end_point":[465,62],"distance":700.035713374682},{"start_region_id":3,"end_region_id":93,"start_point":[841,278],"end_point":[492,774],"distance":606.4791834844788}],"complexity_score":0.6695396240366447}
{"id":219,"query_id":"Q00044","question":"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 enough to walk through. The cultivated fields have firm soil between crop rows that supports foot traffic. The clusters of tall vegetation have enough space between trunks to pass through. However, all paved or artificial hard surfaces are blocked by barriers, and any bodies of liquid are too deep to cross. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from an area of loose, dry soil and scattered rocks with no vegetation.","end_land_type":"The destination is a location beneath the canopy of tall, leafy vegetation that casts shadows on the ground.","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[1,1,0,0,1,0,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":513,"start_point":[444,611],"end_point":[129,669],"distance":320.2951763608063},{"start_region_id":1,"end_region_id":529,"start_point":[444,611],"end_point":[220,832],"distance":314.6696680647819},{"start_region_id":2,"end_region_id":513,"start_point":[393,748],"end_point":[129,669],"distance":275.5666888431909},{"start_region_id":1,"end_region_id":539,"start_point":[444,611],"end_point":[572,858],"distance":278.19597409020855},{"start_region_id":2,"end_region_id":539,"start_point":[393,748],"end_point":[572,858],"distance":210.09759636892565}],"complexity_score":0.6698326258509861}
{"id":3267,"query_id":"Q00654","question":"A hiker starts from a paved, hard surface and needs to reach a loose, sandy area. The hiker must avoid any liquid surfaces and vertical structures, as these are impassable. The sandy area is dry and stable enough for walking, but the hiker must prioritize safety by choosing surfaces that minimize the risk of slips, trips, or instability.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":2,"start_point":[977,288],"end_point":[393,748],"distance":743.4083669155198},{"start_region_id":178,"end_region_id":2,"start_point":[109,84],"end_point":[393,748],"distance":722.1855717196239},{"start_region_id":185,"end_region_id":2,"start_point":[778,138],"end_point":[393,748],"distance":721.3355668480517},{"start_region_id":190,"end_region_id":2,"start_point":[470,103],"end_point":[393,748],"distance":649.5798642199434},{"start_region_id":204,"end_region_id":2,"start_point":[56,203],"end_point":[393,748],"distance":640.776091938518}],"complexity_score":0.6698326258509861}
{"id":3500,"query_id":"Q00700","question":"A hiker is standing on uneven, sandy terrain with loose material underfoot. They need to reach a hard, paved surface that offers stable, predictable footing for comfortable walking. The hiker can traverse both loose ground and artificial surfaces, but seeks the smoothest walking experience possible. What is the most comfortable path to reach the hard, paved surface?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"uneven, sandy terrain","end_land_type":"a hard, paved surface","task_description":"What is the most comfortable path to reach the hard, paved surface?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,3,2,0,0,0,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":325,"start_point":[393,748],"end_point":[767,701],"distance":376.9416400452463},{"start_region_id":1,"end_region_id":325,"start_point":[444,611],"end_point":[767,701],"distance":335.3043393694749}],"complexity_score":0.6698326258509861}
{"id":6912,"query_id":"Q01383","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks and needs to reach a grassy field with low shrubs. The drone can fly over hard paved surfaces, vehicle lanes, cultivated crop fields, and open water bodies. However, it must avoid dense clusters of tall vegetation that could entangle its rotors. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, dry soil and scattered rocks","end_land_type":"and needs to reach a grassy field with low shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":10,"start_point":[393,748],"end_point":[56,60],"distance":766.1024735634261},{"start_region_id":2,"end_region_id":29,"start_point":[393,748],"end_point":[793,98],"distance":763.2168761236874},{"start_region_id":1,"end_region_id":10,"start_point":[444,611],"end_point":[56,60],"distance":673.9028119840427},{"start_region_id":2,"end_region_id":62,"start_point":[393,748],"end_point":[904,342],"distance":652.6538132884845},{"start_region_id":2,"end_region_id":27,"start_point":[393,748],"end_point":[578,144],"distance":631.6969209993033}],"complexity_score":0.6698326258509861}
{"id":7435,"query_id":"Q01487","question":"An aerial survey drone starts from a patch of rough, loose ground and needs to reach a flat, hard surface. The drone can fly over open areas with minimal vegetation, but must avoid dense vertical obstacles and liquid surfaces to ensure stable flight and smooth operation. Which path should it take to maximize ride comfort?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"rough, loose ground","end_land_type":"flat, hard surface","task_description":"Which path should it take to maximize ride comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":212,"start_point":[393,748],"end_point":[977,288],"distance":743.4083669155198},{"start_region_id":2,"end_region_id":178,"start_point":[393,748],"end_point":[109,84],"distance":722.1855717196239},{"start_region_id":2,"end_region_id":185,"start_point":[393,748],"end_point":[778,138],"distance":721.3355668480517},{"start_region_id":2,"end_region_id":190,"start_point":[393,748],"end_point":[470,103],"distance":649.5798642199434},{"start_region_id":2,"end_region_id":204,"start_point":[393,748],"end_point":[56,203],"distance":640.776091938518}],"complexity_score":0.6698326258509861}
{"id":8483,"query_id":"Q01697","question":"A hiker starts from a grassy, uneven terrain with scattered shrubs and needs to reach a dry, loose soil and rocky ground. The area includes paved lanes used by vehicles, but you must avoid any water bodies, buildings, and cultivated fields. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"dry, loose soil and rocky ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":2,"start_point":[56,60],"end_point":[393,748],"distance":766.1024735634261},{"start_region_id":29,"end_region_id":2,"start_point":[793,98],"end_point":[393,748],"distance":763.2168761236874},{"start_region_id":10,"end_region_id":1,"start_point":[56,60],"end_point":[444,611],"distance":673.9028119840427},{"start_region_id":62,"end_region_id":2,"start_point":[904,342],"end_point":[393,748],"distance":652.6538132884845},{"start_region_id":27,"end_region_id":2,"start_point":[578,144],"end_point":[393,748],"distance":631.6969209993033}],"complexity_score":0.6698326258509861}
{"id":9623,"query_id":"Q01925","question":"A hiker is standing on a paved area and needs to reach a patch of loose, sandy ground. The terrain includes hard, flat surfaces suitable for walking, grassy and shrub-covered areas that are passable on foot, and cultivated fields with soft soil that can be crossed. The hiker cannot enter any structures or water bodies. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"loose, sandy ground","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":2,"start_point":[977,288],"end_point":[393,748],"distance":743.4083669155198},{"start_region_id":178,"end_region_id":2,"start_point":[109,84],"end_point":[393,748],"distance":722.1855717196239},{"start_region_id":185,"end_region_id":2,"start_point":[778,138],"end_point":[393,748],"distance":721.3355668480517},{"start_region_id":190,"end_region_id":2,"start_point":[470,103],"end_point":[393,748],"distance":649.5798642199434},{"start_region_id":204,"end_region_id":2,"start_point":[56,203],"end_point":[393,748],"distance":640.776091938518}],"complexity_score":0.6698326258509861}
{"id":10103,"query_id":"Q02021","question":"A quadcopter drone is positioned on a patch of loose, sandy soil with scattered rocks. It needs to reach a cluster of tall, leafy trees as quickly as possible. The drone can fly over areas with sparse, low vegetation; flat, hard surfaces like pavements or parking lots; and the trees themselves, but must avoid any water bodies or buildings. The trees are conditionally traversable because the drone can navigate through gaps in the canopy or fly above them, though this may slow it down. All other surfaces mentioned are traversable by default for the drone.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy soil with scattered rocks","end_land_type":"a cluster of tall, leafy trees","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Tree"],"traverse_vector":[1,1,1,0,1,0,0,0],"cost_vector":[2,2,2,0,1,0,0,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":446,"start_point":[393,748],"end_point":[918,421],"distance":618.5094987144498},{"start_region_id":2,"end_region_id":518,"start_point":[393,748],"end_point":[945,731],"distance":552.261713320777},{"start_region_id":1,"end_region_id":518,"start_point":[444,611],"end_point":[945,731],"distance":515.1708454483813},{"start_region_id":1,"end_region_id":446,"start_point":[444,611],"end_point":[918,421],"distance":510.6623150380298},{"start_region_id":2,"end_region_id":478,"start_point":[393,748],"end_point":[781,508],"distance":456.228013168854}],"complexity_score":0.6698326258509861}
{"id":10608,"query_id":"Q02122","question":"An aerial surveillance drone begins on a paved, hard surface and must reach an open, loose, and dry ground area. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical obstacles like tall vegetation or structures. The goal is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open, loose, and dry ground","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":310,"end_region_id":2,"start_point":[531,39],"end_point":[393,748],"distance":722.3053370978232},{"start_region_id":310,"end_region_id":1,"start_point":[531,39],"end_point":[444,611],"distance":578.5784302927304},{"start_region_id":308,"end_region_id":2,"start_point":[436,293],"end_point":[393,748],"distance":457.02735147909914},{"start_region_id":325,"end_region_id":2,"start_point":[767,701],"end_point":[393,748],"distance":376.9416400452463},{"start_region_id":325,"end_region_id":1,"start_point":[767,701],"end_point":[444,611],"distance":335.3043393694749}],"complexity_score":0.6698326258509861}
{"id":11322,"query_id":"Q02265","question":"A delivery drone begins above grassy, uneven terrain with scattered shrubs and needs to reach an area above exposed, loose soil and rocky ground. The drone must avoid flying over water bodies, trees, and buildings entirely. It can only fly over grassy areas, loose soil/rocky patches, and cultivated fields. What is the safest path to take?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"exposed, loose soil and rocky ground","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,1,0,0,0,0,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":1,"start_point":[646,917],"end_point":[444,611],"distance":366.6606060105176},{"start_region_id":158,"end_region_id":2,"start_point":[646,917],"end_point":[393,748],"distance":304.253184042501},{"start_region_id":137,"end_region_id":1,"start_point":[253,743],"end_point":[444,611],"distance":232.17450333746814}],"complexity_score":0.6698326258509861}
{"id":11704,"query_id":"Q02341","question":"An aerial survey drone is perched on a dense cluster of tall, vertical structures with complex branching patterns. It needs to reach a wide, open expanse of loose, granular material with no vegetation. The drone can fly over most surfaces, but navigating through the dense vertical structures significantly slows it down. The drone cannot land on or traverse liquid surfaces. It must avoid all constructed vertical obstacles. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with complex branching patterns.","end_land_type":"A wide, open expanse of loose, granular material with no vegetation.","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":362,"end_region_id":2,"start_point":[27,135],"end_point":[393,748],"distance":713.9502783807848},{"start_region_id":359,"end_region_id":2,"start_point":[662,97],"end_point":[393,748],"distance":704.3876773482058},{"start_region_id":362,"end_region_id":1,"start_point":[27,135],"end_point":[444,611],"distance":632.8230400356802},{"start_region_id":547,"end_region_id":1,"start_point":[955,963],"end_point":[444,611],"distance":620.5038275466155},{"start_region_id":446,"end_region_id":2,"start_point":[918,421],"end_point":[393,748],"distance":618.5094987144498}],"complexity_score":0.6698326258509861}
{"id":12330,"query_id":"Q02466","question":"A quadcopter starts from a paved, hard surface and needs to reach a destination on loose, sandy ground. The drone can fly over open, sandy terrain, paved areas, and wooded areas, but must avoid buildings and water bodies due to safety regulations. The operator wants to find a path that ensures a smooth and stable flight, minimizing vibrations or turbulence.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","task_description":"What is the most comfortable path for the quadcopter to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,2,2,1,0,0,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":2,"start_point":[977,288],"end_point":[393,748],"distance":743.4083669155198},{"start_region_id":178,"end_region_id":2,"start_point":[109,84],"end_point":[393,748],"distance":722.1855717196239},{"start_region_id":185,"end_region_id":2,"start_point":[778,138],"end_point":[393,748],"distance":721.3355668480517},{"start_region_id":190,"end_region_id":2,"start_point":[470,103],"end_point":[393,748],"distance":649.5798642199434},{"start_region_id":204,"end_region_id":2,"start_point":[56,203],"end_point":[393,748],"distance":640.776091938518}],"complexity_score":0.6698326258509861}
{"id":14215,"query_id":"Q02843","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a loose, sandy area. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, cultivated fields, and built structures, but must avoid flying directly through dense tree canopies or over water bodies to minimize collision and signal interference risks. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,0,1,1],"cost_vector":[2,2,2,2,0,0,2,1],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":2,"start_point":[977,288],"end_point":[393,748],"distance":743.4083669155198},{"start_region_id":178,"end_region_id":2,"start_point":[109,84],"end_point":[393,748],"distance":722.1855717196239},{"start_region_id":185,"end_region_id":2,"start_point":[778,138],"end_point":[393,748],"distance":721.3355668480517},{"start_region_id":190,"end_region_id":2,"start_point":[470,103],"end_point":[393,748],"distance":649.5798642199434},{"start_region_id":204,"end_region_id":2,"start_point":[56,203],"end_point":[393,748],"distance":640.776091938518}],"complexity_score":0.6698326258509861}
{"id":16258,"query_id":"Q03252","question":"A hiker is on a paved sidewalk and needs to reach a patch of sandy or rocky ground. The hiker can walk on hard surfaces like sidewalks and roads, and is also permitted to cross cultivated fields and grassy or shrub-covered areas because the terrain is dry and the vegetation is sparse, making it passable on foot. However, the hiker cannot go through bodies of water or buildings, as these are impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved sidewalk","end_land_type":"sandy or rocky ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_61.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":310,"end_region_id":2,"start_point":[531,39],"end_point":[393,748],"distance":722.3053370978232},{"start_region_id":310,"end_region_id":1,"start_point":[531,39],"end_point":[444,611],"distance":578.5784302927304},{"start_region_id":308,"end_region_id":2,"start_point":[436,293],"end_point":[393,748],"distance":457.02735147909914},{"start_region_id":325,"end_region_id":2,"start_point":[767,701],"end_point":[393,748],"distance":376.9416400452463},{"start_region_id":325,"end_region_id":1,"start_point":[767,701],"end_point":[444,611],"distance":335.3043393694749}],"complexity_score":0.6698326258509861}
{"id":3837,"query_id":"Q00768","question":"A hiker is standing in a plowed field with soft, tilled soil. They need to reach a grassy meadow with low bushes as quickly as possible. The hiker can walk on paved surfaces like sidewalks and roads, and can also traverse through vegetated areas and across dry, open ground if necessary. However, they must avoid any bodies of water and cannot pass through or over solid structures. What is the fastest path for the hiker to follow?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a plowed field with soft, tilled soil","end_land_type":"a grassy meadow with low bushes","task_description":"What is the fastest path for the hiker to follow?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"kyoto_23.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":435,"end_region_id":76,"start_point":[821,99],"end_point":[164,917],"distance":1049.1772967425477},{"start_region_id":433,"end_region_id":76,"start_point":[679,54],"end_point":[164,917],"distance":1004.984576996085},{"start_region_id":435,"end_region_id":69,"start_point":[821,99],"end_point":[152,819],"distance":982.8331496240855},{"start_region_id":433,"end_region_id":69,"start_point":[679,54],"end_point":[152,819],"distance":928.953174277369},{"start_region_id":433,"end_region_id":73,"start_point":[679,54],"end_point":[784,914],"distance":866.3861725581728}],"complexity_score":0.6699464695384065}
{"id":2578,"query_id":"Q00516","question":"A rally car is positioned on loose, sandy ground and needs to reach a paved parking lot as quickly as possible. The vehicle can traverse hard, compacted surfaces like roads and parking areas, and can also cross cultivated fields if necessary, but must avoid any areas with standing water, dense trees, or structures. What is the fastest route?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"loose, sandy ground","end_land_type":"a paved parking lot","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":187,"start_point":[883,189],"end_point":[122,987],"distance":1102.6898929436145},{"start_region_id":1,"end_region_id":163,"start_point":[883,189],"end_point":[38,861],"distance":1079.6337341895166},{"start_region_id":1,"end_region_id":155,"start_point":[883,189],"end_point":[65,746],"distance":989.6327601691447},{"start_region_id":1,"end_region_id":164,"start_point":[883,189],"end_point":[148,835],"distance":978.5402393361246},{"start_region_id":1,"end_region_id":165,"start_point":[883,189],"end_point":[216,904],"distance":977.8108201487647}],"complexity_score":0.6699876521782661}
{"id":2585,"query_id":"Q00517","question":"A delivery drone takes off from sandy, rocky ground and must fly to a paved courtyard as quickly as possible. The drone can fly over hard surfaces, cultivated fields, and open areas, but must avoid dense vegetation and structures unless explicitly permitted. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"sandy, rocky ground","end_land_type":"a paved courtyard","task_description":"What is the fastest flight path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":187,"start_point":[883,189],"end_point":[122,987],"distance":1102.6898929436145},{"start_region_id":1,"end_region_id":163,"start_point":[883,189],"end_point":[38,861],"distance":1079.6337341895166},{"start_region_id":1,"end_region_id":155,"start_point":[883,189],"end_point":[65,746],"distance":989.6327601691447},{"start_region_id":1,"end_region_id":164,"start_point":[883,189],"end_point":[148,835],"distance":978.5402393361246},{"start_region_id":1,"end_region_id":165,"start_point":[883,189],"end_point":[216,904],"distance":977.8108201487647}],"complexity_score":0.6699876521782661}
{"id":3444,"query_id":"Q00689","question":"A delivery drone has taken off from a patch of loose, sandy ground. It needs to fly to a crop field. The drone operator wants to minimize vibrations and ensure a smooth flight for the payload's safety. The drone can fly over sandy ground, hard paved surfaces, and the crop field. It must avoid flying through dense tree canopies or close to buildings, as these pose collision risks and discomfort.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a crop field","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":368,"start_point":[883,189],"end_point":[61,492],"distance":876.0667782766334},{"start_region_id":1,"end_region_id":363,"start_point":[883,189],"end_point":[26,362],"distance":874.2871381874493},{"start_region_id":1,"end_region_id":361,"start_point":[883,189],"end_point":[41,237],"distance":843.3670612491337},{"start_region_id":1,"end_region_id":364,"start_point":[883,189],"end_point":[121,331],"distance":775.1180555244472},{"start_region_id":1,"end_region_id":362,"start_point":[883,189],"end_point":[353,350],"distance":553.9142532919693}],"complexity_score":0.6699876521782661}
{"id":5059,"query_id":"Q01012","question":"A delivery drone starts from an open area of loose soil and gravel, a delivery drone must fly to a crop field. The drone can freely fly over most surfaces including sandy ground, paved areas, roads, and farmland. However, it must avoid flying directly through dense tree canopies or near buildings to prevent collisions, and water surfaces should be avoided due to risk of signal interference or splash damage. What is the safest flight path to the crop field?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the safest flight path to the crop field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":368,"start_point":[883,189],"end_point":[61,492],"distance":876.0667782766334},{"start_region_id":1,"end_region_id":363,"start_point":[883,189],"end_point":[26,362],"distance":874.2871381874493},{"start_region_id":1,"end_region_id":361,"start_point":[883,189],"end_point":[41,237],"distance":843.3670612491337},{"start_region_id":1,"end_region_id":364,"start_point":[883,189],"end_point":[121,331],"distance":775.1180555244472},{"start_region_id":1,"end_region_id":362,"start_point":[883,189],"end_point":[353,350],"distance":553.9142532919693}],"complexity_score":0.6699876521782661}
{"id":7283,"query_id":"Q01457","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a flat, hard, artificial surface like a paved area or parking lot. The drone can fly over open water bodies and cultivated fields with low crops, but must avoid tall vegetation and vertical structures. The drone's priority is to minimize risk of collision, signal interference, or unstable flight conditions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is a flat, hard, artificial surface like a paved area or parking lot.","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":187,"start_point":[883,189],"end_point":[122,987],"distance":1102.6898929436145},{"start_region_id":1,"end_region_id":163,"start_point":[883,189],"end_point":[38,861],"distance":1079.6337341895166},{"start_region_id":1,"end_region_id":155,"start_point":[883,189],"end_point":[65,746],"distance":989.6327601691447},{"start_region_id":1,"end_region_id":164,"start_point":[883,189],"end_point":[148,835],"distance":978.5402393361246},{"start_region_id":1,"end_region_id":165,"start_point":[883,189],"end_point":[216,904],"distance":977.8108201487647}],"complexity_score":0.6699876521782661}
{"id":7288,"query_id":"Q01458","question":"An aerial surveillance drone starts from a loose, sandy ground and needs to reach cultivated fields with crops. The drone can fly over open, flat surfaces like sand, paved areas, and water, as well as agricultural fields, but must avoid tall vertical structures and dense vegetation clusters due to collision risks. The drone's flight path should prioritize terrains that minimize the risk of loss of control or damage.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, sandy ground","end_land_type":"cultivated fields with crops","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":368,"start_point":[883,189],"end_point":[61,492],"distance":876.0667782766334},{"start_region_id":1,"end_region_id":363,"start_point":[883,189],"end_point":[26,362],"distance":874.2871381874493},{"start_region_id":1,"end_region_id":361,"start_point":[883,189],"end_point":[41,237],"distance":843.3670612491337},{"start_region_id":1,"end_region_id":364,"start_point":[883,189],"end_point":[121,331],"distance":775.1180555244472},{"start_region_id":1,"end_region_id":362,"start_point":[883,189],"end_point":[353,350],"distance":553.9142532919693}],"complexity_score":0.6699876521782661}
{"id":10300,"query_id":"Q02060","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a dry, sandy patch as quickly as possible. The drone can fly over any terrain except dense tree canopies and solid structures, which are blocked. It must avoid liquid surfaces to maintain speed and stability. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a dry, sandy patch","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":1,"start_point":[307,998],"end_point":[883,189],"distance":993.1047276093292},{"start_region_id":56,"end_region_id":1,"start_point":[117,689],"end_point":[883,189],"distance":914.7436799453714},{"start_region_id":88,"end_region_id":1,"start_point":[476,953],"end_point":[883,189],"distance":865.6471567561463},{"start_region_id":5,"end_region_id":1,"start_point":[87,28],"end_point":[883,189],"distance":812.1188336690635},{"start_region_id":83,"end_region_id":1,"start_point":[563,857],"end_point":[883,189],"distance":740.6915687382974}],"complexity_score":0.6699876521782661}
{"id":14260,"query_id":"Q02852","question":"A quadcopter starts from a cultivated field and needs to reach a patch of sandy or rocky ground. The terrain includes areas of loose soil and rocks, grassy or shrub-covered patches, and hard, paved surfaces. You must avoid flying through trees or near buildings due to collision risk, and avoid water bodies for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":368,"end_region_id":1,"start_point":[61,492],"end_point":[883,189],"distance":876.0667782766334},{"start_region_id":363,"end_region_id":1,"start_point":[26,362],"end_point":[883,189],"distance":874.2871381874493},{"start_region_id":361,"end_region_id":1,"start_point":[41,237],"end_point":[883,189],"distance":843.3670612491337},{"start_region_id":364,"end_region_id":1,"start_point":[121,331],"end_point":[883,189],"distance":775.1180555244472},{"start_region_id":362,"end_region_id":1,"start_point":[353,350],"end_point":[883,189],"distance":553.9142532919693}],"complexity_score":0.6699876521782661}
{"id":15288,"query_id":"Q03058","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a destination on dry, loose soil without vegetation. The drone can fly over areas with hard surfaces, loose soil, grassy or shrubby vegetation, cultivated fields, and liquid surfaces. However, it must avoid flying through dense vertical obstacles and solid vertical structures. The drone's priority is to maintain stable, vibration-free flight to protect its sensitive imaging equipment.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"dry, loose soil without vegetation","task_description":"What is the most comfortable path for the drone to reach its destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tokyo_33.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":1,"start_point":[122,987],"end_point":[883,189],"distance":1102.6898929436145},{"start_region_id":163,"end_region_id":1,"start_point":[38,861],"end_point":[883,189],"distance":1079.6337341895166},{"start_region_id":155,"end_region_id":1,"start_point":[65,746],"end_point":[883,189],"distance":989.6327601691447},{"start_region_id":164,"end_region_id":1,"start_point":[148,835],"end_point":[883,189],"distance":978.5402393361246},{"start_region_id":165,"end_region_id":1,"start_point":[216,904],"end_point":[883,189],"distance":977.8108201487647}],"complexity_score":0.6699876521782661}
{"id":10243,"query_id":"Q02049","question":"A hiker starts from a paved area and needs to reach a vehicle lane. The hiker can traverse hard surfaces like sidewalks and roads, and can also cross areas with loose soil and sparse vegetation. However, the hiker cannot enter any structures or bodies of water. What is the shortest path to the vehicle lane?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"kitsap_35.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":209,"start_point":[147,928],"end_point":[608,581],"distance":577.0008665504758},{"start_region_id":206,"end_region_id":209,"start_point":[967,973],"end_point":[608,581],"distance":531.5496213901389},{"start_region_id":204,"end_region_id":209,"start_point":[295,984],"end_point":[608,581],"distance":510.2724762320617},{"start_region_id":143,"end_region_id":209,"start_point":[905,758],"end_point":[608,581],"distance":345.74267888127434},{"start_region_id":198,"end_region_id":209,"start_point":[536,892],"end_point":[608,581],"distance":319.22562553780045}],"complexity_score":0.6700639756006168}
{"id":17036,"query_id":"Q03408","question":"A quadcopter drone is hovering above a paved roadway and needs to reach a vegetated open area as quickly as possible. The drone can fly over paved roadways, hard artificial surfaces, and grassy shrublands. However, the drone must avoid flying through dense tree canopies or inside buildings. What is the fastest flight path for the quadcopter drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a vegetated open area","task_description":"What is the fastest flight path for the quadcopter drone?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"kitsap_35.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":209,"end_region_id":3,"start_point":[608,581],"end_point":[206,76],"distance":645.4680472339433},{"start_region_id":209,"end_region_id":26,"start_point":[608,581],"end_point":[83,290],"distance":600.2549458355174},{"start_region_id":209,"end_region_id":21,"start_point":[608,581],"end_point":[952,135],"distance":563.2512760748972},{"start_region_id":209,"end_region_id":101,"start_point":[608,581],"end_point":[847,920],"distance":414.77945947213925},{"start_region_id":209,"end_region_id":92,"start_point":[608,581],"end_point":[297,896],"distance":442.657881438928}],"complexity_score":0.6700639756006168}
{"id":1303,"query_id":"Q00261","question":"A delivery drone starts from an open grassy area and needs to reach a paved thoroughfare. The drone can fly over cultivated agricultural plots with low vegetation. However, areas with tall, dense tree canopies must be avoided as they require careful navigation, and solid vertical structures cannot be traversed. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"open grassy area","end_land_type":"paved thoroughfare","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"muenster_5.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":479,"start_point":[955,860],"end_point":[107,430],"distance":950.7912494338597},{"start_region_id":224,"end_region_id":459,"start_point":[59,984],"end_point":[659,384],"distance":848.5281374238571},{"start_region_id":112,"end_region_id":479,"start_point":[911,496],"end_point":[107,430],"distance":806.7044068306557},{"start_region_id":178,"end_region_id":479,"start_point":[818,775],"end_point":[107,430],"distance":790.2822280679226},{"start_region_id":148,"end_region_id":479,"start_point":[850,650],"end_point":[107,430],"distance":774.8864432934673}],"complexity_score":0.6701023719340777}
{"id":3210,"query_id":"Q00642","question":"An aerial survey drone starts from a vegetated area with tall, vertical structures and needs to reach another vegetated area with tall, vertical structures. The only available terrain consists of loose, dry earth and rocks without vegetation, and vegetated areas with tall, vertical structures. The aerial survey drone must avoid any liquid surfaces, artificial hard surfaces, cultivated fields, and man-made structures. The drone can fly over the loose, dry earth and rocks, but must navigate carefully around the vegetated vertical structures to avoid collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Tree"],"traverse_vector":[1,0,0,0,1,0,0,0],"cost_vector":[2,0,0,0,1,0,0,0],"image_name":"muenster_5.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":502,"end_region_id":592,"start_point":[616,110],"end_point":[702,421],"distance":322.6716597409819},{"start_region_id":592,"end_region_id":502,"start_point":[702,421],"end_point":[616,110],"distance":322.6716597409819}],"complexity_score":0.6701023719340777}
{"id":16712,"query_id":"Q03343","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over most surfaces including loose soil, grassy areas, hard compacted surfaces, and cultivated fields, but must avoid dense vegetation and vertical structures. Liquid surfaces are allowed but pose a risk. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"muenster_5.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":479,"end_region_id":192,"start_point":[107,430],"end_point":[955,860],"distance":950.7912494338597},{"start_region_id":459,"end_region_id":224,"start_point":[659,384],"end_point":[59,984],"distance":848.5281374238571},{"start_region_id":479,"end_region_id":112,"start_point":[107,430],"end_point":[911,496],"distance":806.7044068306557},{"start_region_id":479,"end_region_id":178,"start_point":[107,430],"end_point":[818,775],"distance":790.2822280679226},{"start_region_id":479,"end_region_id":148,"start_point":[107,430],"end_point":[850,650],"distance":774.8864432934673}],"complexity_score":0.6701023719340777}
{"id":13223,"query_id":"Q02645","question":"A quadcopter drone starts from a cultivated field and needs to reach a paved lane. The airspace includes areas with low-lying vegetation, hard artificial surfaces, tall vertical obstacles with trunks and foliage, and cultivated plots. The drone must avoid areas with liquid surfaces and prioritize stable, predictable flight conditions to minimize turbulence and ensure smooth operation. ","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"lohur_31.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":347,"end_region_id":244,"start_point":[231,42],"end_point":[920,721],"distance":967.3479208640498},{"start_region_id":346,"end_region_id":244,"start_point":[158,488],"end_point":[920,721],"distance":796.8268318775416},{"start_region_id":353,"end_region_id":244,"start_point":[358,167],"end_point":[920,721],"distance":789.1514430069808},{"start_region_id":358,"end_region_id":244,"start_point":[483,285],"end_point":[920,721],"distance":617.3046249624249},{"start_region_id":347,"end_region_id":243,"start_point":[231,42],"end_point":[601,503],"distance":591.1184314500775}],"complexity_score":0.6701853062806509}
{"id":13450,"query_id":"Q02690","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach a cultivated crop field with planted rows. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. The drone can fly over open grassy areas, paved surfaces, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying directly through dense tree canopies or between tall buildings, as these could cause turbulence and sudden movements. The drone's path should maximize flight comfort by avoiding areas that create instability.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A grassy, open field with scattered low vegetation","end_land_type":"A cultivated crop field with planted rows","task_description":"What is the most comfortable flight path for the drone to reach its destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"lohur_31.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":347,"start_point":[902,840],"end_point":[231,42],"distance":1042.6145021051645},{"start_region_id":132,"end_region_id":347,"start_point":[619,954],"end_point":[231,42],"distance":991.1044344568336},{"start_region_id":94,"end_region_id":347,"start_point":[1009,616],"end_point":[231,42],"distance":966.8298712803613},{"start_region_id":3,"end_region_id":378,"start_point":[574,82],"end_point":[955,937],"distance":936.0480756884232},{"start_region_id":123,"end_region_id":356,"start_point":[217,941],"end_point":[814,246],"distance":916.2063086445105}],"complexity_score":0.6701853062806509}
{"id":2272,"query_id":"Q00455","question":"An aerial surveillance drone starts from a paved lane, an aerial surveillance drone must reach a hard, flat artificial surface. The drone can fly over bare, loose soil and open water, but must avoid areas with dense vertical obstacles like trees or buildings to minimize collision risk. Which path should the drone take to reach the destination as safely as possible?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"Which path should the drone take to reach the destination as safely as possible?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_3.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":69,"start_point":[482,518],"end_point":[991,130],"distance":640.0195309519859},{"start_region_id":148,"end_region_id":140,"start_point":[482,518],"end_point":[25,951],"distance":629.5538102497673},{"start_region_id":148,"end_region_id":133,"start_point":[482,518],"end_point":[902,941],"distance":596.0947911196674},{"start_region_id":148,"end_region_id":138,"start_point":[482,518],"end_point":[119,933],"distance":551.3565089848854},{"start_region_id":148,"end_region_id":63,"start_point":[482,518],"end_point":[842,81],"distance":566.1881312779349}],"complexity_score":0.6702794015279777}
{"id":6654,"query_id":"Q01331","question":"A quadcopter drone starts from a paved surface and needs to reach a grassy area. The drone can fly over hard surfaces, loose soil, vegetated ground, and liquid areas, but must avoid vertical obstacles like trees and solid structures unless they are sparse enough to navigate safely. The grassy area is accessible. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"What is the safest path for the quadcopter drone to take from the paved surface to the grassy area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_3.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":20,"start_point":[25,951],"end_point":[969,459],"distance":1064.5186705737012},{"start_region_id":140,"end_region_id":23,"start_point":[25,951],"end_point":[966,517],"distance":1036.2610674921643},{"start_region_id":140,"end_region_id":4,"start_point":[25,951],"end_point":[680,203],"distance":994.2479570006669},{"start_region_id":68,"end_region_id":38,"start_point":[282,119],"end_point":[988,821],"distance":995.6103655547184},{"start_region_id":69,"end_region_id":34,"start_point":[991,130],"end_point":[206,723],"distance":983.8058751603387}],"complexity_score":0.6702794015279777}
{"id":11163,"query_id":"Q02233","question":"A quadcopter drone starts from a grassy field and needs to reach a paved street as quickly as possible. You can fly over most surfaces including loose soil, vegetation, hard flat areas, vehicle lanes, and liquid surfaces. You can pass near tall vertical obstacles and structures if there is enough clearance to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the fastest path from the grassy field to the paved street?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"san_tome_3.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":148,"start_point":[988,821],"end_point":[482,518],"distance":589.7838587143599},{"start_region_id":20,"end_region_id":148,"start_point":[969,459],"end_point":[482,518],"distance":490.5609034564414},{"start_region_id":23,"end_region_id":148,"start_point":[966,517],"end_point":[482,518],"distance":484.0010330567488},{"start_region_id":4,"end_region_id":148,"start_point":[680,203],"end_point":[482,518],"distance":372.06047895469897},{"start_region_id":34,"end_region_id":148,"start_point":[206,723],"end_point":[482,518],"distance":343.80372307466365}],"complexity_score":0.6702794015279777}
{"id":15947,"query_id":"Q03190","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach another location with similar tall, vertical obstacles. The drone must maintain stable flight and minimize vibrations for its sensitive sensors. The available surfaces include: soft, grassy areas; hard, flat paved surfaces; tall, vertical obstacles; liquid surfaces; and cultivated, vegetated fields. The drone cannot fly through solid, enclosed structures. The drone is permitted to fly over tall, vertical obstacles only if it maintains a safe altitude to avoid collisions. The liquid surfaces are traversable but may cause sensor interference due to reflections. The hard, flat paved surfaces and soft, grassy areas provide the most stable flight conditions. The cultivated fields offer moderate stability but may have uneven vegetation. The tall, vertical obstacles require careful maneuvering and are less comfortable due to turbulence and collision risk.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall, vertical obstacles that require careful navigation.","end_land_type":"The destination is another location with similar tall, vertical obstacles.","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"san_tome_3.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":153,"start_point":[154,971],"end_point":[969,47],"distance":1232.0718323214762},{"start_region_id":153,"end_region_id":236,"start_point":[969,47],"end_point":[154,971],"distance":1232.0718323214762},{"start_region_id":159,"end_region_id":243,"start_point":[80,168],"end_point":[948,991],"distance":1196.1408779905485},{"start_region_id":243,"end_region_id":159,"start_point":[948,991],"end_point":[80,168],"distance":1196.1408779905485},{"start_region_id":153,"end_region_id":193,"start_point":[969,47],"end_point":[30,619],"distance":1099.5021600706384}],"complexity_score":0.6702794015279777}
{"id":10094,"query_id":"Q02019","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, hard paved surface. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over liquid surfaces, but cannot pass through dense vertical obstacles. The drone must avoid any areas with tall, dense vegetation that would require careful navigation. What is the fastest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, hard paved surface","task_description":"What is the fastest path to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_37.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":105,"start_point":[372,911],"end_point":[859,104],"distance":942.5592819552519},{"start_region_id":89,"end_region_id":111,"start_point":[372,911],"end_point":[853,146],"distance":903.6514814905136},{"start_region_id":89,"end_region_id":102,"start_point":[372,911],"end_point":[243,28],"distance":892.3732402980269},{"start_region_id":89,"end_region_id":104,"start_point":[372,911],"end_point":[563,55],"distance":877.0501696026288},{"start_region_id":72,"end_region_id":102,"start_point":[773,696],"end_point":[243,28],"distance":852.7156618709428}],"complexity_score":0.6702816494304783}
{"id":12840,"query_id":"Q02568","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface while prioritizing a stable and vibration-free flight. The drone can fly over open grassy fields, hard flat surfaces like roads and parking lots, and cultivated crop fields, but must avoid flying directly through dense tree canopies or close to vertical structures that could cause turbulence or collision risk. The path must also avoid any liquid bodies that could interfere with sensors or cause downdraft issues. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"melbourne_37.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":172,"start_point":[67,17],"end_point":[983,913],"distance":1281.3555322391987}],"complexity_score":0.6702816494304783}
{"id":14598,"query_id":"Q02920","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach a flat, hard, artificial surface. You can traverse areas with loose, sandy or rocky soil without vegetation, open grassy or shrubby terrain, flat hard artificial surfaces, densely vegetated areas with tall woody plants, and cultivated fields with crops. However, you cannot travel across liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a flat, hard, artificial surface","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_37.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":164,"start_point":[55,283],"end_point":[870,903],"distance":1024.0239255017434},{"start_region_id":355,"end_region_id":102,"start_point":[790,909],"end_point":[243,28],"distance":1037.000482159965},{"start_region_id":355,"end_region_id":106,"start_point":[790,909],"end_point":[260,66],"distance":995.7655346516066},{"start_region_id":208,"end_region_id":136,"start_point":[55,283],"end_point":[993,593],"distance":987.8987802401621},{"start_region_id":290,"end_region_id":136,"start_point":[22,594],"end_point":[993,593],"distance":971.0005149329222}],"complexity_score":0.6702816494304783}
{"id":17908,"query_id":"Q03582","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vegetation and tree trunks. The terrain includes loose sandy or rocky ground without vegetation, areas covered with natural grasses and shrubs, paved vehicle lanes, and cultivated fields. You cannot travel over liquid surfaces or enter any structures. What is the shortest route to the wooded area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the shortest route to the wooded area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_31.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":318,"end_region_id":189,"start_point":[37,616],"end_point":[831,84],"distance":955.7510136013459},{"start_region_id":318,"end_region_id":219,"start_point":[37,616],"end_point":[922,328],"distance":930.6820079919886},{"start_region_id":316,"end_region_id":219,"start_point":[137,91],"end_point":[922,328],"distance":819.9963414552531},{"start_region_id":316,"end_region_id":189,"start_point":[137,91],"end_point":[831,84],"distance":694.0353016958143},{"start_region_id":318,"end_region_id":188,"start_point":[37,616],"end_point":[295,83],"distance":592.1596068628795}],"complexity_score":0.670369638624304}
{"id":3880,"query_id":"Q00776","question":"A hiker starts from a paved road surface and needs to reach another paved road surface while prioritizing safety. The hiker can walk on hard surfaces like sidewalks and roads. They can also traverse sandy or rocky ground, grassy or shrub-covered areas, cultivated fields, and wooded areas, provided the terrain is stable and free of hazards like deep mud or thick underbrush. However, the hiker cannot travel on water surfaces or through solid structures. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"ulaanbaatar_46.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":175,"start_point":[503,556],"end_point":[364,156],"distance":423.4631034694758},{"start_region_id":175,"end_region_id":176,"start_point":[364,156],"end_point":[503,556],"distance":423.4631034694758}],"complexity_score":0.6704204829404625}
{"id":12989,"query_id":"Q02598","question":"An aerial survey drone starts from a grassy, open field with scattered low shrubs and needs to reach a flat, hard, artificial surface like a paved parking lot or sports court. The drone can fly over most surfaces, but must navigate carefully around tall vertical structures and dense tree canopies. To complete its mission as quickly as possible, what is the optimal flight path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with scattered low shrubs.","end_land_type":"The destination is a flat, hard, artificial surface like a paved parking lot or sports court.","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ulaanbaatar_46.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":167,"start_point":[248,32],"end_point":[933,952],"distance":1147.0069746954462},{"start_region_id":11,"end_region_id":164,"start_point":[819,152],"end_point":[95,944],"distance":1073.0517228913059},{"start_region_id":1,"end_region_id":162,"start_point":[248,32],"end_point":[744,939],"distance":1033.7625452684963},{"start_region_id":83,"end_region_id":121,"start_point":[74,845],"end_point":[924,263],"distance":1030.1572695467426},{"start_region_id":78,"end_region_id":112,"start_point":[862,881],"end_point":[161,137],"distance":1022.2216002413567}],"complexity_score":0.6704204829404625}
{"id":14566,"query_id":"Q02914","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open field. The hiker can traverse areas with loose soil and rocks, grassy or shrubby vegetation, cultivated fields with crops, and wooded areas with tall vegetation, but cannot cross liquid surfaces or enter vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the shortest path for the hiker to reach the grassy, open field from the paved, hard surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"ulaanbaatar_46.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":1,"start_point":[933,952],"end_point":[248,32],"distance":1147.0069746954462},{"start_region_id":164,"end_region_id":11,"start_point":[95,944],"end_point":[819,152],"distance":1073.0517228913059},{"start_region_id":162,"end_region_id":1,"start_point":[744,939],"end_point":[248,32],"distance":1033.7625452684963},{"start_region_id":121,"end_region_id":83,"start_point":[924,263],"end_point":[74,845],"distance":1030.1572695467426},{"start_region_id":112,"end_region_id":78,"start_point":[161,137],"end_point":[862,881],"distance":1022.2216002413567}],"complexity_score":0.6704204829404625}
{"id":10602,"query_id":"Q02121","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while prioritizing safety. The terrain includes loose, sandy ground, grassy areas, stable, compacted surfaces, and liquid areas. The drone must avoid any vertical structures. Which path minimizes risk while reaching the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"Which path minimizes risk while reaching the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"joplin_25.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":124,"start_point":[827,720],"end_point":[19,596],"distance":817.4594791180783},{"start_region_id":124,"end_region_id":138,"start_point":[19,596],"end_point":[827,720],"distance":817.4594791180783},{"start_region_id":133,"end_region_id":124,"start_point":[801,643],"end_point":[19,596],"distance":783.411130888501},{"start_region_id":124,"end_region_id":133,"start_point":[19,596],"end_point":[801,643],"distance":783.411130888501},{"start_region_id":125,"end_region_id":138,"start_point":[84,653],"end_point":[827,720],"distance":746.0147451625872}],"complexity_score":0.670421955108471}
{"id":15380,"query_id":"Q03076","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The terrain includes soft grassy areas, loose soil with crops, and patches of dense vegetation. There are also liquid bodies present. You must avoid all vertical structures. For maximum flight comfort, which route should you take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"joplin_25.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":124,"start_point":[827,720],"end_point":[19,596],"distance":817.4594791180783},{"start_region_id":124,"end_region_id":138,"start_point":[19,596],"end_point":[827,720],"distance":817.4594791180783},{"start_region_id":133,"end_region_id":124,"start_point":[801,643],"end_point":[19,596],"distance":783.411130888501},{"start_region_id":124,"end_region_id":133,"start_point":[19,596],"end_point":[801,643],"distance":783.411130888501},{"start_region_id":125,"end_region_id":138,"start_point":[84,653],"end_point":[827,720],"distance":746.0147451625872}],"complexity_score":0.670421955108471}
{"id":957,"query_id":"Q00192","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The liquid body is traversable, but you must avoid any vertical structures or dense overhead obstacles. All other surfaces are accessible. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, vegetated area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_60.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":90,"start_point":[936,583],"end_point":[47,974],"distance":971.1858730438782},{"start_region_id":264,"end_region_id":91,"start_point":[182,134],"end_point":[491,986],"distance":906.3029294888106},{"start_region_id":264,"end_region_id":68,"start_point":[182,134],"end_point":[800,750],"distance":872.5709140236111},{"start_region_id":264,"end_region_id":90,"start_point":[182,134],"end_point":[47,974],"distance":850.779054749234},{"start_region_id":265,"end_region_id":90,"start_point":[371,203],"end_point":[47,974],"distance":836.3115448204694}],"complexity_score":0.6707029518768758}
{"id":3435,"query_id":"Q00687","question":"A quadcopter drone with standard propellers starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The terrain includes only two types of surfaces: 1) flat, stable paved areas that provide clear landing zones and minimal interference, and 2) rough, uneven ground composed of loose earth and rocks that can create dust clouds and potential landing hazards. The rough ground is only traversable because weather conditions are calm with no wind, reducing the risk of dust interference with sensors. All other surfaces like grassy areas, cultivated fields, wooded zones, water bodies, and vertical structures are completely impassable due to either physical barriers or extreme safety hazards. What is the safest path to your destination?","agent_category":"Drone","specific_agent":"A quadcopter drone with standard propellers","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"austin_30.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":146,"start_point":[123,225],"end_point":[525,873],"distance":762.5667183925614},{"start_region_id":146,"end_region_id":86,"start_point":[525,873],"end_point":[123,225],"distance":762.5667183925614},{"start_region_id":119,"end_region_id":117,"start_point":[94,350],"end_point":[831,388],"distance":737.9789969911068},{"start_region_id":117,"end_region_id":119,"start_point":[831,388],"end_point":[94,350],"distance":737.9789969911068},{"start_region_id":86,"end_region_id":117,"start_point":[123,225],"end_point":[831,388],"distance":726.5211628025711}],"complexity_score":0.6707890340668934}
{"id":16894,"query_id":"Q03379","question":"An aerial surveillance drone starts from a hard, flat, artificial surface and needs to reach another hard, flat, artificial surface. The drone can fly over open grassy areas and shallow water bodies, but must avoid tall vertical structures and dense vegetation. The primary concern is minimizing risk of collision or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"Another hard, flat, artificial surface","task_description":"What is the safest path for the aerial surveillance drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"austin_30.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":117,"start_point":[82,726],"end_point":[831,388],"distance":821.7329249823205},{"start_region_id":117,"end_region_id":148,"start_point":[831,388],"end_point":[82,726],"distance":821.7329249823205},{"start_region_id":146,"end_region_id":88,"start_point":[525,873],"end_point":[299,149],"distance":758.4536900826575},{"start_region_id":88,"end_region_id":146,"start_point":[299,149],"end_point":[525,873],"distance":758.4536900826575},{"start_region_id":86,"end_region_id":146,"start_point":[123,225],"end_point":[525,873],"distance":762.5667183925614}],"complexity_score":0.6707890340668934}
{"id":1626,"query_id":"Q00326","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The terrain includes areas with loose, uneven ground covered by natural grasses and shrubs, dense clusters of tall vegetation that can obstruct movement, and cultivated plots with soft, tilled soil. You must avoid any hard, paved surfaces, water bodies, and vertical structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,2,0,0,0,0,3,0],"image_name":"palu_65.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":63,"start_point":[318,515],"end_point":[494,583],"distance":188.67962264113208},{"start_region_id":63,"end_region_id":49,"start_point":[494,583],"end_point":[318,515],"distance":188.67962264113208}],"complexity_score":0.6709523999616569}
{"id":2531,"query_id":"Q00507","question":"A hiker starts from a grassy, open terrain and needs to reach another grassy, open terrain. The hiker can traverse grassy areas, but must avoid any hard surfaces like sidewalks or roads, any water bodies, any buildings, and any cultivated fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland"],"traverse_vector":[0,1,0,0,0,0,0,0],"cost_vector":[0,1,0,0,0,0,0,0],"image_name":"palu_65.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":63,"start_point":[318,515],"end_point":[494,583],"distance":188.67962264113208},{"start_region_id":63,"end_region_id":49,"start_point":[494,583],"end_point":[318,515],"distance":188.67962264113208}],"complexity_score":0.6709523999616569}
{"id":10799,"query_id":"Q02160","question":"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 can fly over areas with loose, uneven ground covered by natural grasses and shrubs; hard, flat surfaces like sidewalks and parking lots; paved lanes used by vehicles; liquid surfaces like rivers and lakes; and other vegetated areas with tall, leafy structures. However, flying through dense clusters of tall, leafy structures requires careful navigation to avoid collisions. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Water"],"traverse_vector":[0,1,1,1,1,1,0,0],"cost_vector":[0,2,2,2,1,2,0,0],"image_name":"palu_65.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":284,"start_point":[208,82],"end_point":[950,938],"distance":1132.8283188550681},{"start_region_id":284,"end_region_id":192,"start_point":[950,938],"end_point":[208,82],"distance":1132.8283188550681},{"start_region_id":192,"end_region_id":303,"start_point":[208,82],"end_point":[712,1005],"distance":1051.6391966829688},{"start_region_id":303,"end_region_id":192,"start_point":[712,1005],"end_point":[208,82],"distance":1051.6391966829688},{"start_region_id":192,"end_region_id":286,"start_point":[208,82],"end_point":[808,930],"distance":1038.7993068923372}],"complexity_score":0.6709523999616569}
{"id":16291,"query_id":"Q03259","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over rough, uneven ground composed of loose earth and rocks, areas with low vegetation like grass and shrubs, and liquid surfaces. However. The drone must avoid any tall vertical obstacles that could obstruct its flight path. Given these constraints, what is the most direct route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_65.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":151,"start_point":[978,792],"end_point":[40,61],"distance":1189.2035149628512}],"complexity_score":0.6709523999616569}
{"id":6058,"query_id":"Q01212","question":"A quadcopter drone starts from a flat, hard surface area and needs to reach a paved lane as quickly as possible. The drone can traverse bare, sandy or rocky ground, grassy or shrub-covered terrain, paved or compacted surfaces, vehicle lanes, and areas with individual trees or small groups of trees, as these offer open airspace for flight. However, water bodies and buildings are conditionally traversable only if explicitly allowed; here, they are not traversable due to restricted flight zones. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard surface area","end_land_type":"a paved lane","task_description":"What is the fastest path from the flat, hard surface area to the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"vienna_58.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":203,"start_point":[48,657],"end_point":[918,11],"distance":1083.612476856925},{"start_region_id":176,"end_region_id":203,"start_point":[336,896],"end_point":[918,11],"distance":1059.2209401253358},{"start_region_id":141,"end_region_id":208,"start_point":[48,657],"end_point":[990,904],"distance":973.8444434302637},{"start_region_id":146,"end_region_id":203,"start_point":[339,812],"end_point":[918,11],"distance":988.3531757423558},{"start_region_id":86,"end_region_id":208,"start_point":[337,211],"end_point":[990,904],"distance":952.1859062178982}],"complexity_score":0.6711440189021536}
{"id":6789,"query_id":"Q01358","question":"An aerial photography drone starts from a flat, paved surface and needs to reach another flat, paved surface while maintaining stable flight for clear image capture. The drone can fly over areas with tall, dense vegetation that could cause turbulence, and it can also cross over liquid surfaces that might create updrafts or downdrafts. However, the drone's flight controller prioritizes smooth, predictable air currents to minimize camera shake. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"vienna_58.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":154,"start_point":[48,657],"end_point":[978,845],"distance":948.8118886270345},{"start_region_id":154,"end_region_id":141,"start_point":[978,845],"end_point":[48,657],"distance":948.8118886270345},{"start_region_id":86,"end_region_id":154,"start_point":[337,211],"end_point":[978,845],"distance":901.5747334525297},{"start_region_id":154,"end_region_id":86,"start_point":[978,845],"end_point":[337,211],"distance":901.5747334525297},{"start_region_id":176,"end_region_id":94,"start_point":[336,896],"end_point":[746,106],"distance":890.0561780022653}],"complexity_score":0.6711440189021536}
{"id":15784,"query_id":"Q03157","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved, flat area such as a sidewalk or parking lot. The terrain includes areas with loose soil and natural ground cover, cultivated fields with soft earth, and patches of dense vegetation with uneven footing. You must avoid any liquid surfaces and vertical structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a grassy, open field with scattered low vegetation","end_land_type":"a paved, flat area such as a sidewalk or parking lot","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"vienna_58.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":154,"start_point":[56,70],"end_point":[978,845],"distance":1204.453818126706},{"start_region_id":1,"end_region_id":151,"start_point":[56,70],"end_point":[876,853],"distance":1133.7940730132611},{"start_region_id":2,"end_region_id":154,"start_point":[206,88],"end_point":[978,845],"distance":1081.2182943328328},{"start_region_id":4,"end_region_id":176,"start_point":[949,31],"end_point":[336,896],"distance":1060.1858327670673},{"start_region_id":2,"end_region_id":151,"start_point":[206,88],"end_point":[876,853],"distance":1016.9193675016717}],"complexity_score":0.6711440189021536}
{"id":12767,"query_id":"Q02554","question":"A quadcopter drone is launched from a grassy field and needs to land on a paved street. The drone can fly over most surfaces including soft ground, hard pavement, cultivated areas, and even liquid, but it must avoid colliding with tall vertical structures like trees and buildings. The operator wants the most direct flight path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the shortest path from the grassy field to the paved street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_20.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":126,"start_point":[924,837],"end_point":[385,162],"distance":863.7974299568158},{"start_region_id":13,"end_region_id":130,"start_point":[923,265],"end_point":[185,660],"distance":837.0597350249265},{"start_region_id":31,"end_region_id":130,"start_point":[924,837],"end_point":[185,660],"distance":759.9013093816855},{"start_region_id":20,"end_region_id":130,"start_point":[920,468],"end_point":[185,660],"distance":759.6637414014177},{"start_region_id":31,"end_region_id":127,"start_point":[924,837],"end_point":[670,128],"distance":753.1248236514316}],"complexity_score":0.6712087237094114}
{"id":17128,"query_id":"Q03426","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a paved lane used by vehicles. The terrain includes hard, flat surfaces like sidewalks and parking lots, and soft, vegetated areas that are passable on foot. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_20.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":126,"start_point":[924,837],"end_point":[385,162],"distance":863.7974299568158},{"start_region_id":13,"end_region_id":130,"start_point":[923,265],"end_point":[185,660],"distance":837.0597350249265},{"start_region_id":31,"end_region_id":130,"start_point":[924,837],"end_point":[185,660],"distance":759.9013093816855},{"start_region_id":20,"end_region_id":130,"start_point":[920,468],"end_point":[185,660],"distance":759.6637414014177},{"start_region_id":31,"end_region_id":127,"start_point":[924,837],"end_point":[670,128],"distance":753.1248236514316}],"complexity_score":0.6712087237094114}
{"id":431,"query_id":"Q00087","question":"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, vehicle lanes, liquid areas, and vertical structures. Given that you are a hiker seeking a smooth and stable walking experience, what is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,2,0,0,0,0,3,0],"image_name":"buenos_aires_19.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":4,"start_point":[608,229],"end_point":[274,815],"distance":674.50129725598},{"start_region_id":136,"end_region_id":23,"start_point":[691,476],"end_point":[397,601],"distance":319.4698733840172},{"start_region_id":136,"end_region_id":33,"start_point":[691,476],"end_point":[749,747],"distance":277.1371501621535}],"complexity_score":0.6712855951235644}
{"id":13503,"query_id":"Q02701","question":"An aerial photography drone starts from a grassy, vegetated area and needs to reach a paved, hard surface while maintaining stable flight. The drone can fly over loose, sandy or rocky ground, grassy or shrubby terrain, paved areas, and liquid surfaces, but must avoid flying through dense vertical obstacles like tall vegetation or structures. The flight path should prioritize smooth, predictable surfaces to minimize vibration and ensure stable camera operation.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"grassy, vegetated area","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_25.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":209,"start_point":[26,958],"end_point":[912,114],"distance":1223.6551801876212},{"start_region_id":189,"end_region_id":202,"start_point":[946,962],"end_point":[107,159],"distance":1161.3483542847944},{"start_region_id":1,"end_region_id":281,"start_point":[132,44],"end_point":[928,853],"distance":1134.943610934041},{"start_region_id":1,"end_region_id":304,"start_point":[132,44],"end_point":[772,970],"distance":1125.6447041584659},{"start_region_id":9,"end_region_id":274,"start_point":[948,62],"end_point":[166,845],"distance":1106.6223384696334}],"complexity_score":0.6712903028574757}
{"id":13520,"query_id":"Q02704","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a flat, hard, artificial surface. The drone can fly over areas with loose, dry soil or rocks, as well as liquid surfaces, but must avoid tall vertical obstacles and solid structures. The drone's priority is to minimize risk of collision or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, hard, artificial surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_25.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":209,"start_point":[26,958],"end_point":[912,114],"distance":1223.6551801876212},{"start_region_id":189,"end_region_id":202,"start_point":[946,962],"end_point":[107,159],"distance":1161.3483542847944},{"start_region_id":1,"end_region_id":281,"start_point":[132,44],"end_point":[928,853],"distance":1134.943610934041},{"start_region_id":1,"end_region_id":304,"start_point":[132,44],"end_point":[772,970],"distance":1125.6447041584659},{"start_region_id":9,"end_region_id":274,"start_point":[948,62],"end_point":[166,845],"distance":1106.6223384696334}],"complexity_score":0.6712903028574757}
{"id":17917,"query_id":"Q03584","question":"A hiker starts from a paved road surface and needs to reach a grassy field with scattered shrubs. The hiker can traverse loose sandy or rocky ground, grassy areas with bushes, cultivated crop fields, and wooded areas with individual trees, but cannot cross water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"grassy field with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_25.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":312,"end_region_id":188,"start_point":[874,96],"end_point":[26,958],"distance":1209.193119398221},{"start_region_id":312,"end_region_id":182,"start_point":[874,96],"end_point":[223,929],"distance":1057.2085886900466},{"start_region_id":312,"end_region_id":170,"start_point":[874,96],"end_point":[204,865],"distance":1019.9318604691198},{"start_region_id":312,"end_region_id":113,"start_point":[874,96],"end_point":[85,614],"distance":943.8458560591342},{"start_region_id":312,"end_region_id":191,"start_point":[874,96],"end_point":[510,960],"distance":937.5457322179009}],"complexity_score":0.6712903028574757}
{"id":17924,"query_id":"Q03585","question":"A hiker starts from a shaded area under a tall, leafy canopy and needs to reach a paved lane used by vehicles. The terrain includes loose, sandy ground; grassy fields with scattered bushes; cultivated fields with crops; and areas with individual trees. The hiker has permission to walk through grassy fields, cultivated areas, and sandy ground, and can pass through wooded spots when necessary. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"tree","end_land_type":"road","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bielefeld_25.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":528,"end_region_id":312,"start_point":[170,826],"end_point":[874,96],"distance":1014.157778651823},{"start_region_id":486,"end_region_id":312,"start_point":[45,621],"end_point":[874,96],"distance":981.2573566603207},{"start_region_id":577,"end_region_id":312,"start_point":[543,923],"end_point":[874,96],"distance":890.7805565906791},{"start_region_id":415,"end_region_id":312,"start_point":[95,432],"end_point":[874,96],"distance":848.3731490329005},{"start_region_id":330,"end_region_id":312,"start_point":[47,76],"end_point":[874,96],"distance":827.2418026187989}],"complexity_score":0.6712903028574757}
{"id":10402,"query_id":"Q02081","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The terrain includes hard, flat surfaces, soft ground with loose soil and rocks, areas with natural grass and shrubs, and water bodies. The drone can fly over all these surfaces, but must avoid trees and buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path for the quadcopter drone to reach the destination paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_14.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":208,"start_point":[850,181],"end_point":[321,728],"distance":760.9533494242601},{"start_region_id":208,"end_region_id":188,"start_point":[321,728],"end_point":[850,181],"distance":760.9533494242601},{"start_region_id":188,"end_region_id":210,"start_point":[850,181],"end_point":[390,741],"distance":724.7068372797376},{"start_region_id":210,"end_region_id":188,"start_point":[390,741],"end_point":[850,181],"distance":724.7068372797376},{"start_region_id":188,"end_region_id":199,"start_point":[850,181],"end_point":[241,421],"distance":654.5846011021035}],"complexity_score":0.6713098935924984}
{"id":16823,"query_id":"Q03365","question":"An aerial surveillance drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over any terrain except dense vertical obstacles, which are blocked. Liquid surfaces are accessible, and cultivated fields with low vegetation are passable. Hard surfaces like lanes and artificial flat zones are open. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard surface area","end_land_type":"Another paved, hard surface area","task_description":"What is the shortest path for the drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_14.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":94,"start_point":[232,895],"end_point":[978,46],"distance":1130.1844982125706},{"start_region_id":94,"end_region_id":151,"start_point":[978,46],"end_point":[232,895],"distance":1130.1844982125706},{"start_region_id":151,"end_region_id":93,"start_point":[232,895],"end_point":[821,136],"distance":960.7299308338426},{"start_region_id":93,"end_region_id":151,"start_point":[821,136],"end_point":[232,895],"distance":960.7299308338426},{"start_region_id":132,"end_region_id":94,"start_point":[269,651],"end_point":[978,46],"distance":932.0439903781366}],"complexity_score":0.6713098935924984}
{"id":1541,"query_id":"Q00309","question":"A quadcopter drone starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area while prioritizing safety. The drone can fly over areas with loose soil and low vegetation, paved hard surfaces, and cultivated fields, but must avoid flying near trees or structures due to collision risk, and should avoid water bodies for safety reasons. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"joplin_44.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":30,"start_point":[905,994],"end_point":[56,255],"distance":1125.576296836425},{"start_region_id":30,"end_region_id":84,"start_point":[56,255],"end_point":[905,994],"distance":1125.576296836425},{"start_region_id":81,"end_region_id":30,"start_point":[969,898],"end_point":[56,255],"distance":1116.6996015043617},{"start_region_id":30,"end_region_id":81,"start_point":[56,255],"end_point":[969,898],"distance":1116.6996015043617},{"start_region_id":44,"end_region_id":82,"start_point":[957,376],"end_point":[31,964],"distance":1096.9138525882513}],"complexity_score":0.6714996434822342}
{"id":12324,"query_id":"Q02465","question":"A quadcopter drone starts from a paved lane and needs to reach a paved parking lot. The drone can fly over areas with hard surfaces, soft vegetated ground, and cultivated soil. However. The drone must avoid flying through any areas with dense vertical obstacles. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"joplin_44.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":145,"start_point":[590,332],"end_point":[62,894],"distance":771.1212615406217},{"start_region_id":157,"end_region_id":147,"start_point":[590,332],"end_point":[908,894],"distance":645.7305939786344},{"start_region_id":157,"end_region_id":151,"start_point":[590,332],"end_point":[663,930],"distance":602.4392085513691},{"start_region_id":157,"end_region_id":97,"start_point":[590,332],"end_point":[92,92],"distance":552.8146163045981},{"start_region_id":157,"end_region_id":91,"start_point":[590,332],"end_point":[966,76],"distance":454.875807226544}],"complexity_score":0.6714996434822342}
{"id":16554,"query_id":"Q03311","question":"An aerial surveillance drone starts from a paved, hard surface and needs to complete a surveillance loop and return to another paved, hard surface. The drone must avoid any areas with tall, dense vegetation that could entangle its rotors. The drone is also prohibited from flying over any vertical structures that could cause collisions. The drone is permitted to fly over open grassy fields, cultivated crop fields, and bodies of water, as these present minimal collision risk. The primary objective is to minimize the risk of damage or loss of control during the flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"joplin_44.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":157,"start_point":[722,999],"end_point":[250,150],"distance":971.3830346469924}],"complexity_score":0.6714996434822342}
{"id":3713,"query_id":"Q00743","question":"A quadcopter drone is on a paved road and needs to reach a wooded area. The environment includes various ground surfaces and open airspaces, but flying through dense tree canopies is restricted and should be minimized. All other terrain types are accessible. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road","end_land_type":"a wooded area","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_24.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":204,"start_point":[54,55],"end_point":[952,884],"distance":1222.147699748275},{"start_region_id":128,"end_region_id":223,"start_point":[54,55],"end_point":[578,998],"distance":1078.8072116926176},{"start_region_id":128,"end_region_id":196,"start_point":[54,55],"end_point":[892,685],"distance":1048.4006867605533},{"start_region_id":128,"end_region_id":218,"start_point":[54,55],"end_point":[511,936],"distance":992.4766999783924},{"start_region_id":128,"end_region_id":200,"start_point":[54,55],"end_point":[789,715],"distance":987.8385495616174}],"complexity_score":0.6715053396018676}
{"id":5482,"query_id":"Q01097","question":"A quadcopter starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The area includes vertical obstacles like tall vegetation that require careful navigation, but they can be flown through if needed. All other surfaces are either not present or irrelevant for aerial travel. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path from the starting grassy, open field to the destination grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_24.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":8,"start_point":[383,441],"end_point":[839,147],"distance":542.5605956941583},{"start_region_id":8,"end_region_id":24,"start_point":[839,147],"end_point":[383,441],"distance":542.5605956941583}],"complexity_score":0.6715053396018676}
{"id":17058,"query_id":"Q03412","question":"A passenger car starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes smooth, paved surfaces suitable for driving, as well as areas with loose soil and natural vegetation that may be uneven. You must avoid any vertical obstacles, liquid surfaces, and wooded areas. The goal is to find a path that maximizes ride comfort.","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,3,4,0,0,0,0],"image_name":"chisinau_24.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":128,"start_point":[857,823],"end_point":[54,55],"distance":1111.1404051693917},{"start_region_id":105,"end_region_id":128,"start_point":[696,923],"end_point":[54,55],"distance":1079.624008625225},{"start_region_id":83,"end_region_id":128,"start_point":[935,617],"end_point":[54,55],"distance":1044.9904305781943},{"start_region_id":89,"end_region_id":128,"start_point":[512,807],"end_point":[54,55],"distance":880.4930436976774},{"start_region_id":75,"end_region_id":128,"start_point":[747,469],"end_point":[54,55],"distance":807.2453158736816}],"complexity_score":0.6715053396018676}
{"id":2025,"query_id":"Q00405","question":"An aerial survey drone starts from a grassy, shrub-covered area and needs to return to another grassy, shrub-covered area. The drone can fly over loose, sandy or rocky ground without vegetation; grassy or bushy areas; paved or compacted surfaces; vehicle lanes; liquid surfaces; cultivated fields with crops; and vertical structures, but must avoid dense clusters of tall vegetation due to navigation risks. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"grassy, shrub-covered terrain","task_description":"What is the shortest path for the aerial survey drone to return from the starting grassy, shrub-covered area to the destination grassy, shrub-covered area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"tonga_57.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":106,"start_point":[931,295],"end_point":[22,829],"distance":1054.2471247293017},{"start_region_id":106,"end_region_id":41,"start_point":[22,829],"end_point":[931,295],"distance":1054.2471247293017},{"start_region_id":113,"end_region_id":5,"start_point":[205,960],"end_point":[655,61],"distance":1005.3362621531166},{"start_region_id":5,"end_region_id":113,"start_point":[655,61],"end_point":[205,960],"distance":1005.3362621531166},{"start_region_id":5,"end_region_id":106,"start_point":[655,61],"end_point":[22,829],"distance":995.245195919076}],"complexity_score":0.6715200830558298}
{"id":15714,"query_id":"Q03143","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach another flat, hard, artificial surface. The area includes expanses of soft, grassy vegetation; flat, hard, artificial surfaces; open bodies of liquid; and cultivated, tilled soil. The drone can fly over all these surfaces, but must avoid tall, dense vertical obstacles like trees and solid, enclosed vertical structures like buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"Another flat, hard, artificial surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tonga_57.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":162,"start_point":[882,639],"end_point":[131,119],"distance":913.4555271057261},{"start_region_id":162,"end_region_id":239,"start_point":[131,119],"end_point":[882,639],"distance":913.4555271057261},{"start_region_id":239,"end_region_id":196,"start_point":[882,639],"end_point":[35,300],"distance":912.321215362221},{"start_region_id":196,"end_region_id":239,"start_point":[35,300],"end_point":[882,639],"distance":912.321215362221},{"start_region_id":262,"end_region_id":188,"start_point":[200,894],"end_point":[848,257],"distance":908.6655050127082}],"complexity_score":0.6715200830558298}
{"id":1201,"query_id":"Q00241","question":"A quadcopter drone is currently stationed on a grassy, vegetated area. It needs to reach a paved lane or street for a landing site. The drone can fly over various surfaces, but for safety reasons, it should avoid liquid surfaces due to risk of spray or downdraft instability, and it must not collide with vertical structures or dense tree canopies. The objective is to navigate to the destination while minimizing risk of crash, signal loss, or environmental hazards. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, vegetated area","end_land_type":"A paved lane or street","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"accra_16.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":297,"start_point":[957,143],"end_point":[210,724],"distance":946.3456028322845},{"start_region_id":6,"end_region_id":297,"start_point":[848,30],"end_point":[210,724],"distance":942.6982550105839},{"start_region_id":39,"end_region_id":297,"start_point":[934,298],"end_point":[210,724],"distance":840.0309518107056},{"start_region_id":86,"end_region_id":297,"start_point":[1003,833],"end_point":[210,724],"distance":800.4561199716072},{"start_region_id":57,"end_region_id":297,"start_point":[976,553],"end_point":[210,724],"distance":784.8547636346485}],"complexity_score":0.6716683168849954}
{"id":17032,"query_id":"Q03407","question":"A family sedan starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes open grassy areas with low vegetation, which are traversable as the ground is compact and free of obstacles. However, all other surfaces such as loose sandy ground, tree-covered areas, water bodies, and structures are strictly off-limits due to safety risks. What is the safest route?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"accra_16.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":297,"start_point":[986,48],"end_point":[210,724],"distance":1029.1511064950569},{"start_region_id":143,"end_region_id":297,"start_point":[852,182],"end_point":[210,724],"distance":840.1952154112757},{"start_region_id":208,"end_region_id":297,"start_point":[987,613],"end_point":[210,724],"distance":784.8885271170677},{"start_region_id":159,"end_region_id":297,"start_point":[782,274],"end_point":[210,724],"distance":727.7939268776568},{"start_region_id":103,"end_region_id":297,"start_point":[497,93],"end_point":[210,724],"distance":693.2027120547062}],"complexity_score":0.6716683168849954}
{"id":15451,"query_id":"Q03091","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach another grassy, open field with similar low vegetation. The area includes flat, hard surfaces like paved areas or compacted soil, bodies of liquid, and cultivated plots with planted crops. The aerial survey drone can fly over all these surfaces, but must avoid tall, dense vertical obstacles like trees or structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation.","end_land_type":"Ending at another grassy, open field with similar low vegetation.","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_44.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":180,"start_point":[798,118],"end_point":[33,952],"distance":1131.7159537622504},{"start_region_id":180,"end_region_id":7,"start_point":[33,952],"end_point":[798,118],"distance":1131.7159537622504},{"start_region_id":190,"end_region_id":7,"start_point":[235,1005],"end_point":[798,118],"distance":1050.5893584079367},{"start_region_id":7,"end_region_id":190,"start_point":[798,118],"end_point":[235,1005],"distance":1050.5893584079367},{"start_region_id":166,"end_region_id":7,"start_point":[80,856],"end_point":[798,118],"distance":1029.6445988786616}],"complexity_score":0.6717086138788977}
{"id":1179,"query_id":"Q00236","question":"A quadcopter drone starts from a paved, hard-surfaced lane and needs to reach another paved, hard-surfaced lane. The drone can fly over grassy areas, shrub-covered ground, and tall vertical obstacles, but must avoid liquid surfaces and solid structures due to safety protocols. The drone operator wants to find a path that minimizes turbulence and ensures stable flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"Another paved, hard-surfaced lane","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_41.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":232,"start_point":[873,823],"end_point":[300,309],"distance":769.7564549907977},{"start_region_id":232,"end_region_id":236,"start_point":[300,309],"end_point":[873,823],"distance":769.7564549907977},{"start_region_id":232,"end_region_id":233,"start_point":[300,309],"end_point":[929,236],"distance":633.2219200248835},{"start_region_id":233,"end_region_id":232,"start_point":[929,236],"end_point":[300,309],"distance":633.2219200248835},{"start_region_id":236,"end_region_id":233,"start_point":[873,823],"end_point":[929,236],"distance":589.66515922174}],"complexity_score":0.6717689614698621}
{"id":3702,"query_id":"Q00741","question":"A hiker starts from a densely vegetated area with tall, woody plants casting shadows and needs to reach a flat, hard, artificial surface. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with natural grasses and shrubs; flat, hard artificial surfaces like sidewalks or parking lots; paved lanes used by vehicles; cultivated fields with crops; and densely vegetated areas with tall, woody plants. You cannot travel over liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants casting shadows","end_land_type":"a flat, hard, artificial surface","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_41.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":166,"start_point":[94,59],"end_point":[954,791],"distance":1129.3467138129017},{"start_region_id":303,"end_region_id":79,"start_point":[81,792],"end_point":[855,74],"distance":1055.7461816175326},{"start_region_id":242,"end_region_id":196,"start_point":[834,24],"end_point":[338,916],"distance":1020.6272581114027},{"start_region_id":314,"end_region_id":79,"start_point":[300,923],"end_point":[855,74],"distance":1014.3106033163609},{"start_region_id":239,"end_region_id":158,"start_point":[94,59],"end_point":[846,709],"distance":993.9839032901891}],"complexity_score":0.6717689614698621}
{"id":8268,"query_id":"Q01654","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a patch of low vegetation. The drone can fly over various terrains but must avoid tall, dense obstacles. The area includes open, dry ground with no vertical obstructions. The hard surface is clear for takeoff. The objective is to complete the flight in the shortest duration.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a patch of low vegetation","task_description":"What is the fastest flight path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_41.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":63,"start_point":[786,169],"end_point":[218,787],"distance":839.3735759481591},{"start_region_id":74,"end_region_id":56,"start_point":[786,169],"end_point":[146,697],"distance":829.6890983977071},{"start_region_id":74,"end_region_id":47,"start_point":[786,169],"end_point":[174,495],"distance":693.4118545280287},{"start_region_id":112,"end_region_id":63,"start_point":[591,176],"end_point":[218,787],"distance":715.8561307972434},{"start_region_id":112,"end_region_id":56,"start_point":[591,176],"end_point":[146,697],"distance":685.1758898268386}],"complexity_score":0.6717689614698621}
{"id":12753,"query_id":"Q02551","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, flat surfaces suitable for walking; areas with loose soil and scattered vegetation; and patches of tall, dense vegetation that require careful navigation. You cannot cross any liquid surfaces or enter any vertical structures. What is the shortest route to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest route to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_41.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":56,"start_point":[929,236],"end_point":[146,697],"distance":908.6308381295453},{"start_region_id":233,"end_region_id":63,"start_point":[929,236],"end_point":[218,787],"distance":899.5120899687786},{"start_region_id":236,"end_region_id":38,"start_point":[873,823],"end_point":[182,379],"distance":821.3507168073819},{"start_region_id":233,"end_region_id":47,"start_point":[929,236],"end_point":[174,495],"distance":798.1892006285227},{"start_region_id":236,"end_region_id":47,"start_point":[873,823],"end_point":[174,495],"distance":772.1301703728459}],"complexity_score":0.6717689614698621}
{"id":678,"query_id":"Q00136","question":"A hiker starts from a wooded area with tall, leafy vegetation and needs to reach a paved, hard-surfaced area. The hiker can traverse bare, rocky ground; paved, hard-surfaced areas; vehicle lanes; and wooded areas with tall, leafy vegetation. However, the hiker cannot cross any liquid surfaces or enter any structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a wooded area with tall, leafy vegetation","end_land_type":"a paved, hard-surfaced area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[1,0,1,1,1,0,0,0],"image_name":"buenos_aires_13.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":510,"end_region_id":327,"start_point":[104,859],"end_point":[979,915],"distance":876.7901687405032},{"start_region_id":510,"end_region_id":278,"start_point":[104,859],"end_point":[909,584],"distance":850.6762016184537},{"start_region_id":510,"end_region_id":309,"start_point":[104,859],"end_point":[895,820],"distance":791.9608576186073},{"start_region_id":426,"end_region_id":339,"start_point":[595,384],"end_point":[99,925],"distance":733.9598081639076},{"start_region_id":510,"end_region_id":213,"start_point":[104,859],"end_point":[544,316],"distance":698.8912647901675}],"complexity_score":0.6717948210768662}
{"id":8788,"query_id":"Q01758","question":"A delivery drone is currently in an area with tall vertical obstacles and needs to reach a flat, hard surface. The drone can fly over areas with loose soil and rocks, grassy and shrub-covered terrain, flat paved surfaces, vehicle lanes and streets, and cultivated fields, but must avoid liquid surfaces and man-made vertical structures. The tall vertical obstacles are passable only if the drone can fly between them safely. What is the safest path for the delivery drone to take?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"an area with tall vertical obstacles","end_land_type":"a flat, hard surface","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"buenos_aires_13.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":395,"end_region_id":339,"start_point":[994,211],"end_point":[99,925],"distance":1144.910913564894},{"start_region_id":395,"end_region_id":337,"start_point":[994,211],"end_point":[302,915],"distance":987.1575355534698},{"start_region_id":396,"end_region_id":327,"start_point":[299,215],"end_point":[979,915],"distance":975.9098319004681},{"start_region_id":395,"end_region_id":285,"start_point":[994,211],"end_point":[193,621],"distance":899.8338735566693},{"start_region_id":510,"end_region_id":327,"start_point":[104,859],"end_point":[979,915],"distance":876.7901687405032}],"complexity_score":0.6717948210768662}
{"id":13251,"query_id":"Q02651","question":"A quadcopter drone is hovering over a grassy, uneven field and needs to reach a smooth, paved landing pad. The drone can fly over grassy fields, cultivated crop areas, hard surfaces, and liquid bodies, but must avoid colliding with vertical structures and dense tree canopies. The operator wants a stable flight with minimal turbulence. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a smooth, paved landing pad","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_13.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":339,"start_point":[985,160],"end_point":[99,925],"distance":1170.5643937861769},{"start_region_id":36,"end_region_id":327,"start_point":[144,239],"end_point":[979,915],"distance":1074.3374702578328},{"start_region_id":24,"end_region_id":337,"start_point":[985,160],"end_point":[302,915],"distance":1018.0933159588074},{"start_region_id":72,"end_region_id":339,"start_point":[978,463],"end_point":[99,925],"distance":993.0181267227704},{"start_region_id":36,"end_region_id":309,"start_point":[144,239],"end_point":[895,820],"distance":949.5061874469276}],"complexity_score":0.6717948210768662}
{"id":8885,"query_id":"Q01777","question":"A hiker starts from a paved surface and needs to reach a wooded area while prioritizing safety. The hiker can traverse hard, stable surfaces like sidewalks and streets, as well as open, firm ground with loose soil or rocks, and grassy or shrub-covered terrain. However. The hiker must avoid any liquid surfaces and cannot pass through solid vertical structures. The wooded area contains tall vegetation that may be traversable if there is enough space between trees. What is the safest path to reach the wooded area?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved surface","end_land_type":"wooded area","task_description":"What is the safest path to reach the wooded area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"mexico_city_11.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":275,"end_region_id":403,"start_point":[927,742],"end_point":[51,828],"distance":880.2113382591706},{"start_region_id":275,"end_region_id":437,"start_point":[927,742],"end_point":[93,841],"distance":839.8553446874051},{"start_region_id":271,"end_region_id":403,"start_point":[717,325],"end_point":[51,828],"distance":834.6046968475555},{"start_region_id":271,"end_region_id":437,"start_point":[717,325],"end_point":[93,841],"distance":809.7110595761923},{"start_region_id":271,"end_region_id":446,"start_point":[717,325],"end_point":[194,878],"distance":761.1425622050051}],"complexity_score":0.6718201045407075}
{"id":6786,"query_id":"Q01358","question":"An aerial photography drone starts from a flat, paved surface and needs to reach another flat, paved surface while maintaining stable flight for clear image capture. The drone can fly over areas with tall, dense vegetation that could cause turbulence, and it can also cross over liquid surfaces that might create updrafts or downdrafts. However, the drone's flight controller prioritizes smooth, predictable air currents to minimize camera shake. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"santa_rosa_19.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":182,"start_point":[699,109],"end_point":[190,943],"distance":977.0552696751602},{"start_region_id":182,"end_region_id":110,"start_point":[190,943],"end_point":[699,109],"distance":977.0552696751602},{"start_region_id":164,"end_region_id":113,"start_point":[836,875],"end_point":[201,154],"distance":960.7632382642458},{"start_region_id":113,"end_region_id":164,"start_point":[201,154],"end_point":[836,875],"distance":960.7632382642458},{"start_region_id":182,"end_region_id":109,"start_point":[190,943],"end_point":[578,98],"distance":929.8220259813165}],"complexity_score":0.671977831111958}
{"id":11077,"query_id":"Q02216","question":"A delivery drone starts from a concrete surface and needs to reach a grassy field. The drone can fly over hard surfaces, vehicle lanes, grassy areas, wooded patches, and liquid surfaces. However. The drone must avoid all vertical structures. The drone's priority is to minimize risk during flight.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"concrete surface","end_land_type":"grassy field","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"santa_rosa_19.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":182,"end_region_id":6,"start_point":[190,943],"end_point":[866,54],"distance":1116.8245162065525},{"start_region_id":113,"end_region_id":87,"start_point":[201,154],"end_point":[931,900],"distance":1043.7509281433},{"start_region_id":110,"end_region_id":90,"start_point":[699,109],"end_point":[75,920],"distance":1023.2775771998524},{"start_region_id":164,"end_region_id":1,"start_point":[836,875],"end_point":[111,176],"distance":1007.0878809716658},{"start_region_id":109,"end_region_id":90,"start_point":[578,98],"end_point":[75,920],"distance":963.6871899117473}],"complexity_score":0.671977831111958}
{"id":11974,"query_id":"Q02395","question":"A sedan starts from a paved area with a smooth, hard surface and needs to reach a paved lane used by vehicles. The terrain includes loose, uneven ground composed of sand or rocks, which is rough and may cause discomfort. You must avoid any areas with vegetation, trees, water, or buildings. What is the most comfortable path to take?","agent_category":"Car","specific_agent":"sedan","start_land_type":"paved area","end_land_type":"paved lane","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"santa_rosa_19.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":199,"start_point":[201,154],"end_point":[402,780],"distance":657.4777562777314},{"start_region_id":125,"end_region_id":199,"start_point":[164,314],"end_point":[402,780],"distance":523.2590180780452},{"start_region_id":154,"end_region_id":199,"start_point":[902,649],"end_point":[402,780],"distance":516.8761940735905},{"start_region_id":148,"end_region_id":199,"start_point":[880,589],"end_point":[402,780],"distance":514.7475109216168},{"start_region_id":113,"end_region_id":198,"start_point":[201,154],"end_point":[506,568],"distance":514.2188250151875}],"complexity_score":0.671977831111958}
{"id":13295,"query_id":"Q02659","question":"A delivery drone starts from a paved surface and needs to reach a firm, artificial ground with a delivery drone. The environment includes loose, sandy or rocky terrain; grassy or shrubby zones; cultivated crop fields; and expanses of liquid. You must avoid areas with tall, dense vegetation and solid vertical structures. To ensure stable flight and smooth operation, prioritize surfaces that are open, predictable, and minimize turbulence or interference. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved surface","end_land_type":"a firm, artificial ground","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mexico_city_70.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":614,"end_region_id":585,"start_point":[848,148],"end_point":[40,937],"distance":1129.3294470613966},{"start_region_id":620,"end_region_id":346,"start_point":[213,913],"end_point":[787,154],"distance":951.607587191275},{"start_region_id":620,"end_region_id":453,"start_point":[213,913],"end_point":[980,504],"distance":869.2352961080217},{"start_region_id":614,"end_region_id":391,"start_point":[848,148],"end_point":[23,380],"distance":857.0},{"start_region_id":614,"end_region_id":571,"start_point":[848,148],"end_point":[294,775],"distance":836.6869187455962}],"complexity_score":0.6720748714713985}
{"id":7185,"query_id":"Q01437","question":"A delivery drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles that could disrupt its flight path. The drone should prioritize smooth, predictable flight conditions to ensure package stability and minimize vibrations during transit.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_17.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":258,"end_region_id":246,"start_point":[374,824],"end_point":[573,388],"distance":479.26714888462783},{"start_region_id":246,"end_region_id":258,"start_point":[573,388],"end_point":[374,824],"distance":479.26714888462783},{"start_region_id":258,"end_region_id":257,"start_point":[374,824],"end_point":[120,378],"distance":513.2562712719641},{"start_region_id":257,"end_region_id":258,"start_point":[120,378],"end_point":[374,824],"distance":513.2562712719641},{"start_region_id":246,"end_region_id":257,"start_point":[573,388],"end_point":[120,378],"distance":453.1103618325231}],"complexity_score":0.6723117058346108}
{"id":8689,"query_id":"Q01738","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a cluster of tall vegetation. The drone can fly over loose, sandy or rocky terrain, grassy or shrub-covered areas, paved walkways and parking lots, vehicle lanes, liquid surfaces, cultivated fields, and solid structures. However, flying through dense wooded areas is allowed only if there is sufficient clearance between trees. The operator prioritizes minimizing the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a cluster of tall vegetation","task_description":"What is the safest route for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_65.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":209,"start_point":[654,972],"end_point":[49,41],"distance":1110.3089660090113},{"start_region_id":186,"end_region_id":209,"start_point":[908,687],"end_point":[49,41],"distance":1074.800911797157},{"start_region_id":200,"end_region_id":239,"start_point":[177,843],"end_point":[821,135],"distance":957.0788891204319},{"start_region_id":200,"end_region_id":253,"start_point":[177,843],"end_point":[884,227],"distance":937.712642551011},{"start_region_id":205,"end_region_id":232,"start_point":[654,972],"end_point":[128,133],"distance":990.2509782878278}],"complexity_score":0.6724418732921803}
{"id":5420,"query_id":"Q01084","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes only hard, flat surfaces and soft, grassy ground with low vegetation; all other surfaces like loose soil, water bodies, vertical structures, and dense tree cover are impassable. The grassy areas are dry and firm enough to walk on without sinking. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"mahe_70.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":231,"start_point":[965,667],"end_point":[48,732],"distance":919.3008212766917},{"start_region_id":231,"end_region_id":210,"start_point":[48,732],"end_point":[965,667],"distance":919.3008212766917},{"start_region_id":232,"end_region_id":231,"start_point":[872,693],"end_point":[48,732],"distance":824.9224205948096},{"start_region_id":231,"end_region_id":232,"start_point":[48,732],"end_point":[872,693],"distance":824.9224205948096},{"start_region_id":210,"end_region_id":243,"start_point":[965,667],"end_point":[198,821],"distance":782.3074843052443}],"complexity_score":0.6724477449893647}
{"id":8355,"query_id":"Q01671","question":"A delivery drone begins on a grassy, uneven field and needs to reach a paved, hard-surfaced lane. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and water bodies. However, it must avoid flying through dense tree canopies or close to building structures. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved, hard-surfaced lane","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_70.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":264,"start_point":[109,969],"end_point":[766,189],"distance":1019.8279266621404},{"start_region_id":130,"end_region_id":264,"start_point":[54,880],"end_point":[766,189],"distance":992.1819389607937},{"start_region_id":20,"end_region_id":264,"start_point":[104,221],"end_point":[766,189],"distance":662.7729626350188},{"start_region_id":46,"end_region_id":264,"start_point":[161,486],"end_point":[766,189],"distance":673.9688420097772},{"start_region_id":106,"end_region_id":264,"start_point":[790,820],"end_point":[766,189],"distance":631.4562534332841}],"complexity_score":0.6724477449893647}
{"id":10153,"query_id":"Q02031","question":"A hiker is standing in a dense cluster of tall, vertical structures with complex branching. They need to reach a flat area covered with low, natural vegetation. The hiker can walk on hard, artificial surfaces and paved vehicle lanes. They can also traverse open areas with loose, dry soil; areas with low, natural vegetation; cultivated fields; and areas with dense overhead obstacles, but only if the ground beneath is clear enough for foot travel. They cannot traverse liquid surfaces or enter man-made structures. What is the shortest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"A dense cluster of tall, vertical structures with complex branching","end_land_type":"A flat area covered with low, natural vegetation","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"mahe_70.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":138,"start_point":[836,62],"end_point":[109,969],"distance":1162.4018238113704},{"start_region_id":271,"end_region_id":130,"start_point":[836,62],"end_point":[54,880],"distance":1131.6571919092814},{"start_region_id":288,"end_region_id":138,"start_point":[874,278],"end_point":[109,969],"distance":1030.8763262389916},{"start_region_id":274,"end_region_id":106,"start_point":[24,148],"end_point":[790,820],"distance":1018.9896957280775},{"start_region_id":288,"end_region_id":130,"start_point":[874,278],"end_point":[54,880],"distance":1017.2531641631792}],"complexity_score":0.6724477449893647}
{"id":12780,"query_id":"Q02556","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation. The hiker can traverse grassy fields, cultivated fields, and areas with scattered bushes, but cannot cross any water bodies or enter any structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"wooded area with tall vegetation","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,1,1,1,1,0,1,0],"image_name":"mahe_70.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":274,"start_point":[965,667],"end_point":[24,148],"distance":1074.635752243522},{"start_region_id":231,"end_region_id":271,"start_point":[48,732],"end_point":[836,62],"distance":1034.3326350840914},{"start_region_id":250,"end_region_id":274,"start_point":[708,893],"end_point":[24,148],"distance":1011.3757956368147},{"start_region_id":232,"end_region_id":274,"start_point":[872,693],"end_point":[24,148],"distance":1008.0322415478585},{"start_region_id":243,"end_region_id":271,"start_point":[198,821],"end_point":[836,62],"distance":991.526600752597}],"complexity_score":0.6724477449893647}
{"id":4054,"query_id":"Q00811","question":"A hiker is standing in a patch of ground shaded by tall vegetation with visible trunks and overhead canopy. They need to reach a cultivated field with orderly rows of low-growing plants. The terrain includes areas of soft, grassy ground and loose, tilled soil. The hiker is willing to walk through areas with scattered bushes and tall grasses, as well as navigate between the trunks of tall vegetation, to find a direct route. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a patch of ground shaded by tall vegetation with visible trunks and overhead canopy","end_land_type":"a cultivated field with orderly rows of low-growing plants","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"daressalaam_103.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":274,"start_point":[101,199],"end_point":[873,827],"distance":995.1723468826895},{"start_region_id":132,"end_region_id":274,"start_point":[277,113],"end_point":[873,827],"distance":930.0602131045065},{"start_region_id":127,"end_region_id":274,"start_point":[612,32],"end_point":[873,827],"distance":836.7472736734791},{"start_region_id":145,"end_region_id":274,"start_point":[378,195],"end_point":[873,827],"distance":802.7758093017004},{"start_region_id":134,"end_region_id":274,"start_point":[458,204],"end_point":[873,827],"distance":748.567966186104}],"complexity_score":0.6724482652168053}
{"id":8272,"query_id":"Q01655","question":"An agricultural drone is currently above a cultivated field with loose soil and crop rows. It needs to reach a paved lane. The drone can fly over the cultivated field and the paved lane because it operates aerially and avoids ground obstacles. It cannot fly through areas with dense trees or buildings due to collision risk. What is the shortest path to the paved lane?","agent_category":"Drone","specific_agent":"an agricultural drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a paved lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"daressalaam_103.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":274,"end_region_id":121,"start_point":[873,827],"end_point":[77,67],"distance":1100.552588475444},{"start_region_id":274,"end_region_id":122,"start_point":[873,827],"end_point":[104,100],"distance":1058.2485530346828},{"start_region_id":271,"end_region_id":124,"start_point":[366,73],"end_point":[258,823],"distance":757.7361018190963},{"start_region_id":273,"end_region_id":121,"start_point":[612,437],"end_point":[77,67],"distance":650.4805915628843},{"start_region_id":274,"end_region_id":124,"start_point":[873,827],"end_point":[258,823],"distance":615.013007992514}],"complexity_score":0.6724482652168053}
{"id":13837,"query_id":"Q02768","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil. The drone can fly over bare, loose ground composed of sand or rocks, paved, hard surfaces, and cultivated fields, but cannot fly through dense tree canopies or buildings.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"daressalaam_103.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":273,"start_point":[570,650],"end_point":[612,437],"distance":217.1013588165675}],"complexity_score":0.6724482652168053}
{"id":10099,"query_id":"Q02020","question":"An aerial surveillance drone is positioned within a cluster of tall, leafy vegetation. It needs to reach an open area covered with low, dense shrubs and grasses. The drone must avoid any liquid surfaces and man-made structures. The terrain includes rough, loose soil areas and hard, flat paved surfaces. The drone is permitted to fly through the vegetation cluster only if it can maintain a safe altitude to navigate between branches without collision. The objective is to find the path that minimizes the risk of damage or loss of control.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cluster of tall, leafy vegetation","end_land_type":"An open area covered with low, dense shrubs and grasses","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"melbourne_54.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":37,"start_point":[996,579],"end_point":[10,519],"distance":987.823870940564},{"start_region_id":161,"end_region_id":3,"start_point":[382,976],"end_point":[669,53],"distance":966.5909165722592},{"start_region_id":123,"end_region_id":37,"start_point":[952,386],"end_point":[10,519],"distance":951.3427352957502},{"start_region_id":156,"end_region_id":3,"start_point":[480,879],"end_point":[669,53],"distance":847.3470363434335},{"start_region_id":133,"end_region_id":32,"start_point":[996,579],"end_point":[225,461],"distance":779.9775637798821}],"complexity_score":0.672726939278655}
{"id":12825,"query_id":"Q02565","question":"A hiker starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The hiker can traverse areas with loose soil and sparse vegetation, cultivated fields, and wooded patches, but must avoid any liquid surfaces and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_54.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":96,"start_point":[918,161],"end_point":[148,1000],"distance":1138.7804880660715},{"start_region_id":112,"end_region_id":71,"start_point":[943,874],"end_point":[58,249],"distance":1083.4435841334794},{"start_region_id":106,"end_region_id":96,"start_point":[838,160],"end_point":[148,1000],"distance":1087.0602559196063},{"start_region_id":107,"end_region_id":94,"start_point":[918,161],"end_point":[185,939],"distance":1068.9120637358342},{"start_region_id":106,"end_region_id":94,"start_point":[838,160],"end_point":[185,939],"distance":1016.4890555239638}],"complexity_score":0.672726939278655}
{"id":17189,"query_id":"Q03438","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or tennis court. The drone can fly over areas with loose soil, low vegetation, and hard surfaces, but must avoid trees and buildings unless necessary. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or tennis court","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"melbourne_54.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":96,"start_point":[918,161],"end_point":[148,1000],"distance":1138.7804880660715},{"start_region_id":112,"end_region_id":71,"start_point":[943,874],"end_point":[58,249],"distance":1083.4435841334794},{"start_region_id":106,"end_region_id":96,"start_point":[838,160],"end_point":[148,1000],"distance":1087.0602559196063},{"start_region_id":107,"end_region_id":94,"start_point":[918,161],"end_point":[185,939],"distance":1068.9120637358342},{"start_region_id":106,"end_region_id":94,"start_point":[838,160],"end_point":[185,939],"distance":1016.4890555239638}],"complexity_score":0.672726939278655}
{"id":347,"query_id":"Q00070","question":"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. Walking through trees is allowed but requires careful navigation around trunks and roots. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the safest path for the hiker to take from the cultivated field to the wooded area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"sechura_46.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":84,"start_point":[934,915],"end_point":[131,379],"distance":965.4558508808158},{"start_region_id":147,"end_region_id":63,"start_point":[934,915],"end_point":[601,44],"distance":932.4859248267504},{"start_region_id":147,"end_region_id":116,"start_point":[934,915],"end_point":[82,548],"distance":927.6815186258698},{"start_region_id":146,"end_region_id":143,"start_point":[245,111],"end_point":[344,1001],"distance":895.4892517501257},{"start_region_id":147,"end_region_id":96,"start_point":[934,915],"end_point":[240,364],"distance":886.1359940776584}],"complexity_score":0.6727291327843568}
{"id":949,"query_id":"Q00190","question":"A quadcopter drone starts from a paved landing pad and needs to reach another paved landing pad. The drone can fly over liquid surfaces, grassy areas, and hard surfaces, but must avoid vertical obstacles and structures. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_37.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":174,"start_point":[516,953],"end_point":[931,158],"distance":896.799866190891},{"start_region_id":174,"end_region_id":178,"start_point":[931,158],"end_point":[516,953],"distance":896.799866190891},{"start_region_id":178,"end_region_id":175,"start_point":[516,953],"end_point":[148,211],"distance":828.2439254229397},{"start_region_id":175,"end_region_id":178,"start_point":[148,211],"end_point":[516,953],"distance":828.2439254229397},{"start_region_id":174,"end_region_id":175,"start_point":[931,158],"end_point":[148,211],"distance":784.7916921068928}],"complexity_score":0.6728030840489322}
{"id":5096,"query_id":"Q01020","question":"A quadcopter is starting from a paved roadway and needs to reach another paved roadway as quickly as possible. The drone can fly over hard surfaces like parking areas and roads, as well as cultivated fields that are clear of tall obstacles. All other terrain types, including areas with dense vertical structures or liquid surfaces, are allowed but may slow it down due to navigation hazards. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved roadway","end_land_type":"paved roadway","task_description":"What is the fastest route for the quadcopter to travel from the starting paved roadway to the destination paved roadway?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"dhaka_37.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":174,"start_point":[516,953],"end_point":[931,158],"distance":896.799866190891},{"start_region_id":174,"end_region_id":178,"start_point":[931,158],"end_point":[516,953],"distance":896.799866190891},{"start_region_id":178,"end_region_id":175,"start_point":[516,953],"end_point":[148,211],"distance":828.2439254229397},{"start_region_id":175,"end_region_id":178,"start_point":[148,211],"end_point":[516,953],"distance":828.2439254229397},{"start_region_id":174,"end_region_id":175,"start_point":[931,158],"end_point":[148,211],"distance":784.7916921068928}],"complexity_score":0.6728030840489322}
{"id":8576,"query_id":"Q01716","question":"A hiker starts from a paved road surface and needs to reach a forested area with tall trees. The hiker can traverse hard, flat surfaces like sidewalks and parking lots without restriction. The hiker can also cross areas with loose soil and rocks, as well as grassy and shrub-covered terrain, since they are wearing appropriate footwear. Additionally, the hiker can pass through cultivated fields and orchards, as the crops are low-growing and permission has been granted. The hiker can also navigate through wooded areas, as the trees are spaced far enough apart to walk between them. However, all water bodies and buildings are completely impassable obstacles. The hiker wants to find the most comfortable route that minimizes rough, uneven terrain and maximizes smooth, stable walking surfaces.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"forested area with tall trees","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dhaka_37.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":286,"start_point":[148,211],"end_point":[728,1002],"distance":980.8572780991126},{"start_region_id":178,"end_region_id":184,"start_point":[516,953],"end_point":[443,78],"distance":878.0398624208357},{"start_region_id":178,"end_region_id":199,"start_point":[516,953],"end_point":[211,196],"distance":816.1335674998303},{"start_region_id":175,"end_region_id":194,"start_point":[148,211],"end_point":[831,355],"distance":698.0150428178464},{"start_region_id":175,"end_region_id":251,"start_point":[148,211],"end_point":[657,665],"distance":682.053516961829}],"complexity_score":0.6728030840489322}
{"id":4813,"query_id":"Q00963","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area while maintaining stable flight for sensor calibration. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and vehicle lanes with hard surfaces, but must avoid areas with tall vertical obstacles that could cause turbulence. The drone cannot traverse solid vertical structures or areas with dense overhead obstructions.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_40.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":111,"start_point":[844,901],"end_point":[85,158],"distance":1062.1346430655578},{"start_region_id":111,"end_region_id":239,"start_point":[85,158],"end_point":[844,901],"distance":1062.1346430655578},{"start_region_id":239,"end_region_id":110,"start_point":[844,901],"end_point":[237,157],"distance":960.2004998957249},{"start_region_id":110,"end_region_id":239,"start_point":[237,157],"end_point":[844,901],"distance":960.2004998957249},{"start_region_id":213,"end_region_id":111,"start_point":[582,748],"end_point":[85,158],"distance":771.4330819973953}],"complexity_score":0.6729681210142628}
{"id":9613,"query_id":"Q01923","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces, open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid any tall vertical structures or dense tree canopies. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_40.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":275,"start_point":[798,94],"end_point":[702,413],"distance":333.13210592796366},{"start_region_id":275,"end_region_id":272,"start_point":[702,413],"end_point":[798,94],"distance":333.13210592796366}],"complexity_score":0.6729681210142628}
{"id":14138,"query_id":"Q02828","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a paved lane. The drone can fly over most surfaces, but must navigate around dense clusters of tall vegetation that would require slower, more careful maneuvering. The terrain includes areas of loose, sandy soil and patches of low shrubs. What is the fastest path to the paved lane?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"What is the fastest path to the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_40.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":274,"start_point":[842,965],"end_point":[401,587],"distance":580.8313008094519},{"start_region_id":42,"end_region_id":274,"start_point":[975,643],"end_point":[401,587],"distance":576.7252378732875},{"start_region_id":43,"end_region_id":274,"start_point":[893,675],"end_point":[401,587],"distance":499.8079631218374},{"start_region_id":7,"end_region_id":275,"start_point":[347,99],"end_point":[702,413],"distance":473.9419795713395},{"start_region_id":7,"end_region_id":272,"start_point":[347,99],"end_point":[798,94],"distance":451.0277153346566}],"complexity_score":0.6729681210142628}
{"id":17465,"query_id":"Q03493","question":"A quadcopter drone is starting from a vegetated area with tall, leafy structures and needs to reach a flat, hard, paved surface. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; and liquid surfaces, but must avoid vertical obstacles like buildings. The objective is to find a path that minimizes vibration and ensures stable flight for maximum ride comfort.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a flat, hard, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"buenos_aires_40.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":459,"end_region_id":272,"start_point":[207,931],"end_point":[798,94],"distance":1024.621881476284},{"start_region_id":431,"end_region_id":272,"start_point":[62,774],"end_point":[798,94],"distance":1002.0459071320037},{"start_region_id":457,"end_region_id":272,"start_point":[722,896],"end_point":[798,94],"distance":805.5929493236644},{"start_region_id":322,"end_region_id":272,"start_point":[90,353],"end_point":[798,94],"distance":753.8865962464116},{"start_region_id":431,"end_region_id":275,"start_point":[62,774],"end_point":[702,413],"distance":734.7931681772769}],"complexity_score":0.6729681210142628}
{"id":16567,"query_id":"Q03314","question":"A quadcopter drone is currently positioned on a paved surface and needs to reach a cluster of tall vegetation. The drone can fly over hard surfaces, liquid areas, and cultivated fields without restriction. However, the tall vegetation presents a potential navigation hazard due to its density and vertical structure, requiring careful maneuvering. The drone must avoid any built structures and areas of loose soil or natural rock accumulations. What is the fastest route to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"a cluster of tall vegetation","task_description":"What is the fastest route to reach the destination?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[0,0,1,1,1,1,1,0],"cost_vector":[0,0,2,2,1,2,2,0],"image_name":"joplin_2.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":83,"start_point":[261,469],"end_point":[930,963],"distance":831.6231117519523},{"start_region_id":63,"end_region_id":72,"start_point":[585,964],"end_point":[589,398],"distance":566.0141340991406},{"start_region_id":63,"end_region_id":73,"start_point":[585,964],"end_point":[459,476],"distance":504.0039682383463},{"start_region_id":63,"end_region_id":75,"start_point":[585,964],"end_point":[288,562],"distance":499.8129650179155},{"start_region_id":63,"end_region_id":83,"start_point":[585,964],"end_point":[930,963],"distance":345.00144927231827}],"complexity_score":0.6730250339893546}
{"id":7212,"query_id":"Q01443","question":"A quadcopter 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 hard, paved surfaces designed for vehicles, but must navigate carefully around tall vertical structures that could obstruct its path. It can also traverse cultivated fields with low vegetation, though these may have some unevenness. The objective is to find the path that minimizes travel time.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall vertical structures","end_land_type":"another vegetated area with tall vertical structures","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"palu_54.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":299,"end_region_id":445,"start_point":[254,98],"end_point":[771,993],"distance":1033.5927631325599},{"start_region_id":445,"end_region_id":299,"start_point":[771,993],"end_point":[254,98],"distance":1033.5927631325599},{"start_region_id":291,"end_region_id":445,"start_point":[582,89],"end_point":[771,993],"distance":923.5458840793997},{"start_region_id":445,"end_region_id":291,"start_point":[771,993],"end_point":[582,89],"distance":923.5458840793997},{"start_region_id":389,"end_region_id":299,"start_point":[892,676],"end_point":[254,98],"distance":860.8879137262876}],"complexity_score":0.6731133937742433}
{"id":10688,"query_id":"Q02138","question":"A family sedan is parked on a smooth, paved lane and needs to reach a nearby flat, hard-surfaced area such as a parking lot or a paved plaza. The sedan can only travel on surfaces that are firm and even to ensure a smooth ride, avoiding any terrain that is loose, soft, or uneven. Which path should the sedan take to reach the destination while maximizing ride comfort?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which path should the sedan take to reach the destination while maximizing ride comfort?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"palu_54.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":76,"start_point":[314,644],"end_point":[62,133],"distance":569.7587208634898},{"start_region_id":264,"end_region_id":74,"start_point":[314,644],"end_point":[221,154],"distance":498.7474310710783},{"start_region_id":264,"end_region_id":86,"start_point":[314,644],"end_point":[429,158],"distance":499.42066437022805},{"start_region_id":264,"end_region_id":202,"start_point":[314,644],"end_point":[805,850],"distance":532.4631442644645},{"start_region_id":264,"end_region_id":239,"start_point":[314,644],"end_point":[690,985],"distance":507.59925137848654}],"complexity_score":0.6731133937742433}
{"id":12274,"query_id":"Q02455","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The drone can fly over grassy or shrub-covered areas, paved surfaces, and wooded sections, but must avoid vertical structures and liquid surfaces due to safety risks from collisions and moisture damage. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"palu_54.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":264,"start_point":[907,17],"end_point":[314,644],"distance":863.0052143527291},{"start_region_id":108,"end_region_id":264,"start_point":[953,284],"end_point":[314,644],"distance":733.4309783476562},{"start_region_id":76,"end_region_id":264,"start_point":[62,133],"end_point":[314,644],"distance":569.7587208634898},{"start_region_id":74,"end_region_id":264,"start_point":[221,154],"end_point":[314,644],"distance":498.7474310710783},{"start_region_id":116,"end_region_id":264,"start_point":[818,406],"end_point":[314,644],"distance":557.3688186470428}],"complexity_score":0.6731133937742433}
{"id":1632,"query_id":"Q00327","question":"A quadcopter starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible using a quadcopter. The terrain includes open areas with natural grasses and shrubs, dense vertical obstacles like tall vegetation clusters, and cultivated plots with soft soil. You must avoid any liquid surfaces and vertical structures. What is the fastest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest flight path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chicago_9.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":6,"start_point":[502,389],"end_point":[24,91],"distance":563.2832324861091},{"start_region_id":6,"end_region_id":26,"start_point":[24,91],"end_point":[502,389],"distance":563.2832324861091},{"start_region_id":20,"end_region_id":26,"start_point":[132,283],"end_point":[502,389],"distance":384.8843982288708},{"start_region_id":26,"end_region_id":20,"start_point":[502,389],"end_point":[132,283],"distance":384.8843982288708},{"start_region_id":35,"end_region_id":6,"start_point":[235,418],"end_point":[24,91],"distance":389.16577444580093}],"complexity_score":0.6731163869107173}
{"id":2753,"query_id":"Q00551","question":"An off-road vehicle starts from a paved street and needs to reach a hard, flat surface like a parking lot or construction site. The terrain includes loose, sandy ground and cultivated fields, but the vehicle can drive over the fields if the soil is compact and dry. You must avoid areas with tall vegetation, liquid, and vertical structures. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a hard, flat surface like a parking lot or construction site","task_description":"What is the shortest path from the paved street to the hard, flat surface?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"chicago_9.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":175,"start_point":[455,450],"end_point":[897,909],"distance":637.2166036757046},{"start_region_id":189,"end_region_id":181,"start_point":[455,450],"end_point":[188,889],"distance":513.819034291257},{"start_region_id":189,"end_region_id":142,"start_point":[455,450],"end_point":[978,260],"distance":556.4431687063828},{"start_region_id":189,"end_region_id":159,"start_point":[455,450],"end_point":[983,628],"distance":557.1965541889145},{"start_region_id":189,"end_region_id":180,"start_point":[455,450],"end_point":[353,942],"distance":502.46193885706407}],"complexity_score":0.6731163869107173}
{"id":16485,"query_id":"Q03297","question":"An aerial survey drone starts from a flat, paved surface and needs to reach another flat, paved surface as quickly as possible. The drone can fly over open water bodies, cultivated fields with low vegetation, and areas with trees or structures, but must avoid flying directly through dense tree canopies or between tall buildings due to collision risk. The drone can also travel over hard surfaces like roads and parking lots. Which path allows the drone to complete its survey mission in the minimum time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"Which path allows the drone to complete its survey mission in the minimum time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chicago_9.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":175,"start_point":[148,152],"end_point":[897,909],"distance":1064.9178372062324},{"start_region_id":175,"end_region_id":136,"start_point":[897,909],"end_point":[148,152],"distance":1064.9178372062324},{"start_region_id":134,"end_region_id":181,"start_point":[871,105],"end_point":[188,889],"distance":1039.781226989601},{"start_region_id":181,"end_region_id":134,"start_point":[188,889],"end_point":[871,105],"distance":1039.781226989601},{"start_region_id":142,"end_region_id":181,"start_point":[978,260],"end_point":[188,889],"distance":1009.8222615886422}],"complexity_score":0.6731163869107173}
{"id":1155,"query_id":"Q00231","question":"An aerial photography drone starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The drone can fly over areas with hard, paved surfaces, areas with soft, grassy vegetation, and even bodies of liquid, as these provide stable flight conditions. However, areas with tall, dense vertical obstacles should be avoided as they require careful maneuvering and cause turbulence. The drone cannot pass through solid, enclosed structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the most comfortable path for the aerial photography drone to reach the destination patch of loose, sandy ground?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":2,"start_point":[84,712],"end_point":[914,275],"distance":938.0133261313508},{"start_region_id":2,"end_region_id":7,"start_point":[914,275],"end_point":[84,712],"distance":938.0133261313508},{"start_region_id":4,"end_region_id":7,"start_point":[792,455],"end_point":[84,712],"distance":753.2018321804588},{"start_region_id":7,"end_region_id":4,"start_point":[84,712],"end_point":[792,455],"distance":753.2018321804588},{"start_region_id":5,"end_region_id":2,"start_point":[266,604],"end_point":[914,275],"distance":726.7358529754811}],"complexity_score":0.6731244770756429}
{"id":10715,"query_id":"Q02143","question":"A hiker starts from a densely vegetated area with tall, upright structures that provide shade and cover and needs to reach an open, dry expanse of loose soil and scattered rocks without any vegetation. The hiker prefers to walk on surfaces that are smooth, stable, and predictable to maximize comfort, avoiding rough or uneven terrain that could cause discomfort. The hiker can traverse areas with loose soil and rocks, grassy or shrubby patches, and hard, paved surfaces, but must avoid any liquid bodies and vertical structures that are completely impassable. Additionally, the hiker can walk through cultivated fields and wooded areas only if they are dry and have clear, walkable paths. What is the most comfortable path for the hiker to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"an open, dry expanse of loose soil and scattered rocks without any vegetation","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":4,"start_point":[45,925],"end_point":[792,455],"distance":882.5582133774519},{"start_region_id":202,"end_region_id":4,"start_point":[241,972],"end_point":[792,455],"distance":755.5726305260137},{"start_region_id":183,"end_region_id":4,"start_point":[212,846],"end_point":[792,455],"distance":699.486240036214},{"start_region_id":194,"end_region_id":4,"start_point":[372,898],"end_point":[792,455],"distance":610.4498341387276},{"start_region_id":113,"end_region_id":1,"start_point":[821,42],"end_point":[429,430],"distance":551.550541655069}],"complexity_score":0.6731244770756429}
{"id":11807,"query_id":"Q02362","question":"A quadcopter drone starts from a paved surface and needs to reach a sandy, open area. The drone can fly over most surfaces, including paved areas, compacted artificial areas, and dry sandy ground, but cannot fly through dense tree canopies or buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved surface","end_land_type":"a sandy, open area","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":7,"start_point":[1002,990],"end_point":[84,712],"distance":959.1704749417593},{"start_region_id":110,"end_region_id":5,"start_point":[1002,990],"end_point":[266,604],"distance":831.0788169602207},{"start_region_id":110,"end_region_id":1,"start_point":[1002,990],"end_point":[429,430],"distance":801.2047179092245},{"start_region_id":107,"end_region_id":2,"start_point":[218,69],"end_point":[914,275],"distance":725.845713633414},{"start_region_id":110,"end_region_id":2,"start_point":[1002,990],"end_point":[914,275],"distance":720.3950305214494}],"complexity_score":0.6731244770756429}
{"id":11940,"query_id":"Q02388","question":"An aerial drone starts from a paved landing pad and needs to reach a dry, open area of loose earth and rocks while prioritizing flight comfort. The drone can only fly over hard, paved surfaces, over dry, open ground with loose earth and rocks, and over lanes used by vehicles. It cannot fly through wooded areas or through built structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a paved landing pad","end_land_type":"a dry, open area of loose earth and rocks","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":1,"start_point":[823,60],"end_point":[429,430],"distance":540.4960684408352},{"start_region_id":80,"end_region_id":4,"start_point":[452,610],"end_point":[792,455],"distance":373.6642878306676},{"start_region_id":71,"end_region_id":1,"start_point":[433,119],"end_point":[429,430],"distance":311.02572240893517},{"start_region_id":73,"end_region_id":1,"start_point":[605,316],"end_point":[429,430],"distance":209.69501663129716}],"complexity_score":0.6731244770756429}
{"id":13960,"query_id":"Q02792","question":"A hiker is starting from grassy, uneven terrain and needs to reach open, loose soil and rocky ground. The hiker can traverse hard, paved surfaces and compacted dirt paths, but cannot cross any water bodies or enter any structures. The grassy areas and loose soil areas are accessible as long as the ground is stable enough for walking. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, uneven terrain","end_land_type":"open, loose soil and rocky ground","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,4,3,0,0,0,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":4,"start_point":[81,838],"end_point":[792,455],"distance":807.5951956271161},{"start_region_id":31,"end_region_id":4,"start_point":[329,773],"end_point":[792,455],"distance":561.6876356125351},{"start_region_id":12,"end_region_id":1,"start_point":[786,30],"end_point":[429,430],"distance":536.1427048836905},{"start_region_id":9,"end_region_id":1,"start_point":[77,47],"end_point":[429,430],"distance":520.1855438206641},{"start_region_id":33,"end_region_id":4,"start_point":[596,876],"end_point":[792,455],"distance":464.3888456886104}],"complexity_score":0.6731244770756429}
{"id":14039,"query_id":"Q02808","question":"A surveillance drone starts from an open area of dry, rocky terrain and needs to reach a flat, hard surface. The drone can fly over cultivated fields with low vegetation, but must avoid flying close to trees or buildings due to collision risks, and should minimize flight over water for safety. The path must prioritize safety by reducing exposure to obstacles and unstable conditions.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_64.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":98,"start_point":[914,275],"end_point":[43,880],"distance":1060.502710981919},{"start_region_id":2,"end_region_id":100,"start_point":[914,275],"end_point":[153,948],"distance":1015.8986169889198},{"start_region_id":7,"end_region_id":70,"start_point":[84,712],"end_point":[823,60],"distance":985.5074834824949},{"start_region_id":4,"end_region_id":98,"start_point":[792,455],"end_point":[43,880],"distance":861.1771014141052},{"start_region_id":2,"end_region_id":88,"start_point":[914,275],"end_point":[221,783],"distance":859.2514183869584}],"complexity_score":0.6731244770756429}
{"id":12320,"query_id":"Q02464","question":"A sedan starts from a paved lane and needs to reach a paved parking lot. The sedan can traverse areas with hard, stable surfaces like pavement and asphalt, as well as areas with soft, vegetated ground like grassy fields and cultivated soil, provided the ground is firm enough to support vehicle weight. However, the sedan cannot pass through any areas with dense vertical obstacles or liquid surfaces. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"A sedan","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chicago_13.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":202,"start_point":[518,504],"end_point":[29,934],"distance":651.1689488911461},{"start_region_id":205,"end_region_id":149,"start_point":[518,504],"end_point":[35,97],"distance":631.6153892995325},{"start_region_id":205,"end_region_id":196,"start_point":[518,504],"end_point":[13,715],"distance":547.3079571868109},{"start_region_id":205,"end_region_id":177,"start_point":[518,504],"end_point":[31,452],"distance":489.76831257238354},{"start_region_id":205,"end_region_id":157,"start_point":[518,504],"end_point":[815,112],"distance":491.8058560041757}],"complexity_score":0.6731530245234378}
{"id":1249,"query_id":"Q00250","question":"A quadcopter starts from a paved road and needs to reach a cultivated field. The terrain includes grassy areas and loose soil, and you can fly over them. You must avoid trees and buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the shortest path from the paved road to the cultivated field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"monrovia_3.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":444,"start_point":[783,547],"end_point":[139,975],"distance":773.2528693771527},{"start_region_id":228,"end_region_id":442,"start_point":[237,472],"end_point":[843,915],"distance":750.656379444017},{"start_region_id":228,"end_region_id":434,"start_point":[237,472],"end_point":[766,777],"distance":610.6275460540575},{"start_region_id":236,"end_region_id":438,"start_point":[783,547],"end_point":[281,810],"distance":566.7212718788664},{"start_region_id":236,"end_region_id":441,"start_point":[783,547],"end_point":[439,903],"distance":495.04747247107525}],"complexity_score":0.6732017126514078}
{"id":6738,"query_id":"Q01348","question":"A farm vehicle starts from a compacted, hard-packed surface and needs to reach a plowed agricultural field. The vehicle can traverse the hard surface and the agricultural field, but must avoid all other terrain types, including loose sand or rocky ground, natural grassy or shrub-covered areas, any water bodies, individual trees or wooded areas, and any structures. The agricultural field is accessible because it has been recently harvested and is firm enough to support vehicle weight without sinking. What is the safest path for the farm vehicle?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"a compacted, hard-packed surface","end_land_type":"a plowed agricultural field","task_description":"What is the safest path for the farm vehicle?","task_type":"Safest","input_classes":["Developed space","Agriculture land"],"traverse_vector":[0,0,1,0,0,0,1,0],"cost_vector":[0,0,2,0,0,0,1,0],"image_name":"monrovia_3.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":434,"start_point":[918,565],"end_point":[766,777],"distance":260.8601157708859}],"complexity_score":0.6732017126514078}
{"id":5648,"query_id":"Q01130","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area as quickly as possible. The drone can fly over both the paved surface and the grassy terrain, but tall vegetation in the grassy area may require careful navigation, potentially slowing flight. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"What is the fastest path from the paved surface to the grassy area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"rotterdam_48.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":14,"start_point":[809,505],"end_point":[201,679],"distance":632.4080960898588},{"start_region_id":184,"end_region_id":14,"start_point":[399,650],"end_point":[201,679],"distance":200.11246837716035}],"complexity_score":0.6732228198257354}
{"id":15314,"query_id":"Q03063","question":"A quadcopter starts from an area with tall, vertical obstacles extending upward and needs to reach a flat, hard, artificial surface. The environment includes open grassy areas, cultivated fields with vegetation, and the tall vertical obstacles can be flown around if there is sufficient clearance between them. The flat, hard surface is unobstructed. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"an area with tall, vertical obstacles extending upward","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"rotterdam_48.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":330,"end_region_id":86,"start_point":[59,595],"end_point":[844,531],"distance":787.6045962283359},{"start_region_id":356,"end_region_id":33,"start_point":[714,838],"end_point":[270,234],"distance":749.6345776443346},{"start_region_id":365,"end_region_id":33,"start_point":[651,876],"end_point":[270,234],"distance":746.5420282877582},{"start_region_id":338,"end_region_id":33,"start_point":[857,695],"end_point":[270,234],"distance":746.3846193484965},{"start_region_id":330,"end_region_id":45,"start_point":[59,595],"end_point":[684,399],"distance":655.0122136265858}],"complexity_score":0.6732228198257354}
{"id":2619,"query_id":"Q00524","question":"A sedan with standard suspension starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists only of smooth, stable, and predictable surfaces that provide consistent support. All other types of ground—such as loose soil, vegetation-covered areas, water bodies, and vertical structures—are impassable due to physical barriers or instability that would cause discomfort or prevent passage. The goal is to find a path that maximizes ride comfort.","agent_category":"Car","specific_agent":"A sedan with standard suspension","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"tokyo_28.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":42,"start_point":[698,312],"end_point":[71,31],"distance":687.0880584029968},{"start_region_id":42,"end_region_id":52,"start_point":[71,31],"end_point":[698,312],"distance":687.0880584029968},{"start_region_id":77,"end_region_id":62,"start_point":[819,871],"end_point":[244,497],"distance":685.9307545226413},{"start_region_id":62,"end_region_id":77,"start_point":[244,497],"end_point":[819,871],"distance":685.9307545226413},{"start_region_id":77,"end_region_id":65,"start_point":[819,871],"end_point":[199,611],"distance":672.3094525588645}],"complexity_score":0.6732301432777346}
{"id":10764,"query_id":"Q02153","question":"An aerial delivery drone starts from a paved lane and needs to reach a flat artificial surface. The drone can fly over open grassy areas, paved lanes, flat artificial surfaces, water bodies, and areas with tall vertical obstacles, but must avoid dense overhead obstacles that could entangle its rotors. The drone's flight path must prioritize terrains that allow maximum forward speed while maintaining stable flight. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial delivery drone","start_land_type":"paved lane","end_land_type":"flat artificial surface","task_description":"What is the fastest route for the aerial delivery drone to reach the flat artificial surface from the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"tokyo_28.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":42,"start_point":[764,990],"end_point":[71,31],"distance":1183.1863758512434},{"start_region_id":86,"end_region_id":42,"start_point":[979,684],"end_point":[71,31],"distance":1118.4243380756698},{"start_region_id":96,"end_region_id":43,"start_point":[764,990],"end_point":[272,21],"distance":1086.7497412007974},{"start_region_id":96,"end_region_id":50,"start_point":[764,990],"end_point":[96,144],"distance":1077.9332075782804},{"start_region_id":86,"end_region_id":50,"start_point":[979,684],"end_point":[96,144],"distance":1035.0309174126153}],"complexity_score":0.6732301432777346}
{"id":12231,"query_id":"Q02447","question":"A hiker starts from grassy, uneven ground with scattered shrubs and needs to reach a paved lane used by vehicles. The area includes hard, flat surfaces like sidewalks and parking lots, as well as cultivated fields with crops, but you cannot cross any water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"tokyo_28.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":82,"start_point":[402,203],"end_point":[948,110],"distance":553.8637016450889},{"start_region_id":25,"end_region_id":96,"start_point":[563,604],"end_point":[764,990],"distance":435.19765624368887},{"start_region_id":37,"end_region_id":85,"start_point":[598,831],"end_point":[285,591],"distance":394.42236244918973},{"start_region_id":2,"end_region_id":81,"start_point":[871,190],"end_point":[568,145],"distance":306.3233585608515},{"start_region_id":25,"end_region_id":85,"start_point":[563,604],"end_point":[285,591],"distance":278.30379084734005}],"complexity_score":0.6732301432777346}
{"id":2229,"query_id":"Q00446","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a parking lot or sidewalk. The drone can fly over liquid surfaces such as rivers or lakes, and it can also traverse cultivated fields with low vegetation. However, it must avoid areas with tall, dense vertical obstacles like trees or structures, as they pose collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_37.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":80,"start_point":[523,479],"end_point":[956,221],"distance":504.03670501264094},{"start_region_id":95,"end_region_id":83,"start_point":[523,479],"end_point":[970,416],"distance":451.4177665976385},{"start_region_id":95,"end_region_id":79,"start_point":[523,479],"end_point":[792,211],"distance":379.71699988280744},{"start_region_id":95,"end_region_id":74,"start_point":[523,479],"end_point":[594,168],"distance":319.0015673942685},{"start_region_id":95,"end_region_id":85,"start_point":[523,479],"end_point":[275,448],"distance":249.92999019725505}],"complexity_score":0.673262467267906}
{"id":11841,"query_id":"Q02369","question":"A delivery van starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes only hard, compacted surfaces like streets and parking lots, as well as loose, dry ground without vegetation. All other surfaces, such as those with trees, water, buildings, crops, or grass, are not accessible. What is the shortest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"little_rock_37.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":80,"start_point":[275,448],"end_point":[956,221],"distance":717.8370288582221},{"start_region_id":80,"end_region_id":85,"start_point":[956,221],"end_point":[275,448],"distance":717.8370288582221},{"start_region_id":83,"end_region_id":85,"start_point":[970,416],"end_point":[275,448],"distance":695.7363006197104},{"start_region_id":85,"end_region_id":83,"start_point":[275,448],"end_point":[970,416],"distance":695.7363006197104},{"start_region_id":85,"end_region_id":79,"start_point":[275,448],"end_point":[792,211],"distance":568.7336810845653}],"complexity_score":0.673262467267906}
{"id":2074,"query_id":"Q00415","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane with a hard, flat surface. The drone can fly over liquid surfaces and open flat areas, but must avoid vertical obstacles like trees and structures. Which path should it take to get to the destination in the shortest possible way?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"Which path should it take to get to the destination in the shortest possible way?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"coxsbazar_20.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":403,"end_region_id":286,"start_point":[954,707],"end_point":[170,274],"distance":895.625479762607},{"start_region_id":410,"end_region_id":286,"start_point":[580,969],"end_point":[170,274],"distance":806.9231685854608},{"start_region_id":411,"end_region_id":286,"start_point":[341,997],"end_point":[170,274],"distance":742.9468352446223},{"start_region_id":407,"end_region_id":286,"start_point":[91,966],"end_point":[170,274],"distance":696.4947953861537},{"start_region_id":405,"end_region_id":286,"start_point":[421,856],"end_point":[170,274],"distance":633.8177971625599}],"complexity_score":0.6732663416209742}
{"id":6235,"query_id":"Q01247","question":"An aerial survey drone begins its mission in a cultivated field with crops. It needs to reach a paved lane for vehicles as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, hard artificial surfaces like sidewalks and parking lots, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or man-made structures, as these require careful navigation and slow down flight speed. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field with crops","end_land_type":"paved lane for vehicles","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"coxsbazar_20.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":403,"end_region_id":286,"start_point":[954,707],"end_point":[170,274],"distance":895.625479762607},{"start_region_id":410,"end_region_id":286,"start_point":[580,969],"end_point":[170,274],"distance":806.9231685854608},{"start_region_id":411,"end_region_id":286,"start_point":[341,997],"end_point":[170,274],"distance":742.9468352446223},{"start_region_id":407,"end_region_id":286,"start_point":[91,966],"end_point":[170,274],"distance":696.4947953861537},{"start_region_id":405,"end_region_id":286,"start_point":[421,856],"end_point":[170,274],"distance":633.8177971625599}],"complexity_score":0.6732663416209742}
{"id":11618,"query_id":"Q02324","question":"A delivery van starts from a paved parking lot and needs to reach another paved parking lot as quickly as possible. The van can only travel on hard, compact surfaces that provide good traction and stability for high-speed driving. Loose, sandy, or rocky ground is not allowed because it would slow the vehicle down and risk getting stuck. Vegetated areas, water bodies, and structures are completely impassable. What is the fastest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"coxsbazar_20.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":139,"end_region_id":230,"start_point":[113,157],"end_point":[576,583],"distance":629.1621412640783},{"start_region_id":230,"end_region_id":139,"start_point":[576,583],"end_point":[113,157],"distance":629.1621412640783},{"start_region_id":174,"end_region_id":230,"start_point":[60,334],"end_point":[576,583],"distance":572.9371693301108},{"start_region_id":230,"end_region_id":174,"start_point":[576,583],"end_point":[60,334],"distance":572.9371693301108},{"start_region_id":261,"end_region_id":275,"start_point":[1001,819],"end_point":[503,954],"distance":515.9738365460016}],"complexity_score":0.6732663416209742}
{"id":16086,"query_id":"Q03218","question":"A rally car starts on a cultivated field with loose soil and crop stubble, needing to reach a paved lane as quickly as possible. The vehicle can traverse areas of loose, dry earth and rock, as well as grassy or shrub-covered terrain, but cannot enter areas with standing water, dense tree cover, or structures. Which path allows the rally car to reach the paved lane in the shortest time?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a cultivated field with loose soil and crop stubble","end_land_type":"a paved lane","task_description":"Which path allows the rally car to reach the paved lane in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"coxsbazar_20.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":403,"end_region_id":286,"start_point":[954,707],"end_point":[170,274],"distance":895.625479762607},{"start_region_id":410,"end_region_id":286,"start_point":[580,969],"end_point":[170,274],"distance":806.9231685854608},{"start_region_id":411,"end_region_id":286,"start_point":[341,997],"end_point":[170,274],"distance":742.9468352446223},{"start_region_id":407,"end_region_id":286,"start_point":[91,966],"end_point":[170,274],"distance":696.4947953861537},{"start_region_id":405,"end_region_id":286,"start_point":[421,856],"end_point":[170,274],"distance":633.8177971625599}],"complexity_score":0.6732663416209742}
{"id":3507,"query_id":"Q00702","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. You can fly over areas with loose soil and rocks, grassy or shrubby vegetation, hard paved surfaces, vehicle lanes, cultivated crop areas, and tall vertical vegetation. However, you must avoid flying over any liquid surfaces or enclosed vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the fastest route from the starting grassy field to the destination grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"monrovia_8.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":62,"start_point":[923,164],"end_point":[206,960],"distance":1071.309945814002},{"start_region_id":62,"end_region_id":4,"start_point":[206,960],"end_point":[923,164],"distance":1071.309945814002},{"start_region_id":4,"end_region_id":46,"start_point":[923,164],"end_point":[113,853],"distance":1063.4006770733222},{"start_region_id":46,"end_region_id":4,"start_point":[113,853],"end_point":[923,164],"distance":1063.4006770733222},{"start_region_id":4,"end_region_id":34,"start_point":[923,164],"end_point":[23,664],"distance":1029.5630140987}],"complexity_score":0.6733079240797674}
{"id":12007,"query_id":"Q02402","question":"A luxury sedan starts from a smooth, paved parking area and needs to reach another paved parking area while prioritizing ride comfort. The vehicle requires stable, hard surfaces for smooth travel and cannot traverse water, buildings, or vegetated areas. It can only travel on paved surfaces, compacted gravel areas, and firm, dry ground without vegetation. What is the most comfortable route?","agent_category":"Car","specific_agent":"luxury sedan","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route for the luxury sedan to travel from the starting paved area to the destination paved area?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"vienna_42.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":101,"start_point":[871,712],"end_point":[90,74],"distance":1008.4666578524052},{"start_region_id":101,"end_region_id":163,"start_point":[90,74],"end_point":[871,712],"distance":1008.4666578524052},{"start_region_id":122,"end_region_id":141,"start_point":[955,264],"end_point":[18,565],"distance":984.1595399121019},{"start_region_id":141,"end_region_id":122,"start_point":[18,565],"end_point":[955,264],"distance":984.1595399121019},{"start_region_id":140,"end_region_id":101,"start_point":[907,557],"end_point":[90,74],"distance":949.0932514774299}],"complexity_score":0.6733259531847277}
{"id":16077,"query_id":"Q03216","question":"A quadcopter drone starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The drone can fly over loose, sandy ground; grassy, uneven terrain; paved, hard surfaces; and liquid surfaces. However, it must avoid densely vegetated areas with tall, vertical obstacles and solid, vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"vienna_42.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":80,"start_point":[773,205],"end_point":[140,809],"distance":874.9314258843375},{"start_region_id":80,"end_region_id":27,"start_point":[140,809],"end_point":[773,205],"distance":874.9314258843375}],"complexity_score":0.6733259531847277}
{"id":12956,"query_id":"Q02592","question":"A quadcopter drone is positioned on a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, bodies of liquid, cultivated fields with crops, and areas with tall vertical obstacles. However, the drone's flight speed is significantly reduced when navigating through areas with tall vertical obstacles due to the need for careful maneuvering to avoid collisions. All other surfaces allow for maximum flight speed. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest path for the drone to reach the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"paris_53.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":39,"start_point":[50,59],"end_point":[609,442],"distance":677.6208379322466}],"complexity_score":0.6733387205385867}
{"id":8523,"query_id":"Q01705","question":"An aerial surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while minimizing risk. The drone can fly over dry, loose soil and rocky patches, hard paved surfaces, vehicle lanes, and water bodies. However, it must avoid flying through dense vegetation or near vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_62.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[243,246],"end_point":[557,528],"distance":422.0426518730068},{"start_region_id":4,"end_region_id":1,"start_point":[557,528],"end_point":[243,246],"distance":422.0426518730068},{"start_region_id":5,"end_region_id":4,"start_point":[236,522],"end_point":[557,528],"distance":321.05606986942325},{"start_region_id":4,"end_region_id":5,"start_point":[557,528],"end_point":[236,522],"distance":321.05606986942325},{"start_region_id":1,"end_region_id":5,"start_point":[243,246],"end_point":[236,522],"distance":276.08875384557047}],"complexity_score":0.6733524825515621}
{"id":14568,"query_id":"Q02914","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open field. The hiker can traverse areas with loose soil and rocks, grassy or shrubby vegetation, cultivated fields with crops, and wooded areas with tall vegetation, but cannot cross liquid surfaces or enter vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the shortest path for the hiker to reach the grassy, open field from the paved, hard surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"paris_62.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":4,"start_point":[72,29],"end_point":[557,528],"distance":695.8634923603911},{"start_region_id":12,"end_region_id":4,"start_point":[100,120],"end_point":[557,528],"distance":612.6279458202996},{"start_region_id":11,"end_region_id":3,"start_point":[72,29],"end_point":[452,396],"distance":528.2887468042453},{"start_region_id":11,"end_region_id":5,"start_point":[72,29],"end_point":[236,522],"distance":519.5623158005207},{"start_region_id":14,"end_region_id":5,"start_point":[549,107],"end_point":[236,522],"distance":519.8018853370965}],"complexity_score":0.6733524825515621}
{"id":17229,"query_id":"Q03446","question":"A quadcopter starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over paved surfaces, vehicle lanes, grassy areas, and water bodies, but cannot fly through wooded areas or buildings. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"paris_62.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":4,"start_point":[72,29],"end_point":[557,528],"distance":695.8634923603911},{"start_region_id":12,"end_region_id":4,"start_point":[100,120],"end_point":[557,528],"distance":612.6279458202996},{"start_region_id":11,"end_region_id":3,"start_point":[72,29],"end_point":[452,396],"distance":528.2887468042453},{"start_region_id":11,"end_region_id":5,"start_point":[72,29],"end_point":[236,522],"distance":519.5623158005207},{"start_region_id":14,"end_region_id":5,"start_point":[549,107],"end_point":[236,522],"distance":519.8018853370965}],"complexity_score":0.6733524825515621}
{"id":5256,"query_id":"Q01052","question":"A hiker starts from a paved road surface and needs to reach a wooded area with tall trees. The hiker must avoid any liquid surfaces and vertical structures, as these are impassable. The terrain includes loose, sandy or rocky ground without vegetation; hard, artificial surfaces like sidewalks, parking lots, or sports fields; paved lanes used by vehicles; areas with individual or grouped trees identifiable by height and shadow; and cultivated fields used for crop production. Among these, the wooded area is accessible because the trees are spaced sufficiently to allow passage. The goal is to find the path that minimizes risk while traveling.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"a wooded area with tall trees","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"bogota_4.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":80,"start_point":[885,776],"end_point":[33,326],"distance":963.5372333231343},{"start_region_id":74,"end_region_id":78,"start_point":[885,776],"end_point":[163,306],"distance":861.5010156697438},{"start_region_id":74,"end_region_id":89,"start_point":[885,776],"end_point":[186,758],"distance":699.2317212483999},{"start_region_id":74,"end_region_id":79,"start_point":[885,776],"end_point":[407,303],"distance":672.4678430973485},{"start_region_id":75,"end_region_id":80,"start_point":[282,950],"end_point":[33,326],"distance":671.8459644888849}],"complexity_score":0.673446034954393}
{"id":10015,"query_id":"Q02003","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, shrub-covered terrain. The drone can fly over open sandy or rocky ground, grassy areas, paved surfaces, and liquid bodies, but must avoid tall vertical obstacles and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, shrub-covered terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"bogota_4.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":2,"start_point":[861,900],"end_point":[268,563],"distance":682.0689114744931},{"start_region_id":47,"end_region_id":7,"start_point":[145,820],"end_point":[728,655],"distance":605.8993315724981},{"start_region_id":53,"end_region_id":4,"start_point":[861,900],"end_point":[431,629],"distance":508.27256467371916},{"start_region_id":47,"end_region_id":23,"start_point":[145,820],"end_point":[521,952],"distance":398.4971769034255},{"start_region_id":53,"end_region_id":16,"start_point":[861,900],"end_point":[481,843],"distance":384.251219906977}],"complexity_score":0.673446034954393}
{"id":17216,"query_id":"Q03444","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a dense cluster of tall trees. The terrain includes areas with hard, flat surfaces like sidewalks and parking lots, but these are currently blocked due to construction or safety barriers, making them impassable. The only traversable surfaces are the grassy field, the hard flat areas (which are blocked), and the tree-covered ground. You must avoid any water bodies or structures, as they are strictly off-limits. Given that you are a hiker seeking the safest route, which path minimizes risk while reaching the trees?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a grassy, open field with scattered low vegetation","end_land_type":"a dense cluster of tall trees","task_description":"What is the safest path from the grassy field to the tree cluster?","task_type":"Safest","input_classes":["Rangeland","Tree"],"traverse_vector":[0,1,0,0,1,0,0,0],"cost_vector":[0,2,0,0,1,0,0,0],"image_name":"bogota_4.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":80,"start_point":[728,655],"end_point":[33,326],"distance":768.938228988519},{"start_region_id":7,"end_region_id":78,"start_point":[728,655],"end_point":[163,306],"distance":664.0978843513959},{"start_region_id":7,"end_region_id":89,"start_point":[728,655],"end_point":[186,758],"distance":551.7000996918525},{"start_region_id":4,"end_region_id":80,"start_point":[431,629],"end_point":[33,326],"distance":500.21295465031693},{"start_region_id":7,"end_region_id":79,"start_point":[728,655],"end_point":[407,303],"distance":476.38744735771536}],"complexity_score":0.673446034954393}
{"id":863,"query_id":"Q00173","question":"A quadcopter drone starts from cultivated fields and needs to reach a paved area. The terrain includes grassy and shrubby open areas, as well as cultivated fields, but no trees, water bodies, or buildings are accessible. The drone can fly over grassy and shrubby open areas and cultivated fields, but must avoid trees, water bodies, and buildings due to flight restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated fields","end_land_type":"paved area","task_description":"What is the shortest path for the quadcopter drone to reach the paved area from the cultivated fields?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Agriculture land"],"traverse_vector":[0,1,1,0,0,0,1,0],"cost_vector":[0,1,1,0,0,0,1,0],"image_name":"dortmund_1.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":471,"end_region_id":204,"start_point":[310,196],"end_point":[345,776],"distance":581.0550748423078},{"start_region_id":471,"end_region_id":193,"start_point":[310,196],"end_point":[479,700],"distance":531.5797212083997},{"start_region_id":471,"end_region_id":195,"start_point":[310,196],"end_point":[279,711],"distance":515.9321660838758},{"start_region_id":472,"end_region_id":167,"start_point":[681,81],"end_point":[566,511],"distance":445.1123453691214},{"start_region_id":471,"end_region_id":170,"start_point":[310,196],"end_point":[530,547],"distance":414.2475105537751}],"complexity_score":0.6735125204294818}
{"id":5012,"query_id":"Q01003","question":"A farm vehicle is positioned in a plowed agricultural field with soft, uneven soil. It must get to an asphalt road. Permissible travel surfaces are: hard, smooth paved roads; firm, level artificial surfaces such as parking areas; and agricultural fields with soft soil. What is the shortest route to the road?","agent_category":"Car","specific_agent":"A farm vehicle","start_land_type":"plowed agricultural field","end_land_type":"asphalt road","task_description":"What is the shortest route from the plowed agricultural field to the asphalt road?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"dortmund_1.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":471,"end_region_id":241,"start_point":[310,196],"end_point":[265,790],"distance":595.7021067614248},{"start_region_id":471,"end_region_id":235,"start_point":[310,196],"end_point":[706,557],"distance":535.8516585772596}],"complexity_score":0.6735125204294818}
{"id":7263,"query_id":"Q01453","question":"A farmer starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with soft, tilled soil. The farmer can walk on hard, paved surfaces like sidewalks or parking lots, and can also traverse through areas with tall, dense vegetation if necessary, but cannot cross any liquid bodies or enter any structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"another cultivated field with soft, tilled soil","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,1,1,1,0,1,0],"image_name":"dortmund_1.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":474,"end_region_id":472,"start_point":[114,775],"end_point":[681,81],"distance":896.1724164467461},{"start_region_id":472,"end_region_id":474,"start_point":[681,81],"end_point":[114,775],"distance":896.1724164467461},{"start_region_id":471,"end_region_id":474,"start_point":[310,196],"end_point":[114,775],"distance":611.2748972434579},{"start_region_id":474,"end_region_id":471,"start_point":[114,775],"end_point":[310,196],"distance":611.2748972434579},{"start_region_id":471,"end_region_id":472,"start_point":[310,196],"end_point":[681,81],"distance":388.4147268062837}],"complexity_score":0.6735125204294818}
{"id":9298,"query_id":"Q01860","question":"An aerial drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The area includes loose, dry soil; a hard, paved lane; a liquid body; and planted crops. The drone can fly over all these surfaces, but flying through dense vegetation may slow it down due to navigation challenges. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"Cultivated field","end_land_type":"Cultivated field","task_description":"What is the fastest path from the starting cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dortmund_1.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":471,"end_region_id":475,"start_point":[310,196],"end_point":[967,930],"distance":985.0913663209113},{"start_region_id":475,"end_region_id":471,"start_point":[967,930],"end_point":[310,196],"distance":985.0913663209113},{"start_region_id":474,"end_region_id":472,"start_point":[114,775],"end_point":[681,81],"distance":896.1724164467461},{"start_region_id":472,"end_region_id":474,"start_point":[681,81],"end_point":[114,775],"distance":896.1724164467461},{"start_region_id":472,"end_region_id":475,"start_point":[681,81],"end_point":[967,930],"distance":895.8777818430369}],"complexity_score":0.6735125204294818}
{"id":1109,"query_id":"Q00222","question":"An aerial surveillance 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 any terrain except dense tree canopies and solid structures, which are blocked due to collision risk. Hard surfaces like paved areas and roads are available for high-speed flight, while water bodies and loose, sandy or rocky ground are also traversable. The objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"grassy, open field with low vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_33.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":134,"end_region_id":43,"start_point":[927,859],"end_point":[66,144],"distance":1119.1720153756526},{"start_region_id":43,"end_region_id":134,"start_point":[66,144],"end_point":[927,859],"distance":1119.1720153756526},{"start_region_id":134,"end_region_id":103,"start_point":[927,859],"end_point":[35,587],"distance":932.5491944128203},{"start_region_id":103,"end_region_id":134,"start_point":[35,587],"end_point":[927,859],"distance":932.5491944128203},{"start_region_id":134,"end_region_id":57,"start_point":[927,859],"end_point":[275,289],"distance":866.0277131824362}],"complexity_score":0.6735950799299757}
{"id":8368,"query_id":"Q01674","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, as well as areas with low, natural grass or shrubs. However. The drone must avoid flying through dense vegetation or near vertical structures that could pose collision risks. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest flight path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"mahe_33.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":199,"start_point":[946,267],"end_point":[36,249],"distance":910.1780045683372},{"start_region_id":199,"end_region_id":195,"start_point":[36,249],"end_point":[946,267],"distance":910.1780045683372},{"start_region_id":195,"end_region_id":229,"start_point":[946,267],"end_point":[98,492],"distance":877.3420085690642},{"start_region_id":229,"end_region_id":195,"start_point":[98,492],"end_point":[946,267],"distance":877.3420085690642},{"start_region_id":212,"end_region_id":199,"start_point":[822,338],"end_point":[36,249],"distance":791.0227556777365}],"complexity_score":0.6735950799299757}
{"id":14678,"query_id":"Q02936","question":"A delivery drone starts from a paved, hard-surfaced area and needs to reach an area of natural, uncultivated vegetation. The terrain includes loose, sandy or rocky ground without vegetation, cultivated fields with crops, and individual trees that can be flown around. Vertical structures and liquid surfaces are present but can be avoided with careful navigation. What is the safest flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"mahe_33.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":134,"start_point":[36,249],"end_point":[927,859],"distance":1079.806001094641},{"start_region_id":195,"end_region_id":145,"start_point":[946,267],"end_point":[171,895],"distance":997.5013784451628},{"start_region_id":195,"end_region_id":103,"start_point":[946,267],"end_point":[35,587],"distance":965.5677086564152},{"start_region_id":195,"end_region_id":138,"start_point":[946,267],"end_point":[212,827],"distance":923.2312819656838},{"start_region_id":229,"end_region_id":134,"start_point":[98,492],"end_point":[927,859],"distance":906.6035517247878}],"complexity_score":0.6735950799299757}
{"id":2279,"query_id":"Q00456","question":"A quadcopter drone is positioned in a cultivated field with soft, tilled soil and crop rows. It needs to reach a nearby paved area with a hard, flat surface. The drone can fly over liquid surfaces, but must avoid tall vertical structures and enclosed overhead obstacles. What is the shortest path to the paved area?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest path to the paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tokyo_40.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":402,"end_region_id":221,"start_point":[318,88],"end_point":[883,999],"distance":1071.982275972882},{"start_region_id":417,"end_region_id":123,"start_point":[171,947],"end_point":[947,236],"distance":1052.4718523552067},{"start_region_id":414,"end_region_id":105,"start_point":[897,693],"end_point":[24,165],"distance":1020.251439597122},{"start_region_id":404,"end_region_id":178,"start_point":[939,218],"end_point":[96,766],"distance":1005.4615855416854},{"start_region_id":417,"end_region_id":154,"start_point":[171,947],"end_point":[999,402],"distance":991.2663617817362}],"complexity_score":0.6736485835268385}
{"id":11236,"query_id":"Q02248","question":"A quadcopter drone starts from a grassy, uneven ground with scattered shrubs and needs to reach cultivated fields with rows of crops. The terrain includes soft vegetated areas, hard paved surfaces, compacted lanes, and tall dense vegetation that can be flown over or around. Liquid bodies are present but can be crossed. Vertical structures are present but can be avoided. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated fields with rows of crops","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"tokyo_40.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":417,"start_point":[324,41],"end_point":[171,947],"distance":918.8280579085513},{"start_region_id":54,"end_region_id":404,"start_point":[241,787],"end_point":[939,218],"distance":900.5359515310869},{"start_region_id":1,"end_region_id":414,"start_point":[324,41],"end_point":[897,693],"distance":868.005184316315},{"start_region_id":49,"end_region_id":402,"start_point":[955,658],"end_point":[318,88],"distance":854.7917875131932},{"start_region_id":49,"end_region_id":417,"start_point":[955,658],"end_point":[171,947],"distance":835.5698654211986}],"complexity_score":0.6736485835268385}
{"id":15531,"query_id":"Q03107","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open grassy areas, paved surfaces, liquid bodies, and cultivated fields, but must avoid tall vertical obstacles like trees and structures. It should prioritize terrains that allow the highest and most stable flight speeds to minimize travel time.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with crops","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,1,1,1,0,1,1,0],"image_name":"tokyo_40.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":402,"start_point":[883,999],"end_point":[318,88],"distance":1071.982275972882},{"start_region_id":123,"end_region_id":417,"start_point":[947,236],"end_point":[171,947],"distance":1052.4718523552067},{"start_region_id":105,"end_region_id":414,"start_point":[24,165],"end_point":[897,693],"distance":1020.251439597122},{"start_region_id":178,"end_region_id":404,"start_point":[96,766],"end_point":[939,218],"distance":1005.4615855416854},{"start_region_id":154,"end_region_id":417,"start_point":[999,402],"end_point":[171,947],"distance":991.2663617817362}],"complexity_score":0.6736485835268385}
{"id":4210,"query_id":"Q00842","question":"An aerial drone starts from a location with tall vertical obstacles that require careful navigation and needs to reach a flat, hard surface area. The drone can fly over most terrain types, but must navigate carefully around tall vertical structures. Flat paved surfaces and vehicle lanes are available for direct flight. The objective is to find the path that minimizes travel time.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"Starting from a location with tall vertical obstacles that require careful navigation.","end_land_type":"The destination is a flat, hard surface area.","task_description":"What is the fastest route for the drone to reach the flat, hard surface area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"buenos_aires_52.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":624,"end_region_id":173,"start_point":[783,982],"end_point":[66,40],"distance":1183.8298019563454},{"start_region_id":608,"end_region_id":179,"start_point":[207,899],"end_point":[963,97],"distance":1102.1524395472707},{"start_region_id":471,"end_region_id":348,"start_point":[35,246],"end_point":[917,866],"distance":1078.1113115073044},{"start_region_id":608,"end_region_id":178,"start_point":[207,899],"end_point":[858,71],"distance":1053.27346876298},{"start_region_id":553,"end_region_id":173,"start_point":[910,667],"end_point":[66,40],"distance":1051.410956762388}],"complexity_score":0.6737045251514643}
{"id":4817,"query_id":"Q00964","question":"A car starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft soil. You cannot travel on loose sand, natural grass or shrubs, vertical obstacles like trees, liquid surfaces, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"a car","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"buenos_aires_52.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":410,"end_region_id":173,"start_point":[510,595],"end_point":[66,40],"distance":710.7467903550462},{"start_region_id":410,"end_region_id":179,"start_point":[510,595],"end_point":[963,97],"distance":673.2109624775877},{"start_region_id":410,"end_region_id":178,"start_point":[510,595],"end_point":[858,71],"distance":629.0310008258734},{"start_region_id":410,"end_region_id":230,"start_point":[510,595],"end_point":[72,353],"distance":500.4078336716962},{"start_region_id":410,"end_region_id":348,"start_point":[510,595],"end_point":[917,866],"distance":488.9683016310976}],"complexity_score":0.6737045251514643}
{"id":13243,"query_id":"Q02649","question":"An aerial surveillance drone starts from a paved surface, an aerial surveillance drone must navigate to another paved surface while prioritizing safety. The drone can fly over open grassy areas, hard artificial surfaces, liquid bodies, and cultivated fields, but must avoid vertical structures and dense vegetation clusters due to collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest path for the aerial surveillance drone to reach the destination paved surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_52.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":410,"end_region_id":410,"start_point":[33,63],"end_point":[997,789],"distance":1206.8023864742727}],"complexity_score":0.6737045251514643}
{"id":1724,"query_id":"Q00345","question":"An aerial surveillance drone is deployed from a patch of low, dry grass and shrubs. It must navigate to a destination located on another similar patch of low, dry grass and shrubs. The drone's flight path must prioritize minimal risk of collision, signal loss, or damage. For this mission, the drone is permitted to fly over the following terrain types: 1) Dry, open expanses of loose earth and rock, 2) Areas covered by low, dry grass and shrubs, 3) Long, paved strips used by ground vehicles, 4) Large bodies of liquid, and 5) Flat, cultivated fields with orderly rows of low crops. The drone is explicitly prohibited from flying near or through tall, dense clusters of vertical wooden structures or near large, solid, vertical man-made structures, as these pose significant collision risks. The drone must also avoid areas with thick, tall vegetation that could entangle its rotors.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of low, dry grass and shrubs","end_land_type":"Another patch of low, dry grass and shrubs","task_description":"What is the safest flight path for the drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Water","Agriculture land"],"traverse_vector":[1,1,0,1,0,1,1,0],"cost_vector":[2,2,0,2,0,1,2,0],"image_name":"christchurch_9.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":28,"start_point":[74,912],"end_point":[408,763],"distance":365.7280410359588},{"start_region_id":28,"end_region_id":34,"start_point":[408,763],"end_point":[74,912],"distance":365.7280410359588},{"start_region_id":10,"end_region_id":28,"start_point":[104,564],"end_point":[408,763],"distance":363.3414372184929},{"start_region_id":28,"end_region_id":10,"start_point":[408,763],"end_point":[104,564],"distance":363.3414372184929},{"start_region_id":10,"end_region_id":34,"start_point":[104,564],"end_point":[74,912],"distance":349.2907098678692}],"complexity_score":0.6737687628496424}
{"id":5872,"query_id":"Q01175","question":"A delivery van starts from a flat, paved parking area and needs to reach a street as quickly as possible. The van requires hard, durable surfaces that can support vehicle weight and provide stable traction. Unpaved, vegetated, or obstructed terrain is not permitted.","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a flat, paved parking area","end_land_type":"a street","task_description":"What is the fastest route from the starting point to the destination?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"christchurch_9.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":103,"start_point":[927,907],"end_point":[135,37],"distance":1176.5049936145617},{"start_region_id":100,"end_region_id":103,"start_point":[809,972],"end_point":[135,37],"distance":1152.6061773216384},{"start_region_id":99,"end_region_id":103,"start_point":[576,989],"end_point":[135,37],"distance":1049.183015493484},{"start_region_id":87,"end_region_id":110,"start_point":[927,907],"end_point":[80,374],"distance":1000.7487197093984},{"start_region_id":81,"end_region_id":103,"start_point":[917,663],"end_point":[135,37],"distance":1001.6985574512923}],"complexity_score":0.6737687628496424}
{"id":12211,"query_id":"Q02443","question":"A quadcopter starts from a zone with elevated vegetation casting shadows and needs to reach a flat area with artificial hard surfaces. The terrain includes open grassy areas, paved surfaces and sports fields, vehicle travel lanes, and regions with tall vertical structures. You can fly through areas with tall vertical structures by navigating between them at a safe altitude. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a zone with elevated vegetation casting shadows","end_land_type":"a flat area with artificial hard surfaces","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"christchurch_9.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":94,"start_point":[787,58],"end_point":[9,958],"distance":1189.6570934517224},{"start_region_id":113,"end_region_id":96,"start_point":[787,58],"end_point":[136,838],"distance":1015.9729327103158},{"start_region_id":113,"end_region_id":98,"start_point":[787,58],"end_point":[367,949],"distance":985.0284259857682},{"start_region_id":113,"end_region_id":99,"start_point":[787,58],"end_point":[576,989],"distance":954.6109155043221},{"start_region_id":113,"end_region_id":77,"start_point":[787,58],"end_point":[47,642],"distance":942.6855255067832}],"complexity_score":0.6737687628496424}
{"id":15577,"query_id":"Q03116","question":"An aerial survey drone starts from a location under the canopy of tall vegetation and needs to reach another location also under the canopy of tall vegetation. The drone can fly over any solid or liquid surface, including loose sandy or rocky ground, grassy or shrubby areas, paved surfaces like sidewalks and parking lots, vehicle lanes, cultivated fields, and open water bodies. However, flying directly through dense vertical obstacles like tall vegetation is slower and requires careful navigation to avoid collisions. The drone's mission requires the fastest possible route.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location under the canopy of tall vegetation.","end_land_type":"The destination is another location also under the canopy of tall vegetation.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"christchurch_9.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":113,"start_point":[699,17],"end_point":[902,105],"distance":221.25324856372166}],"complexity_score":0.6737687628496424}
{"id":1170,"query_id":"Q00234","question":"An aerial survey drone is positioned on an open grassy area and needs to reach a wooded canopy. The drone must avoid any vertical structures or dense obstacles that could cause collisions, and liquid surfaces are considered hazardous due to potential signal interference or splash damage. The grassy terrain and wooded areas are traversable, but the drone should prioritize stable, open spaces to minimize risk. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Open grassy area","end_land_type":"Wooded canopy","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_2.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":154,"start_point":[736,76],"end_point":[320,998],"distance":1011.5038309368878},{"start_region_id":46,"end_region_id":103,"start_point":[348,928],"end_point":[971,193],"distance":963.5112869084617},{"start_region_id":10,"end_region_id":154,"start_point":[721,180],"end_point":[320,998],"distance":911.0021953870364},{"start_region_id":2,"end_region_id":153,"start_point":[736,76],"end_point":[755,984],"distance":908.1987667906184},{"start_region_id":2,"end_region_id":147,"start_point":[736,76],"end_point":[976,932],"distance":889.0084364054145}],"complexity_score":0.6737946998837444}
{"id":3711,"query_id":"Q00743","question":"A quadcopter drone is on a paved road and needs to reach a wooded area. The environment includes various ground surfaces and open airspaces, but flying through dense tree canopies is restricted and should be minimized. All other terrain types are accessible. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road","end_land_type":"a wooded area","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_2.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":154,"start_point":[934,69],"end_point":[320,998],"distance":1113.5694859325124},{"start_region_id":90,"end_region_id":147,"start_point":[479,61],"end_point":[976,932],"distance":1002.8210209204831},{"start_region_id":90,"end_region_id":153,"start_point":[479,61],"end_point":[755,984],"distance":963.3820633580428},{"start_region_id":91,"end_region_id":142,"start_point":[934,69],"end_point":[403,870],"distance":961.0213317091353},{"start_region_id":90,"end_region_id":154,"start_point":[479,61],"end_point":[320,998],"distance":950.3946548671241}],"complexity_score":0.6737946998837444}
{"id":5438,"query_id":"Q01088","question":"A quadcopter drone is positioned on a paved, hard surface and must travel to an area of natural, uncultivated vegetation. The drone can fly over both paved areas and natural grassy terrain, but must avoid densely wooded areas and any structures. All other terrain types including loose sandy ground, vehicle lanes, bodies of water, and cultivated fields are prohibited. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"an area of natural, uncultivated vegetation","task_description":"What is the fastest flight path from the paved surface to the natural vegetation area?","task_type":"Fastest","input_classes":["Rangeland","Developed space"],"traverse_vector":[0,1,1,0,0,0,0,0],"cost_vector":[0,1,1,0,0,0,0,0],"image_name":"chisinau_2.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":22,"start_point":[254,963],"end_point":[420,520],"distance":473.08033144488263},{"start_region_id":69,"end_region_id":22,"start_point":[314,730],"end_point":[420,520],"distance":235.23605165875404}],"complexity_score":0.6737946998837444}
{"id":2821,"query_id":"Q00565","question":"A delivery van starts from a paved parking area and needs to reach another paved parking area as quickly as possible. The van can only travel on hard, smooth surfaces suitable for wheeled vehicles. Unpaved ground, vegetation, water, and vertical structures are impassable.","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking area","end_land_type":"another paved parking area","task_description":"What is the fastest route for the delivery van to reach the destination?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"soriano_10.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":227,"start_point":[970,94],"end_point":[70,950],"distance":1242.069241226108},{"start_region_id":227,"end_region_id":154,"start_point":[70,950],"end_point":[970,94],"distance":1242.069241226108},{"start_region_id":227,"end_region_id":153,"start_point":[70,950],"end_point":[823,31],"distance":1188.0951140375926},{"start_region_id":153,"end_region_id":227,"start_point":[823,31],"end_point":[70,950],"distance":1188.0951140375926},{"start_region_id":227,"end_region_id":171,"start_point":[70,950],"end_point":[981,282],"distance":1129.6658798069454}],"complexity_score":0.6739429033133566}
{"id":5649,"query_id":"Q01130","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area as quickly as possible. The drone can fly over both the paved surface and the grassy terrain, but tall vegetation in the grassy area may require careful navigation, potentially slowing flight. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"What is the fastest path from the paved surface to the grassy area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"rotterdam_49.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":4,"start_point":[666,788],"end_point":[101,233],"distance":791.9911615668448},{"start_region_id":122,"end_region_id":4,"start_point":[750,503],"end_point":[101,233],"distance":702.9231821472387},{"start_region_id":123,"end_region_id":4,"start_point":[596,617],"end_point":[101,233],"distance":626.483040472765},{"start_region_id":124,"end_region_id":3,"start_point":[666,788],"end_point":[555,206],"distance":592.4905062530538},{"start_region_id":118,"end_region_id":14,"start_point":[164,278],"end_point":[676,390],"distance":524.1068593330943}],"complexity_score":0.6739870631519249}
{"id":7658,"query_id":"Q01532","question":"A hiker starts from a paved lane and needs to reach another paved lane while prioritizing a comfortable walking experience. You can only use surfaces that are smooth and stable underfoot: specifically, the paved lane itself, cultivated fields with even and firm soil, and wooded areas where the ground is clear and walkable between trees. All other surface types are either physically blocked or too uneven for comfortable walking.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Road","Tree","Agriculture land"],"traverse_vector":[0,0,0,1,1,0,1,0],"cost_vector":[0,0,0,3,1,0,2,0],"image_name":"rotterdam_49.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":124,"start_point":[416,428],"end_point":[666,788],"distance":438.2921400162225},{"start_region_id":124,"end_region_id":117,"start_point":[666,788],"end_point":[416,428],"distance":438.2921400162225},{"start_region_id":117,"end_region_id":122,"start_point":[416,428],"end_point":[750,503],"distance":342.31710445141357},{"start_region_id":122,"end_region_id":117,"start_point":[750,503],"end_point":[416,428],"distance":342.31710445141357},{"start_region_id":124,"end_region_id":122,"start_point":[666,788],"end_point":[750,503],"distance":297.12118739665806}],"complexity_score":0.6739870631519249}
{"id":15303,"query_id":"Q03061","question":"A quadcopter drone is starting from a grassy, open area and needs to reach a flat, paved surface. The drone can fly over grassy terrain, cultivated fields, wooded areas, and paved surfaces, but must avoid flying through dense tree canopies or close to building structures. What is the shortest path to reach the paved surface?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest path to reach the paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rotterdam_49.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":108,"start_point":[555,206],"end_point":[249,855],"distance":717.5214282514495},{"start_region_id":8,"end_region_id":108,"start_point":[623,303],"end_point":[249,855],"distance":666.768325582432},{"start_region_id":14,"end_region_id":108,"start_point":[676,390],"end_point":[249,855],"distance":631.3113336540063},{"start_region_id":14,"end_region_id":70,"start_point":[676,390],"end_point":[114,599],"distance":599.6040360104324},{"start_region_id":3,"end_region_id":70,"start_point":[555,206],"end_point":[114,599],"distance":590.7029710438234}],"complexity_score":0.6739870631519249}
{"id":5622,"query_id":"Q01125","question":"A surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The drone can fly over grassy, open fields and hard, flat surfaces like paved areas, which are generally safe and unobstructed. However. The drone must avoid flying near tall structures or over water bodies, as these could pose collision risks or signal interference. What is the safest path for the surveillance drone to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"houston_31.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":54,"start_point":[902,280],"end_point":[89,853],"distance":994.6346062750883},{"start_region_id":54,"end_region_id":11,"start_point":[89,853],"end_point":[902,280],"distance":994.6346062750883},{"start_region_id":1,"end_region_id":65,"start_point":[299,109],"end_point":[767,961],"distance":972.0740712517745},{"start_region_id":65,"end_region_id":1,"start_point":[767,961],"end_point":[299,109],"distance":972.0740712517745},{"start_region_id":65,"end_region_id":7,"start_point":[767,961],"end_point":[458,68],"distance":944.9497341128787}],"complexity_score":0.6739964772809716}
{"id":7752,"query_id":"Q01551","question":"A hiker starts from a paved road surface and needs to reach a wooded area with tall vegetation. The hiker prefers surfaces that provide stable footing and minimal discomfort. While paved surfaces are ideal. The hiker can traverse loose, uneven ground if necessary, and can navigate through cultivated fields when they are accessible. However, the hiker cannot pass through solid structures or bodies of water. Which path should the hiker take to reach the destination with maximum comfort?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"wooded area with tall vegetation","task_description":"Which path should the hiker take to reach the destination with maximum comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"houston_31.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":173,"start_point":[481,687],"end_point":[20,67],"distance":772.6066269454334},{"start_region_id":162,"end_region_id":173,"start_point":[567,293],"end_point":[20,67],"distance":591.8487982584742},{"start_region_id":172,"end_region_id":195,"start_point":[481,687],"end_point":[199,284],"distance":491.86685190201626},{"start_region_id":162,"end_region_id":195,"start_point":[567,293],"end_point":[199,284],"distance":368.11003789627904},{"start_region_id":172,"end_region_id":199,"start_point":[481,687],"end_point":[672,426],"distance":323.4223245232153}],"complexity_score":0.6739964772809716}
{"id":10436,"query_id":"Q02088","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing operational risk. The drone can fly over loose, sandy or rocky ground; liquid surfaces; cultivated fields with crops; and areas with tall vegetation. However, flying through dense vertical obstacles like tall trees increases collision risk and should be avoided. The drone cannot land on or pass through solid vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial survey drone to reach the destination paved surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_31.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":162,"start_point":[481,687],"end_point":[567,293],"distance":403.2765800291408},{"start_region_id":162,"end_region_id":172,"start_point":[567,293],"end_point":[481,687],"distance":403.2765800291408}],"complexity_score":0.6739964772809716}
{"id":12443,"query_id":"Q02489","question":"A hiker starts from a paved road surface and needs to reach a flat, hard paved area as quickly as possible. The terrain includes grassy and shrub-covered ground that is dry and firm enough to walk on, as well as cultivated fields with soft but traversable soil. The hiker must avoid any liquid bodies, vertical structures, and sandy or rocky expanses. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"a flat, hard paved area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"houston_31.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":71,"start_point":[481,687],"end_point":[809,126],"distance":649.8499826883125},{"start_region_id":172,"end_region_id":74,"start_point":[481,687],"end_point":[836,99],"distance":686.8544241686152},{"start_region_id":162,"end_region_id":124,"start_point":[567,293],"end_point":[977,858],"distance":698.0866708367952},{"start_region_id":162,"end_region_id":125,"start_point":[567,293],"end_point":[839,866],"distance":634.2814832548717},{"start_region_id":162,"end_region_id":137,"start_point":[567,293],"end_point":[402,882],"distance":611.6747501736523}],"complexity_score":0.6739964772809716}
{"id":15251,"query_id":"Q03051","question":"An aerial survey drone starts from a hard, flat paved surface, an aerial survey drone must reach another hard, flat paved surface. The drone can fly over open grassy areas, paved areas like parking lots, hard vehicle lanes, areas with tall vertical obstacles, liquid surfaces, and cultivated fields. The drone's flight path must prioritize minimizing the risk of collision or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat paved surface","end_land_type":"Another hard, flat paved surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"houston_31.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":162,"start_point":[481,687],"end_point":[567,293],"distance":403.2765800291408},{"start_region_id":162,"end_region_id":172,"start_point":[567,293],"end_point":[481,687],"distance":403.2765800291408}],"complexity_score":0.6739964772809716}
{"id":4431,"query_id":"Q00887","question":"A delivery drone is on a paved area like a parking lot or sidewalk and needs to reach a paved street or asphalt lane. The drone can fly over all terrain types except areas with dense vertical obstacles like tall structures or thick tree canopies, which must be avoided. Liquid surfaces are traversable but may cause signal interference or stability issues. What is the fastest route for the delivery drone to reach the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved area like a parking lot or sidewalk","end_land_type":"paved street or asphalt lane","task_description":"What is the fastest route for the delivery drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_64.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":64,"start_point":[33,352],"end_point":[273,175],"distance":298.2096577912929}],"complexity_score":0.6740266598454661}
{"id":4543,"query_id":"Q00909","question":"A delivery drone starts from a flat, artificial surface and needs to reach a cluster of tall, leafy structures. The drone requires a path that minimizes vibration and ensures stable flight for comfort. The flat surface and adjacent lanes are traversable by default. The tall structures are conditionally traversable because the drone can fly through them with caution, but they may cause turbulence and discomfort. Liquid areas and vertical obstacles are not allowed due to safety restrictions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat, artificial surface","end_land_type":"a cluster of tall, leafy structures","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"rio_64.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":71,"start_point":[33,352],"end_point":[405,178],"distance":410.68235900754246},{"start_region_id":56,"end_region_id":72,"start_point":[33,352],"end_point":[309,103],"distance":371.7216700704978},{"start_region_id":56,"end_region_id":85,"start_point":[33,352],"end_point":[336,361],"distance":303.1336338976591}],"complexity_score":0.6740266598454661}
{"id":8994,"query_id":"Q01799","question":"An aerial survey drone begins its mission on a paved, hard surface and needs to reach an area of low, uncultivated vegetation. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging payload from vibrations. The mission area includes expanses of loose, dry earth and rocks, as well as open bodies of liquid. However, the drone cannot fly through dense clusters of tall, vertical obstacles, and it is prohibited from entering any solid, enclosed structures. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"area of low, uncultivated vegetation","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"rio_64.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":3,"start_point":[81,252],"end_point":[304,36],"distance":310.4593371119638},{"start_region_id":65,"end_region_id":16,"start_point":[81,252],"end_point":[378,284],"distance":298.7189314389029},{"start_region_id":64,"end_region_id":13,"start_point":[273,175],"end_point":[23,248],"distance":260.4400122868988},{"start_region_id":65,"end_region_id":2,"start_point":[81,252],"end_point":[156,41],"distance":223.93302570188257}],"complexity_score":0.6740266598454661}
{"id":13663,"query_id":"Q02733","question":"A hiker is standing on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation. The terrain includes only the following types: paved or compacted surfaces, loose or rocky ground without vegetation, areas of natural grass and shrubs, and cultivated fields with crops. All other surface types are impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the shortest path from the paved surface to the natural vegetation area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"rio_64.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":3,"start_point":[33,352],"end_point":[304,36],"distance":416.2895626844372},{"start_region_id":56,"end_region_id":16,"start_point":[33,352],"end_point":[378,284],"distance":351.6375975347346},{"start_region_id":56,"end_region_id":2,"start_point":[33,352],"end_point":[156,41],"distance":334.43983016381287},{"start_region_id":56,"end_region_id":4,"start_point":[33,352],"end_point":[101,161],"distance":202.74368054269902}],"complexity_score":0.6740266598454661}
{"id":17756,"query_id":"Q03552","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach another location with similar vertical obstacles. An aerial survey drone must complete its mission as quickly as possible. The drone can fly over open, solid ground with no vegetation; areas covered with low, natural vegetation; hard, paved surfaces designed for vehicles; cultivated fields with planted crops; and vertical obstacles that require careful navigation. The drone cannot fly over liquid surfaces or enter enclosed structures. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall, vertical obstacles that require careful navigation","end_land_type":"and needing to reach another location with similar vertical obstacles","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[2,2,0,2,1,0,2,0],"image_name":"rio_64.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":72,"start_point":[336,361],"end_point":[309,103],"distance":259.40894356209077},{"start_region_id":72,"end_region_id":85,"start_point":[309,103],"end_point":[336,361],"distance":259.40894356209077}],"complexity_score":0.6740266598454661}
{"id":1855,"query_id":"Q00371","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while maximizing ride comfort. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; liquid surfaces; and cultivated fields with crops. However, it must avoid areas with tall, dense vertical obstacles and solid, enclosed structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"panama_city_33.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":128,"start_point":[124,494],"end_point":[789,561],"distance":668.366665835453},{"start_region_id":128,"end_region_id":127,"start_point":[789,561],"end_point":[124,494],"distance":668.366665835453},{"start_region_id":127,"end_region_id":129,"start_point":[124,494],"end_point":[682,778],"distance":626.1150054103479},{"start_region_id":129,"end_region_id":127,"start_point":[682,778],"end_point":[124,494],"distance":626.1150054103479},{"start_region_id":128,"end_region_id":129,"start_point":[789,561],"end_point":[682,778],"distance":241.94627502815578}],"complexity_score":0.6741058165084179}
{"id":5918,"query_id":"Q01184","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The drone can fly over any open or solid surfaces, such as paved areas or streets, but must avoid flying through dense vegetation or close to vertical structures to maintain speed and stability. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_33.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":60,"start_point":[901,683],"end_point":[72,182],"distance":968.6289279182199},{"start_region_id":60,"end_region_id":81,"start_point":[72,182],"end_point":[901,683],"distance":968.6289279182199},{"start_region_id":68,"end_region_id":81,"start_point":[196,285],"end_point":[901,683],"distance":809.5856965139639},{"start_region_id":81,"end_region_id":68,"start_point":[901,683],"end_point":[196,285],"distance":809.5856965139639},{"start_region_id":75,"end_region_id":60,"start_point":[748,528],"end_point":[72,182],"distance":759.4023966251358}],"complexity_score":0.6741058165084179}
{"id":7016,"query_id":"Q01404","question":"An aerial survey drone starts from a paved surface and needs to return to another paved surface after completing a mission. The drone must maintain stable flight and minimize vibrations to protect its sensitive equipment. It can fly over liquid bodies and cultivated fields, but must avoid vertical obstacles like trees and structures. Which path should the drone take to ensure the smoothest and most stable flight?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"Which path should the drone take to ensure the smoothest and most stable flight?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"panama_city_33.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":60,"start_point":[901,683],"end_point":[72,182],"distance":968.6289279182199},{"start_region_id":60,"end_region_id":81,"start_point":[72,182],"end_point":[901,683],"distance":968.6289279182199},{"start_region_id":68,"end_region_id":81,"start_point":[196,285],"end_point":[901,683],"distance":809.5856965139639},{"start_region_id":81,"end_region_id":68,"start_point":[901,683],"end_point":[196,285],"distance":809.5856965139639},{"start_region_id":75,"end_region_id":60,"start_point":[748,528],"end_point":[72,182],"distance":759.4023966251358}],"complexity_score":0.6741058165084179}
{"id":12197,"query_id":"Q02440","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over soft, grassy terrain, other paved or compacted surfaces, and liquid bodies, but must avoid tall vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_33.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":60,"start_point":[901,683],"end_point":[72,182],"distance":968.6289279182199},{"start_region_id":60,"end_region_id":81,"start_point":[72,182],"end_point":[901,683],"distance":968.6289279182199},{"start_region_id":68,"end_region_id":81,"start_point":[196,285],"end_point":[901,683],"distance":809.5856965139639},{"start_region_id":81,"end_region_id":68,"start_point":[901,683],"end_point":[196,285],"distance":809.5856965139639},{"start_region_id":75,"end_region_id":60,"start_point":[748,528],"end_point":[72,182],"distance":759.4023966251358}],"complexity_score":0.6741058165084179}
{"id":3935,"query_id":"Q00787","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation while prioritizing safety. The drone can fly over areas with loose soil and rocks, grassy fields, cultivated fields with crops, and water bodies, but must avoid all wooded areas and buildings. The paved surfaces and vehicle lanes are available for use. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dhaka_44.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":55,"start_point":[999,232],"end_point":[64,726],"distance":1057.478604984517},{"start_region_id":128,"end_region_id":5,"start_point":[165,705],"end_point":[925,38],"distance":1011.1819816432649},{"start_region_id":152,"end_region_id":5,"start_point":[419,908],"end_point":[925,38],"distance":1006.4472166984218},{"start_region_id":101,"end_region_id":39,"start_point":[999,232],"end_point":[17,447],"distance":1005.2606627139053},{"start_region_id":91,"end_region_id":72,"start_point":[784,70],"end_point":[375,953],"distance":973.1238359016801}],"complexity_score":0.6742094825082409}
{"id":9947,"query_id":"Q01990","question":"A quadcopter drone starts from a grassy, uneven ground and needs to reach a paved, hard surface as quickly as possible. The drone can fly over grassy areas, paved footpaths, vehicle lanes, and wooded patches, but must avoid collisions with tall trees and buildings. The wooded patches have low tree density, allowing safe flight at low altitude. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"a paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to reach the paved, hard surface from the grassy, uneven ground?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_44.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":101,"start_point":[64,726],"end_point":[999,232],"distance":1057.478604984517},{"start_region_id":5,"end_region_id":128,"start_point":[925,38],"end_point":[165,705],"distance":1011.1819816432649},{"start_region_id":5,"end_region_id":152,"start_point":[925,38],"end_point":[419,908],"distance":1006.4472166984218},{"start_region_id":39,"end_region_id":101,"start_point":[17,447],"end_point":[999,232],"distance":1005.2606627139053},{"start_region_id":72,"end_region_id":91,"start_point":[375,953],"end_point":[784,70],"distance":973.1238359016801}],"complexity_score":0.6742094825082409}
{"id":14374,"query_id":"Q02875","question":"A hiker starts from a natural grassy area with uneven ground and bushes and needs to reach a flat, hard-surfaced sidewalk. The person wants to avoid rough, unstable footing to maximize walking comfort. While the grassy area, loose sandy ground, and planted crop fields are passable, they are less comfortable than firm, paved surfaces. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable path from the grassy area to the sidewalk?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dhaka_44.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":101,"start_point":[64,726],"end_point":[999,232],"distance":1057.478604984517},{"start_region_id":5,"end_region_id":128,"start_point":[925,38],"end_point":[165,705],"distance":1011.1819816432649},{"start_region_id":5,"end_region_id":152,"start_point":[925,38],"end_point":[419,908],"distance":1006.4472166984218},{"start_region_id":39,"end_region_id":101,"start_point":[17,447],"end_point":[999,232],"distance":1005.2606627139053},{"start_region_id":72,"end_region_id":91,"start_point":[375,953],"end_point":[784,70],"distance":973.1238359016801}],"complexity_score":0.6742094825082409}
{"id":12092,"query_id":"Q02419","question":"A surveillance drone is positioned on a paved, hard surface and needs to reach a grassy, open area. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles and solid structures. It should prioritize terrains that minimize the risk of collisions or instability. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open area","task_description":"What is the safest path for the surveillance drone to take from the paved, hard surface to the grassy, open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tonga_44.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":6,"start_point":[832,928],"end_point":[39,170],"distance":1097.0018231525414},{"start_region_id":95,"end_region_id":6,"start_point":[936,655],"end_point":[39,170],"distance":1019.7225112745133},{"start_region_id":63,"end_region_id":52,"start_point":[783,139],"end_point":[231,979],"distance":1005.1387963858524},{"start_region_id":68,"end_region_id":52,"start_point":[832,207],"end_point":[231,979],"distance":978.358318817804},{"start_region_id":113,"end_region_id":3,"start_point":[286,930],"end_point":[925,174],"distance":989.8772651192672}],"complexity_score":0.6742596258089536}
{"id":15677,"query_id":"Q03136","question":"A delivery drone starts from a flat, artificial hard surface and needs to reach a cluster of tall vertical obstacles. The drone can fly over grassy or shrub-covered terrain, cultivated fields, the hard surface, and the vertical obstacles themselves, but must navigate carefully around the obstacles to avoid collisions. The drone cannot land on or traverse through any liquid surfaces. The goal is to minimize risk during the flight.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat, artificial hard surface","end_land_type":"cluster of tall vertical obstacles","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[0,1,1,1,1,0,1,1],"cost_vector":[0,2,2,2,1,0,2,1],"image_name":"tonga_44.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":225,"start_point":[783,139],"end_point":[34,842],"distance":1027.2341505226548},{"start_region_id":68,"end_region_id":225,"start_point":[832,207],"end_point":[34,842],"distance":1019.8181210392371},{"start_region_id":63,"end_region_id":228,"start_point":[783,139],"end_point":[158,890],"distance":977.0496404993966},{"start_region_id":68,"end_region_id":228,"start_point":[832,207],"end_point":[158,890],"distance":959.5650056145232},{"start_region_id":88,"end_region_id":225,"start_point":[904,457],"end_point":[34,842],"distance":951.3805757949865}],"complexity_score":0.6742596258089536}
{"id":16176,"query_id":"Q03236","question":"A quadcopter drone is positioned on a grassy, shrub-covered area and needs to reach a paved lane or street. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over liquid surfaces, but cannot pass through dense vertical obstacles like tall trees or structures. Which path should it take to minimize the total travel distance?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, shrub-covered area","end_land_type":"A paved lane or street","task_description":"Which path should it take to minimize the total travel distance?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"tonga_44.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":134,"start_point":[231,979],"end_point":[858,177],"distance":1018.0044204226227},{"start_region_id":39,"end_region_id":134,"start_point":[104,776],"end_point":[858,177],"distance":962.9730006599355},{"start_region_id":44,"end_region_id":133,"start_point":[943,786],"end_point":[66,282],"distance":1011.5063025013734},{"start_region_id":48,"end_region_id":133,"start_point":[736,954],"end_point":[66,282],"distance":948.9383541621658},{"start_region_id":6,"end_region_id":136,"start_point":[39,170],"end_point":[571,815],"distance":836.0915021694694}],"complexity_score":0.6742596258089536}
{"id":2193,"query_id":"Q00439","question":"An aerial survey drone starts from a flat, paved surface and needs to reach another flat, paved surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock without vegetation, as well as over liquid bodies, but must avoid any vertical structures or dense vegetation that could obstruct its flight path. Which route allows the drone to reach its destination in the minimum time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"Which route allows the drone to reach its destination in the minimum time?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"san_tome_23.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":294,"start_point":[137,97],"end_point":[692,962],"distance":1027.7402395547233},{"start_region_id":294,"end_region_id":119,"start_point":[692,962],"end_point":[137,97],"distance":1027.7402395547233},{"start_region_id":156,"end_region_id":274,"start_point":[864,164],"end_point":[118,868],"distance":1025.734858528265},{"start_region_id":274,"end_region_id":156,"start_point":[118,868],"end_point":[864,164],"distance":1025.734858528265},{"start_region_id":169,"end_region_id":274,"start_point":[926,491],"end_point":[118,868],"distance":891.6237995926309}],"complexity_score":0.6743464927552658}
{"id":6614,"query_id":"Q01323","question":"A park ranger is standing on a paved walkway and must quickly reach another paved walkway. The surrounding terrain consists of firm, artificial surfaces and cultivated fields with loose, tilled soil. The ranger can walk on the firm surfaces but must avoid the loose soil in the fields because it is muddy and uneven, which would slow down walking speed. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"park ranger","start_land_type":"paved walkway","end_land_type":"paved walkway","task_description":"What is the fastest route for the park ranger to travel from the current paved walkway to the destination paved walkway?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"san_tome_23.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":119,"start_point":[926,491],"end_point":[137,97],"distance":881.9053237167808},{"start_region_id":119,"end_region_id":169,"start_point":[137,97],"end_point":[926,491],"distance":881.9053237167808},{"start_region_id":208,"end_region_id":156,"start_point":[217,665],"end_point":[864,164],"distance":818.2970120927976},{"start_region_id":156,"end_region_id":208,"start_point":[864,164],"end_point":[217,665],"distance":818.2970120927976},{"start_region_id":169,"end_region_id":163,"start_point":[926,491],"end_point":[145,282],"distance":808.4812923005702}],"complexity_score":0.6743464927552658}
{"id":11870,"query_id":"Q02374","question":"A family sedan starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes loose, uneven ground composed of sand and rocks, which is not allowed due to safety concerns. The objective is to find the safest path.","agent_category":"Car","specific_agent":"family sedan","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest route to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"san_tome_39.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":225,"start_point":[802,786],"end_point":[93,55],"distance":1018.3525911981567},{"start_region_id":114,"end_region_id":228,"start_point":[138,165],"end_point":[824,868],"distance":982.2448778181539},{"start_region_id":97,"end_region_id":228,"start_point":[333,45],"end_point":[824,868],"distance":958.3371014418674},{"start_region_id":202,"end_region_id":225,"start_point":[99,969],"end_point":[93,55],"distance":914.0196934421052},{"start_region_id":105,"end_region_id":225,"start_point":[984,138],"end_point":[93,55],"distance":894.8575305600327}],"complexity_score":0.6743720111184699}
{"id":15914,"query_id":"Q03183","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy field as quickly as possible. The drone can fly over liquid surfaces and vertical obstacles, but must avoid areas with dense overhead canopy to maintain speed and stability. Which path allows the drone to reach the grassy field in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy field","task_description":"Which path allows the drone to reach the grassy field in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"san_tome_39.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":74,"start_point":[93,55],"end_point":[922,892],"distance":1178.0534792614467},{"start_region_id":228,"end_region_id":10,"start_point":[824,868],"end_point":[139,105],"distance":1025.3750533341447},{"start_region_id":225,"end_region_id":57,"start_point":[93,55],"end_point":[762,748],"distance":963.2289447478206},{"start_region_id":225,"end_region_id":81,"start_point":[93,55],"end_point":[547,911],"distance":968.9437548175848},{"start_region_id":228,"end_region_id":22,"start_point":[824,868],"end_point":[126,242],"distance":937.5926620873267}],"complexity_score":0.6743720111184699}
{"id":8381,"query_id":"Q01677","question":"A quadcopter drone is positioned on a grassy, open field with low vegetation and needs to reach a flat, hard-surfaced area like a parking lot or paved courtyard as quickly as possible. The drone can fly over various surfaces, but must avoid tall trees and buildings due to potential collision risks. It can traverse over loose, sandy or rocky ground, low shrubbery, paved roads, and water bodies, but flying through dense tree canopies or close to structures is prohibited. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a flat, hard-surfaced area like a parking lot or paved courtyard","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_55.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":66,"start_point":[798,36],"end_point":[83,679],"distance":961.5997088185915},{"start_region_id":43,"end_region_id":46,"start_point":[296,970],"end_point":[91,57],"distance":935.7317991817955},{"start_region_id":32,"end_region_id":46,"start_point":[605,839],"end_point":[91,57],"distance":935.7991237439795},{"start_region_id":36,"end_region_id":46,"start_point":[721,703],"end_point":[91,57],"distance":902.3391823477467},{"start_region_id":6,"end_region_id":67,"start_point":[798,36],"end_point":[283,761],"distance":889.2974755389785}],"complexity_score":0.6744245066561385}
{"id":9000,"query_id":"Q01800","question":"An aerial surveillance drone is currently positioned over a grassy, shrub-covered area. It needs to reach a paved, hard-surface lane used by ground vehicles. The drone can fly over open sandy or rocky terrain, vegetated areas, paved surfaces, and even bodies of water. However, it must avoid any tall, vertical structures or dense clusters of objects that could pose a collision risk. The drone's primary concern is to minimize the risk of accidents or damage during its flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_59.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":303,"start_point":[60,30],"end_point":[886,833],"distance":1151.9917534427059},{"start_region_id":9,"end_region_id":303,"start_point":[299,125],"end_point":[886,833],"distance":919.6917962013143},{"start_region_id":66,"end_region_id":303,"start_point":[123,352],"end_point":[886,833],"distance":901.958979111578},{"start_region_id":170,"end_region_id":303,"start_point":[92,909],"end_point":[886,833],"distance":797.6289864341692},{"start_region_id":24,"end_region_id":303,"start_point":[539,130],"end_point":[886,833],"distance":783.9757649315443}],"complexity_score":0.6745777536733082}
{"id":17828,"query_id":"Q03566","question":"A quadcopter drone is positioned on a flat, paved surface and must navigate to an area with elevated vertical structures. The available terrain includes loose, granular surfaces; grassy, vegetated areas; cultivated fields; and the paved surface. The drone can fly over the vertical structures because it has sufficient altitude clearance. The objective is to find the safest flight path that minimizes collision risk and ensures stable operation.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat, paved surface","end_land_type":"area with elevated vertical structures","task_description":"What is the safest route for the drone to fly?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"bielefeld_59.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":303,"end_region_id":342,"start_point":[886,833],"end_point":[77,206],"distance":1023.5282116287758},{"start_region_id":303,"end_region_id":312,"start_point":[886,833],"end_point":[530,41],"distance":868.3317338436964},{"start_region_id":303,"end_region_id":392,"start_point":[886,833],"end_point":[123,516],"distance":826.2312025093219},{"start_region_id":303,"end_region_id":372,"start_point":[886,833],"end_point":[296,330],"distance":775.3121951833339},{"start_region_id":303,"end_region_id":479,"start_point":[886,833],"end_point":[132,925],"distance":759.5919957450842}],"complexity_score":0.6745777536733082}
{"id":17950,"query_id":"Q03590","question":"A hiker starts from a vegetated area with tall, woody plants providing shade and elevation and needs to reach a grassy or shrubby open field. The terrain includes loose, sandy or rocky ground without vegetation; grassy or shrubby areas that are not cultivated; paved lanes used by vehicles; vegetated areas with tall, woody plants; and cultivated fields with crops. You can traverse loose, sandy or rocky ground, grassy or shrubby areas, paved lanes, vegetated areas with tall, woody plants, and cultivated fields, as these are all accessible on foot. However, liquid surfaces and vertical structures are completely impassable and must be avoided. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a vegetated area with tall, woody plants providing shade and elevation","end_land_type":"a grassy or shrubby open field","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[1,1,0,1,1,0,1,0],"image_name":"bielefeld_59.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":437,"end_region_id":2,"start_point":[791,697],"end_point":[60,30],"distance":989.570613953345},{"start_region_id":342,"end_region_id":144,"start_point":[77,206],"end_point":[759,817],"distance":915.6664239776404},{"start_region_id":342,"end_region_id":116,"start_point":[77,206],"end_point":[876,592],"distance":887.3539316417097},{"start_region_id":434,"end_region_id":2,"start_point":[472,680],"end_point":[60,30],"distance":769.5739080816085},{"start_region_id":392,"end_region_id":116,"start_point":[123,516],"end_point":[876,592],"distance":756.8256073891791}],"complexity_score":0.6745777536733082}
{"id":1433,"query_id":"Q00287","question":"An aerial survey drone is positioned on a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over bare, rocky ground; grassy or shrub-covered areas; liquid bodies; and cultivated fields. However, it must avoid flying through dense vertical obstacles like tall vegetation or structures, as they could obstruct its path and slow it down. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route for the aerial survey drone to travel from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_70.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":113,"start_point":[97,725],"end_point":[947,175],"distance":1012.4228365658294},{"start_region_id":113,"end_region_id":136,"start_point":[947,175],"end_point":[97,725],"distance":1012.4228365658294},{"start_region_id":136,"end_region_id":114,"start_point":[97,725],"end_point":[942,222],"distance":983.3788690021765},{"start_region_id":114,"end_region_id":136,"start_point":[942,222],"end_point":[97,725],"distance":983.3788690021765},{"start_region_id":113,"end_region_id":118,"start_point":[947,175],"end_point":[87,227],"distance":861.5706587390265}],"complexity_score":0.6748448034132966}
{"id":5625,"query_id":"Q01125","question":"A surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The drone can fly over grassy, open fields and hard, flat surfaces like paved areas, which are generally safe and unobstructed. However. The drone must avoid flying near tall structures or over water bodies, as these could pose collision risks or signal interference. What is the safest path for the surveillance drone to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_70.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":6,"start_point":[229,755],"end_point":[953,150],"distance":943.5046369785365},{"start_region_id":6,"end_region_id":65,"start_point":[953,150],"end_point":[229,755],"distance":943.5046369785365},{"start_region_id":54,"end_region_id":6,"start_point":[466,670],"end_point":[953,150],"distance":712.4387692988079},{"start_region_id":6,"end_region_id":54,"start_point":[953,150],"end_point":[466,670],"distance":712.4387692988079},{"start_region_id":28,"end_region_id":65,"start_point":[875,520],"end_point":[229,755],"distance":687.4161767081133}],"complexity_score":0.6748448034132966}
{"id":7761,"query_id":"Q01553","question":"A surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over hard surfaces, vegetated areas, and cultivated fields without restriction, but must avoid dense tree canopies that could slow it down or cause collisions, and cannot enter buildings or liquid areas as they are hazardous. What is the fastest route?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the fastest route for the surveillance drone to travel from the starting paved lane to the destination paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_70.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":113,"start_point":[97,725],"end_point":[947,175],"distance":1012.4228365658294},{"start_region_id":113,"end_region_id":136,"start_point":[947,175],"end_point":[97,725],"distance":1012.4228365658294},{"start_region_id":136,"end_region_id":114,"start_point":[97,725],"end_point":[942,222],"distance":983.3788690021765},{"start_region_id":114,"end_region_id":136,"start_point":[942,222],"end_point":[97,725],"distance":983.3788690021765},{"start_region_id":113,"end_region_id":118,"start_point":[947,175],"end_point":[87,227],"distance":861.5706587390265}],"complexity_score":0.6748448034132966}
{"id":12381,"query_id":"Q02477","question":"A quadcopter drone starts from a concrete surface and needs to reach another concrete surface across the area. The drone can fly over hard surfaces, soft ground, grassy areas, and cultivated fields, but must avoid flying through dense tree canopies or close to buildings. The operator seeks the most direct aerial route.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete surface","end_land_type":"a concrete surface","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"melbourne_69.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":146,"start_point":[148,229],"end_point":[905,948],"distance":1044.035440011497},{"start_region_id":146,"end_region_id":113,"start_point":[905,948],"end_point":[148,229],"distance":1044.035440011497},{"start_region_id":110,"end_region_id":146,"start_point":[68,405],"end_point":[905,948],"distance":997.7063696298626},{"start_region_id":146,"end_region_id":110,"start_point":[905,948],"end_point":[68,405],"distance":997.7063696298626},{"start_region_id":131,"end_region_id":116,"start_point":[63,684],"end_point":[990,373],"distance":977.7780934342925}],"complexity_score":0.6748901459643263}
{"id":16620,"query_id":"Q03324","question":"A quadcopter drone starts from a grassy, open field and needs to reach a cluster of tall, leafy vegetation. The drone can fly over all surfaces except vertical structures and dense overhead obstacles, which are blocked. Smooth, stable surfaces are preferred for a comfortable flight, while liquid areas may cause turbulence and should be avoided if possible. Tall vegetation requires careful navigation due to potential obstructions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the most comfortable path for the quadcopter drone to take from the grassy, open field to the cluster of tall, leafy vegetation?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"melbourne_69.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":155,"start_point":[967,831],"end_point":[232,18],"distance":1095.9899634576952},{"start_region_id":16,"end_region_id":248,"start_point":[1006,115],"end_point":[220,875],"distance":1093.3416666349087},{"start_region_id":16,"end_region_id":243,"start_point":[1006,115],"end_point":[173,706],"distance":1021.3569405452729},{"start_region_id":33,"end_region_id":248,"start_point":[984,272],"end_point":[220,875],"distance":973.2959467705596},{"start_region_id":84,"end_region_id":155,"start_point":[895,721],"end_point":[232,18],"distance":966.32189253892}],"complexity_score":0.6748901459643263}
{"id":5747,"query_id":"Q01150","question":"A passenger car starts from a paved street and needs to reach another paved street. The terrain consists of hard, smooth surfaces suitable for driving, including parking areas and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved street","end_land_type":"another paved street","task_description":"What is the shortest path from the starting paved street to the destination paved street?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"soriano_5.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":171,"start_point":[39,1011],"end_point":[592,4],"distance":1148.850730077672}],"complexity_score":0.6750111329147721}
{"id":10658,"query_id":"Q02132","question":"A hiker starts from a location with tall vertical obstacles that provide overhead cover and needs to reach another location with similar tall vertical obstacles that provide overhead cover. The hiker can walk on hard paved surfaces and vehicle lanes, and is also permitted to traverse open ground with loose soil or rocks, areas with low vegetation and bushes, and cultivated fields, as long as the terrain is dry and stable. However, the hiker cannot enter any structures or cross any liquid surfaces. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a location with tall vertical obstacles that provide overhead cover","end_land_type":"ending at another location with similar tall vertical obstacles that provide overhead cover","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"soriano_5.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":207,"start_point":[460,897],"end_point":[664,287],"distance":643.2075870199294},{"start_region_id":207,"end_region_id":267,"start_point":[664,287],"end_point":[460,897],"distance":643.2075870199294},{"start_region_id":251,"end_region_id":240,"start_point":[892,679],"end_point":[287,527],"distance":623.8020519363495},{"start_region_id":240,"end_region_id":251,"start_point":[287,527],"end_point":[892,679],"distance":623.8020519363495},{"start_region_id":259,"end_region_id":240,"start_point":[807,801],"end_point":[287,527],"distance":587.7720646645263}],"complexity_score":0.6750111329147721}
{"id":12313,"query_id":"Q02463","question":"A hiker starts from a location under the canopy of tall vegetation and needs to reach an area covered by low, natural grasses and shrubs. The hiker can walk on paved surfaces like sidewalks and parking lots, as well as on vehicle lanes and streets. However, the hiker cannot cross any liquid surfaces or enter any solid structures. What is the shortest path to the grassy area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"tree","end_land_type":"rangeland","task_description":"What is the shortest path to the grassy area?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"soriano_5.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":2,"start_point":[460,897],"end_point":[683,47],"distance":878.7656115256218},{"start_region_id":251,"end_region_id":13,"start_point":[892,679],"end_point":[142,261],"distance":858.6174934160147},{"start_region_id":259,"end_region_id":13,"start_point":[807,801],"end_point":[142,261],"distance":856.6358619623626},{"start_region_id":259,"end_region_id":6,"start_point":[807,801],"end_point":[412,61],"distance":838.8235809751654},{"start_region_id":267,"end_region_id":6,"start_point":[460,897],"end_point":[412,61],"distance":837.3768566183329}],"complexity_score":0.6750111329147721}
{"id":16516,"query_id":"Q03304","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, leafy trees. The drone can fly over dry, sandy expanses, grassy or shrubby areas, paved or compacted surfaces, vehicle lanes, cultivated fields, and even bodies of water, but it must avoid vertical structures and dense tree canopies unless explicitly permitted. For this mission, the drone is allowed to traverse over loose, sandy ground; grassy or shrubby terrain; tall, leafy trees; and bodies of water, but it cannot use paved or compacted surfaces, vehicle lanes, cultivated fields, or vertical structures. The objective is to minimize risk by prioritizing terrains that are generally controllable, predictable, and low-risk, while avoiding areas that may increase the likelihood of loss of control, damage, or hazardous situations.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, leafy trees","task_description":"What is the safest path for the aerial survey drone to take from the grassy, open field to the cluster of tall, leafy trees?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Water"],"traverse_vector":[1,1,0,0,1,1,0,0],"cost_vector":[2,2,0,0,1,1,0,0],"image_name":"soriano_5.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":259,"start_point":[905,602],"end_point":[807,801],"distance":221.82200071228283}],"complexity_score":0.6750111329147721}
{"id":2073,"query_id":"Q00415","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane with a hard, flat surface. The drone can fly over liquid surfaces and open flat areas, but must avoid vertical obstacles like trees and structures. Which path should it take to get to the destination in the shortest possible way?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"Which path should it take to get to the destination in the shortest possible way?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"coxsbazar_52.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":108,"start_point":[354,869],"end_point":[891,281],"distance":796.3121247350188},{"start_region_id":155,"end_region_id":108,"start_point":[155,346],"end_point":[891,281],"distance":738.8646696114248},{"start_region_id":158,"end_region_id":105,"start_point":[354,869],"end_point":[405,195],"distance":675.9267711816126},{"start_region_id":156,"end_region_id":105,"start_point":[792,651],"end_point":[405,195],"distance":598.0844421985912},{"start_region_id":154,"end_region_id":105,"start_point":[866,105],"end_point":[405,195],"distance":469.7030977117353}],"complexity_score":0.67508809932145}
{"id":6234,"query_id":"Q01247","question":"An aerial survey drone begins its mission in a cultivated field with crops. It needs to reach a paved lane for vehicles as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, hard artificial surfaces like sidewalks and parking lots, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or man-made structures, as these require careful navigation and slow down flight speed. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field with crops","end_land_type":"paved lane for vehicles","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"coxsbazar_52.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":108,"start_point":[354,869],"end_point":[891,281],"distance":796.3121247350188},{"start_region_id":155,"end_region_id":108,"start_point":[155,346],"end_point":[891,281],"distance":738.8646696114248},{"start_region_id":158,"end_region_id":105,"start_point":[354,869],"end_point":[405,195],"distance":675.9267711816126},{"start_region_id":156,"end_region_id":105,"start_point":[792,651],"end_point":[405,195],"distance":598.0844421985912},{"start_region_id":154,"end_region_id":105,"start_point":[866,105],"end_point":[405,195],"distance":469.7030977117353}],"complexity_score":0.67508809932145}
{"id":6465,"query_id":"Q01293","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over areas of loose earth and rocks, natural grassy or shrub-covered terrain, artificial hard surfaces like parking lots and sports fields, vehicle lanes, liquid bodies, and cultivated vegetation. However, it must avoid flying too close to tall vertical structures and dense clusters of tall vegetation that could pose collision risks. The drone's priority is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"coxsbazar_52.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":158,"start_point":[891,281],"end_point":[354,869],"distance":796.3121247350188},{"start_region_id":108,"end_region_id":155,"start_point":[891,281],"end_point":[155,346],"distance":738.8646696114248},{"start_region_id":105,"end_region_id":158,"start_point":[405,195],"end_point":[354,869],"distance":675.9267711816126},{"start_region_id":105,"end_region_id":156,"start_point":[405,195],"end_point":[792,651],"distance":598.0844421985912},{"start_region_id":105,"end_region_id":154,"start_point":[405,195],"end_point":[866,105],"distance":469.7030977117353}],"complexity_score":0.67508809932145}
{"id":11617,"query_id":"Q02324","question":"A delivery van starts from a paved parking lot and needs to reach another paved parking lot as quickly as possible. The van can only travel on hard, compact surfaces that provide good traction and stability for high-speed driving. Loose, sandy, or rocky ground is not allowed because it would slow the vehicle down and risk getting stuck. Vegetated areas, water bodies, and structures are completely impassable. What is the fastest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"coxsbazar_52.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":76,"start_point":[534,238],"end_point":[797,298],"distance":269.75729832573575}],"complexity_score":0.67508809932145}
{"id":4736,"query_id":"Q00948","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane as quickly as possible. The drone can fly over all surfaces, including paved areas, vehicle lanes, and areas with tall, vertical obstacles like trees, by navigating around or above them. However, liquid surfaces and solid vertical structures are conditionally traversable only if avoided, but in this scenario, they are not allowed due to regulatory restrictions or safety concerns. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the fastest path for the quadcopter drone to reach the vehicle lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"duesseldorf_28.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":262,"start_point":[134,73],"end_point":[956,962],"distance":1210.7869341878447},{"start_region_id":202,"end_region_id":262,"start_point":[101,366],"end_point":[956,962],"distance":1042.2288616230123},{"start_region_id":201,"end_region_id":262,"start_point":[298,376],"end_point":[956,962],"distance":881.1129326028531},{"start_region_id":230,"end_region_id":262,"start_point":[83,778],"end_point":[956,962],"distance":892.1799145912219},{"start_region_id":190,"end_region_id":262,"start_point":[812,153],"end_point":[956,962],"distance":821.7158876400042}],"complexity_score":0.6753644442652432}
{"id":9531,"query_id":"Q01907","question":"A hiker starts from a paved road surface and needs to reach a grassy, open area covered with low vegetation and shrubs. The terrain includes hard, flat surfaces like sidewalks and parking lots, loose sandy or rocky ground without plants, and cultivated fields with crops. You cannot travel over water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"duesseldorf_28.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":3,"start_point":[956,962],"end_point":[309,61],"distance":1109.2384775150924},{"start_region_id":262,"end_region_id":5,"start_point":[956,962],"end_point":[493,43],"distance":1029.0432449610657},{"start_region_id":262,"end_region_id":7,"start_point":[956,962],"end_point":[853,22],"distance":945.6262475206576},{"start_region_id":262,"end_region_id":20,"start_point":[956,962],"end_point":[692,151],"distance":852.8874486120662},{"start_region_id":262,"end_region_id":19,"start_point":[956,962],"end_point":[902,177],"distance":786.8551327912909}],"complexity_score":0.6753644442652432}
{"id":13307,"query_id":"Q02662","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over open grassy areas with low vegetation, hard flat artificial surfaces, paved lanes, liquid bodies, and cultivated fields with crops. However, it must avoid areas with tall vertical obstacles that could cause collisions. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"duesseldorf_28.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":186,"start_point":[956,962],"end_point":[134,73],"distance":1210.7869341878447},{"start_region_id":262,"end_region_id":202,"start_point":[956,962],"end_point":[101,366],"distance":1042.2288616230123},{"start_region_id":262,"end_region_id":201,"start_point":[956,962],"end_point":[298,376],"distance":881.1129326028531},{"start_region_id":262,"end_region_id":230,"start_point":[956,962],"end_point":[83,778],"distance":892.1799145912219},{"start_region_id":262,"end_region_id":190,"start_point":[956,962],"end_point":[812,153],"distance":821.7158876400042}],"complexity_score":0.6753644442652432}
{"id":13757,"query_id":"Q02752","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a paved, hard-surface area. The terrain includes loose, sandy or rocky ground without vegetation, as well as areas with natural grass and shrubs. The cultivated field is currently dry and firm enough to walk on, and the grassy areas are open and passable. However, all vehicle lanes, water bodies, individual trees, and structures are completely blocked and cannot be used. What is the shortest possible route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the shortest possible route from the cultivated field to the paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,1,1,0,0,0,1,0],"image_name":"duesseldorf_55.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":387,"end_region_id":135,"start_point":[934,74],"end_point":[864,800],"distance":729.3668487119496},{"start_region_id":388,"end_region_id":135,"start_point":[767,185],"end_point":[864,800],"distance":622.6026019862107},{"start_region_id":389,"end_region_id":135,"start_point":[826,392],"end_point":[864,800],"distance":409.76578676116924},{"start_region_id":387,"end_region_id":91,"start_point":[934,74],"end_point":[801,320],"distance":279.6515689210415},{"start_region_id":390,"end_region_id":135,"start_point":[872,539],"end_point":[864,800],"distance":261.1225765804252}],"complexity_score":0.6757751759221147}
{"id":17692,"query_id":"Q03539","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and must reach another cultivated field with rows of crops as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, areas covered with wild grasses and shrubs, paved lanes used by vehicles, and individual or clustered tall vegetation with distinct height and shadow. However, the drone must minimize time spent navigating through or around the tall vegetation due to its complex structure requiring careful maneuvering. All other surfaces are clear for direct overflight. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"Another cultivated field with rows of crops","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[2,2,0,2,1,0,2,0],"image_name":"duesseldorf_55.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":390,"end_region_id":385,"start_point":[872,539],"end_point":[316,72],"distance":726.102609828666},{"start_region_id":385,"end_region_id":390,"start_point":[316,72],"end_point":[872,539],"distance":726.102609828666},{"start_region_id":385,"end_region_id":387,"start_point":[316,72],"end_point":[934,74],"distance":618.0032362374812},{"start_region_id":387,"end_region_id":385,"start_point":[934,74],"end_point":[316,72],"distance":618.0032362374812},{"start_region_id":385,"end_region_id":389,"start_point":[316,72],"end_point":[826,392],"distance":602.0797289396148}],"complexity_score":0.6757751759221147}
{"id":4461,"query_id":"Q00893","question":"A person walking starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes areas with loose soil and vegetation that are rough and uneven, which should be avoided to ensure a smooth and stable walk. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a person walking","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"khartoum_20.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":30,"start_point":[147,503],"end_point":[443,60],"distance":532.7898272302128},{"start_region_id":21,"end_region_id":30,"start_point":[387,559],"end_point":[443,60],"distance":502.1324526457138},{"start_region_id":4,"end_region_id":28,"start_point":[548,50],"end_point":[295,443],"distance":467.3949079739744},{"start_region_id":12,"end_region_id":30,"start_point":[111,248],"end_point":[443,60],"distance":381.53374686913344},{"start_region_id":10,"end_region_id":30,"start_point":[91,156],"end_point":[443,60],"distance":364.85613603172413}],"complexity_score":0.6758024565541313}
{"id":17921,"query_id":"Q03585","question":"A hiker starts from a shaded area under a tall, leafy canopy and needs to reach a paved lane used by vehicles. The terrain includes loose, sandy ground; grassy fields with scattered bushes; cultivated fields with crops; and areas with individual trees. The hiker has permission to walk through grassy fields, cultivated areas, and sandy ground, and can pass through wooded spots when necessary. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"tree","end_land_type":"road","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"khartoum_20.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":30,"start_point":[115,536],"end_point":[443,60],"distance":578.0657402060773},{"start_region_id":66,"end_region_id":30,"start_point":[391,332],"end_point":[443,60],"distance":276.9259828907356},{"start_region_id":72,"end_region_id":28,"start_point":[115,536],"end_point":[295,443],"distance":202.60552805883654}],"complexity_score":0.6758024565541313}
{"id":18024,"query_id":"Q03605","question":"A hiker starts from a paved road surface and needs to reach another paved road surface while prioritizing walking comfort. The hiker can walk on paved roads and sidewalks, which are smooth and even. They can also cross cultivated fields with planted crops, grassy meadows with short vegetation, and wooded areas with trees, provided the ground is firm enough to walk on. However, the hiker cannot travel through standing water or enter any buildings. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"another paved road surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"khartoum_20.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":30,"start_point":[295,443],"end_point":[443,60],"distance":410.60077934655703},{"start_region_id":30,"end_region_id":28,"start_point":[443,60],"end_point":[295,443],"distance":410.60077934655703}],"complexity_score":0.6758024565541313}
{"id":7214,"query_id":"Q01443","question":"A quadcopter 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 hard, paved surfaces designed for vehicles, but must navigate carefully around tall vertical structures that could obstruct its path. It can also traverse cultivated fields with low vegetation, though these may have some unevenness. The objective is to find the path that minimizes travel time.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall vertical structures","end_land_type":"another vegetated area with tall vertical structures","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"palu_57.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":475,"end_region_id":663,"start_point":[212,124],"end_point":[974,988],"distance":1152.0156248940377},{"start_region_id":663,"end_region_id":475,"start_point":[974,988],"end_point":[212,124],"distance":1152.0156248940377},{"start_region_id":475,"end_region_id":659,"start_point":[212,124],"end_point":[897,978],"distance":1094.7789731265393},{"start_region_id":659,"end_region_id":475,"start_point":[897,978],"end_point":[212,124],"distance":1094.7789731265393},{"start_region_id":623,"end_region_id":466,"start_point":[126,815],"end_point":[895,31],"distance":1098.1880531129448}],"complexity_score":0.6758170145082768}
{"id":10689,"query_id":"Q02138","question":"A family sedan is parked on a smooth, paved lane and needs to reach a nearby flat, hard-surfaced area such as a parking lot or a paved plaza. The sedan can only travel on surfaces that are firm and even to ensure a smooth ride, avoiding any terrain that is loose, soft, or uneven. Which path should the sedan take to reach the destination while maximizing ride comfort?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which path should the sedan take to reach the destination while maximizing ride comfort?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"palu_57.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":445,"end_region_id":237,"start_point":[573,948],"end_point":[860,559],"distance":483.41493564018066},{"start_region_id":423,"end_region_id":283,"start_point":[637,574],"end_point":[579,833],"distance":265.41476974727686},{"start_region_id":423,"end_region_id":237,"start_point":[637,574],"end_point":[860,559],"distance":223.503914954526}],"complexity_score":0.6758170145082768}
{"id":12275,"query_id":"Q02455","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The drone can fly over grassy or shrub-covered areas, paved surfaces, and wooded sections, but must avoid vertical structures and liquid surfaces due to safety risks from collisions and moisture damage. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"palu_57.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":377,"end_region_id":408,"start_point":[80,926],"end_point":[542,24],"distance":1013.4337669527299},{"start_region_id":381,"end_region_id":408,"start_point":[137,964],"end_point":[542,24],"distance":1023.5355391973451},{"start_region_id":237,"end_region_id":434,"start_point":[860,559],"end_point":[59,668],"distance":808.3823352844865},{"start_region_id":283,"end_region_id":408,"start_point":[579,833],"end_point":[542,24],"distance":809.8456643089472},{"start_region_id":153,"end_region_id":447,"start_point":[730,277],"end_point":[248,880],"distance":771.9669682052464}],"complexity_score":0.6758170145082768}
{"id":8182,"query_id":"Q01637","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface while ensuring a smooth and stable walk. The area includes tall, dense vertical obstacles that can be traversed only if they are sparse and low enough to step over or around without discomfort, but in this case, they are too dense and high, making them impassable. All other terrain types, such as loose soil, soft ground, vegetation-covered areas, liquid surfaces, and solid structures, are not traversable due to physical constraints or safety regulations. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"chisinau_9.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":82,"start_point":[161,643],"end_point":[798,209],"distance":770.7950440940834},{"start_region_id":82,"end_region_id":83,"start_point":[798,209],"end_point":[161,643],"distance":770.7950440940834},{"start_region_id":83,"end_region_id":86,"start_point":[161,643],"end_point":[850,857],"distance":721.4686410371555},{"start_region_id":86,"end_region_id":83,"start_point":[850,857],"end_point":[161,643],"distance":721.4686410371555},{"start_region_id":82,"end_region_id":86,"start_point":[798,209],"end_point":[850,857],"distance":650.0830716146976}],"complexity_score":0.6758595445466188}
{"id":1087,"query_id":"Q00218","question":"An aerial surveillance drone is currently positioned over a grassy, open field and needs to reach a flat, paved surface. The drone must avoid any tall, dense vegetation or vertical structures that could pose collision risks. It can safely fly over areas of loose soil and rocks, grassy or shrubby terrain, all types of paved and compacted surfaces, liquid bodies, and cultivated fields. The drone's primary concern is minimizing the risk of accidents or damage during flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"flat, paved surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"melbourne_48.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":102,"start_point":[1001,902],"end_point":[29,189],"distance":1205.4679589271545},{"start_region_id":90,"end_region_id":105,"start_point":[149,1003],"end_point":[963,278],"distance":1090.0555031740357},{"start_region_id":54,"end_region_id":102,"start_point":[794,884],"end_point":[29,189],"distance":1033.5618026997709},{"start_region_id":90,"end_region_id":98,"start_point":[149,1003],"end_point":[718,183],"distance":998.0786542151876},{"start_region_id":11,"end_region_id":142,"start_point":[48,287],"end_point":[952,661],"distance":978.3107890644976}],"complexity_score":0.6758989021586915}
{"id":3792,"query_id":"Q00759","question":"A hiker is standing on a grassy field and needs to reach another grassy field area. The terrain includes loose sandy or rocky ground, areas with low vegetation or bushes, hard paved surfaces like sidewalks and parking lots, vehicle lanes made of asphalt or concrete, individual trees or wooded patches, and cultivated crop fields. The hiker must avoid any water bodies or buildings entirely. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"melbourne_48.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":65,"start_point":[48,287],"end_point":[1001,902],"distance":1134.2107387959259},{"start_region_id":65,"end_region_id":11,"start_point":[1001,902],"end_point":[48,287],"distance":1134.2107387959259},{"start_region_id":5,"end_region_id":90,"start_point":[747,96],"end_point":[149,1003],"distance":1086.3944955677932},{"start_region_id":90,"end_region_id":5,"start_point":[149,1003],"end_point":[747,96],"distance":1086.3944955677932},{"start_region_id":21,"end_region_id":65,"start_point":[21,452],"end_point":[1001,902],"distance":1078.3784122468328}],"complexity_score":0.6758989021586915}
{"id":5380,"query_id":"Q01076","question":"A quadcopter drone starts from a paved area and needs to reach a wooded area while prioritizing a stable and comfortable flight. The drone can traverse open ground, hard surfaces, vegetated areas, and liquid surfaces without restriction. For this specific flight, areas with tall, dense vegetation are accessible but may cause turbulence. Solid vertical structures are strictly impassable due to collision risk. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved area","end_land_type":"wooded area","task_description":"What is the most comfortable path from the paved area to the wooded area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"melbourne_48.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":293,"start_point":[29,189],"end_point":[997,759],"distance":1123.3539068343512},{"start_region_id":142,"end_region_id":214,"start_point":[952,661],"end_point":[26,54],"distance":1107.2149746097186},{"start_region_id":102,"end_region_id":322,"start_point":[29,189],"end_point":[786,979],"distance":1094.143043664767},{"start_region_id":174,"end_region_id":214,"start_point":[746,836],"end_point":[26,54],"distance":1062.9788332793837},{"start_region_id":179,"end_region_id":214,"start_point":[640,910],"end_point":[26,54],"distance":1053.4381804358527}],"complexity_score":0.6758989021586915}
{"id":17197,"query_id":"Q03440","question":"An off-road vehicle starts from a paved street and needs to reach a grassy field. The vehicle can drive on hard surfaces like parking lots and lanes, and is equipped to handle grassy terrain, but cannot pass through wooded areas, liquid bodies, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a grassy field","task_description":"What is the shortest path from the paved street to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"melbourne_48.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":204,"end_region_id":65,"start_point":[81,272],"end_point":[1001,902],"distance":1115.0336317797774},{"start_region_id":204,"end_region_id":54,"start_point":[81,272],"end_point":[794,884],"distance":939.6345034107677},{"start_region_id":204,"end_region_id":22,"start_point":[81,272],"end_point":[912,500],"distance":861.7105082334785},{"start_region_id":206,"end_region_id":11,"start_point":[676,779],"end_point":[48,287],"distance":797.7769111725407},{"start_region_id":204,"end_region_id":90,"start_point":[81,272],"end_point":[149,1003],"distance":734.1559779774323}],"complexity_score":0.6758989021586915}
{"id":10750,"query_id":"Q02150","question":"A quadcopter drone starts from a densely vegetated area with tall vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open grassy areas, soft ground with scattered vegetation, paved surfaces, and liquid bodies, but must navigate carefully around tall vertical structures. The flat, hard, artificial surface is your destination. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest route from the starting point to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"christchurch_27.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":126,"start_point":[978,90],"end_point":[79,862],"distance":1184.9831222426756},{"start_region_id":172,"end_region_id":144,"start_point":[978,90],"end_point":[234,956],"distance":1141.70574142377},{"start_region_id":172,"end_region_id":105,"start_point":[978,90],"end_point":[98,771],"distance":1112.726830807993},{"start_region_id":172,"end_region_id":90,"start_point":[978,90],"end_point":[59,506],"distance":1008.770043171386},{"start_region_id":181,"end_region_id":126,"start_point":[916,361],"end_point":[79,862],"distance":975.4844950074809}],"complexity_score":0.6760407297094752}
{"id":16380,"query_id":"Q03276","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The hiker can walk across sandy or rocky ground, grassy or shrubby areas, and farm fields, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path for the hiker to travel from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"christchurch_27.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":165,"end_region_id":167,"start_point":[439,440],"end_point":[383,839],"distance":402.91066007242847},{"start_region_id":167,"end_region_id":165,"start_point":[383,839],"end_point":[439,440],"distance":402.91066007242847}],"complexity_score":0.6760407297094752}
{"id":681,"query_id":"Q00137","question":"An aerial photography drone starts from a dense cluster of tall, vertical structures with branches and foliage and needs to reach a flat, hard, paved lane. The drone's flight path must prioritize smooth, stable airspace to ensure steady camera operation and passenger comfort. While the drone can fly over most surfaces, flying directly through or too close to dense vertical structures is turbulent and uncomfortable, so such areas should be avoided if possible. Similarly, flying low over liquid surfaces can cause unpredictable air currents and spray. Cultivated fields with low, uniform vegetation and open paved areas provide the most stable and predictable flight conditions. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A dense cluster of tall, vertical structures with branches and foliage","end_land_type":"A flat, hard, paved lane","task_description":"What is the most comfortable route from the starting point to the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"buenos_aires_28.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":354,"end_region_id":340,"start_point":[135,52],"end_point":[499,456],"distance":543.7940786731683},{"start_region_id":406,"end_region_id":340,"start_point":[70,370],"end_point":[499,456],"distance":437.5351414458043},{"start_region_id":532,"end_region_id":340,"start_point":[591,957],"end_point":[499,456],"distance":509.37707054793896},{"start_region_id":439,"end_region_id":340,"start_point":[985,523],"end_point":[499,456],"distance":490.5965756097366},{"start_region_id":507,"end_region_id":340,"start_point":[319,836],"end_point":[499,456],"distance":420.47592083257274}],"complexity_score":0.6760694028277262}
{"id":8772,"query_id":"Q01755","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cluster of tall, vertical structures with overhead canopy. The drone can traverse loose, sandy or rocky ground without vegetation, areas with low, natural vegetation like grass and shrubs, paved hard surfaces, vehicle lanes, and tall vertical structures with canopy, as aerial movement allows passage. However, the drone must avoid any liquid surfaces and man-made structures with walls and roofs, as these are restricted for safety. The goal is to find a path that provides the smoothest and most stable flying experience.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface area","end_land_type":"A cluster of tall, vertical structures with overhead canopy","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"buenos_aires_28.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":354,"start_point":[975,823],"end_point":[135,52],"distance":1140.1934046467732},{"start_region_id":271,"end_region_id":406,"start_point":[975,823],"end_point":[70,370],"distance":1012.0444654262974},{"start_region_id":178,"end_region_id":439,"start_point":[90,219],"end_point":[985,523],"distance":945.2200801929675},{"start_region_id":217,"end_region_id":439,"start_point":[32,489],"end_point":[985,523],"distance":953.6063128985671},{"start_region_id":152,"end_region_id":532,"start_point":[384,52],"end_point":[591,957],"distance":928.3716928041268}],"complexity_score":0.6760694028277262}
{"id":3229,"query_id":"Q00646","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing a smooth and stable flight. The drone can fly over hard surfaces, loose soil, and cultivated fields, but must avoid areas with tall, dense vegetation or vertical structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"houston_3.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":138,"start_point":[143,83],"end_point":[845,987],"distance":1144.5610512331791},{"start_region_id":138,"end_region_id":130,"start_point":[845,987],"end_point":[143,83],"distance":1144.5610512331791},{"start_region_id":137,"end_region_id":130,"start_point":[141,912],"end_point":[143,83],"distance":829.0024125417248},{"start_region_id":130,"end_region_id":137,"start_point":[143,83],"end_point":[141,912],"distance":829.0024125417248},{"start_region_id":138,"end_region_id":132,"start_point":[845,987],"end_point":[455,345],"distance":751.1750794588436}],"complexity_score":0.6763964912291789}
{"id":5621,"query_id":"Q01125","question":"A surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The drone can fly over grassy, open fields and hard, flat surfaces like paved areas, which are generally safe and unobstructed. However. The drone must avoid flying near tall structures or over water bodies, as these could pose collision risks or signal interference. What is the safest path for the surveillance drone to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"houston_3.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":11,"start_point":[1000,960],"end_point":[106,149],"distance":1207.0447381932452},{"start_region_id":11,"end_region_id":65,"start_point":[106,149],"end_point":[1000,960],"distance":1207.0447381932452},{"start_region_id":25,"end_region_id":65,"start_point":[177,330],"end_point":[1000,960],"distance":1036.450191760318},{"start_region_id":65,"end_region_id":25,"start_point":[1000,960],"end_point":[177,330],"distance":1036.450191760318},{"start_region_id":41,"end_region_id":11,"start_point":[1001,663],"end_point":[106,149],"distance":1032.0954413231366}],"complexity_score":0.6763964912291789}
{"id":12442,"query_id":"Q02489","question":"A hiker starts from a paved road surface and needs to reach a flat, hard paved area as quickly as possible. The terrain includes grassy and shrub-covered ground that is dry and firm enough to walk on, as well as cultivated fields with soft but traversable soil. The hiker must avoid any liquid bodies, vertical structures, and sandy or rocky expanses. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"a flat, hard paved area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"houston_3.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":75,"start_point":[845,987],"end_point":[67,70],"distance":1202.5693327205713},{"start_region_id":130,"end_region_id":124,"start_point":[143,83],"end_point":[905,1001],"distance":1193.0498732240828},{"start_region_id":137,"end_region_id":70,"start_point":[141,912],"end_point":[867,83],"distance":1101.9605256087896},{"start_region_id":138,"end_region_id":69,"start_point":[845,987],"end_point":[274,102],"distance":1053.2169766956854},{"start_region_id":138,"end_region_id":79,"start_point":[845,987],"end_point":[76,395],"distance":970.4766869945923}],"complexity_score":0.6763964912291789}
{"id":16722,"query_id":"Q03345","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over areas with loose soil and rocks, other grassy or shrubby areas, cultivated crop fields, and areas with individual or clustered tall vegetation. However, the drone must avoid flying over any structures or liquid surfaces, and areas with dense vertical obstacles should be minimized due to navigation complexity. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"houston_3.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":27,"start_point":[1001,663],"end_point":[1011,412],"distance":251.19912420229494},{"start_region_id":27,"end_region_id":41,"start_point":[1011,412],"end_point":[1001,663],"distance":251.19912420229494}],"complexity_score":0.6763964912291789}
{"id":1114,"query_id":"Q00223","question":"An aerial surveillance drone starts from a paved, flat, and stable surface and needs to reach a grassy, open area with low vegetation. The drone can fly over most surfaces, including loose sandy or rocky ground, paved areas, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies and cannot enter any structures. The primary concern is to minimize risk of collision, signal interference, or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, and stable surface","end_land_type":"A grassy, open area with low vegetation","task_description":"What is the safest path for the aerial surveillance drone to take from the paved, flat, and stable surface to the grassy, open area with low vegetation?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_62.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":45,"start_point":[139,46],"end_point":[885,576],"distance":915.1043656326856},{"start_region_id":136,"end_region_id":70,"start_point":[749,281],"end_point":[64,721],"distance":814.1406512390841},{"start_region_id":115,"end_region_id":14,"start_point":[139,46],"end_point":[840,292],"distance":742.9111656180704},{"start_region_id":121,"end_region_id":70,"start_point":[450,137],"end_point":[64,721],"distance":700.0371418717724},{"start_region_id":150,"end_region_id":70,"start_point":[692,445],"end_point":[64,721],"distance":685.9737604311115}],"complexity_score":0.6766027359695327}
{"id":8066,"query_id":"Q01614","question":"An agricultural monitoring drone starts from a densely vegetated area with tall, leafy structures and needs to reach another densely vegetated area with tall, leafy structures. The drone can fly over cultivated fields with planted crops, but must navigate carefully through the tall, leafy structures which require slower, more cautious movement to avoid collisions and ensure stable flight. The drone cannot fly over liquid surfaces, solid vertical structures, bare rocky ground, grassy open areas, paved surfaces, or vehicle lanes. What is the most comfortable path?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"another densely vegetated area with tall, leafy structures","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Tree","Agriculture land"],"traverse_vector":[0,0,0,0,1,0,1,0],"cost_vector":[0,0,0,0,1,0,2,0],"image_name":"mahe_62.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":338,"end_region_id":372,"start_point":[662,744],"end_point":[898,929],"distance":299.8683044271268},{"start_region_id":372,"end_region_id":338,"start_point":[898,929],"end_point":[662,744],"distance":299.8683044271268}],"complexity_score":0.6766027359695327}
{"id":15018,"query_id":"Q03004","question":"A delivery drone is on a flat, hard artificial surface and needs to reach a location among tall, vertical natural structures with overhead cover. The environment includes loose, sandy or rocky terrain; open areas with low vegetation; hard, paved artificial surfaces; tall, vertical natural structures with overhead cover; and cultivated fields with crops. The drone can fly over all these terrain types, but must minimize risk by avoiding proximity to tall vertical structures and liquid areas when possible. The drone is permitted to fly over cultivated fields, open grassy/shrubby areas, and loose sandy/rocky ground. The goal is to minimize risk during flight.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A flat, hard artificial surface","end_land_type":"A location among tall, vertical natural structures with overhead cover","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"mahe_62.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":372,"start_point":[139,46],"end_point":[898,929],"distance":1164.3753690283902},{"start_region_id":115,"end_region_id":337,"start_point":[139,46],"end_point":[1008,546],"distance":1002.5771790740102},{"start_region_id":172,"end_region_id":224,"start_point":[490,930],"end_point":[1009,87],"distance":989.9545444110048},{"start_region_id":136,"end_region_id":365,"start_point":[749,281],"end_point":[115,944],"distance":917.3467174411211},{"start_region_id":115,"end_region_id":316,"start_point":[139,46],"end_point":[988,425],"distance":929.7537308341387}],"complexity_score":0.6766027359695327}
{"id":15896,"query_id":"Q03180","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cluster of tall, leafy vegetation. The drone can fly over open grassy fields, cultivated crop fields, and liquid surfaces, but must avoid vertical structures and dense overhead obstacles. The goal is to minimize risk during flight.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"little_rock_30.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":182,"start_point":[896,25],"end_point":[206,888],"distance":1104.929409509947},{"start_region_id":83,"end_region_id":109,"start_point":[969,912],"end_point":[196,133],"distance":1097.437925351589},{"start_region_id":83,"end_region_id":106,"start_point":[969,912],"end_point":[397,44],"distance":1039.5229675192368},{"start_region_id":46,"end_region_id":196,"start_point":[896,25],"end_point":[519,949],"distance":997.9503995690367},{"start_region_id":46,"end_region_id":199,"start_point":[896,25],"end_point":[643,965],"distance":973.4521046255949}],"complexity_score":0.6766423938474377}
{"id":15902,"query_id":"Q03181","question":"An aerial surveillance drone is positioned on grassy, uneven terrain with scattered low vegetation and needs to reach a paved, hard surface lane. The drone must avoid any areas with tall, dense vertical obstacles or solid structures, and liquid surfaces are permissible but should be used cautiously. The drone's flight path should prioritize terrains that minimize the risk of collisions, signal interference, or unpredictable environmental hazards. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"a paved, hard surface lane","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"little_rock_30.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":103,"start_point":[38,36],"end_point":[982,806],"distance":1218.2101624924987},{"start_region_id":13,"end_region_id":103,"start_point":[47,235],"end_point":[982,806],"distance":1095.566520116419},{"start_region_id":2,"end_region_id":103,"start_point":[214,181],"end_point":[982,806],"distance":990.1762469378873},{"start_region_id":24,"end_region_id":95,"start_point":[194,636],"end_point":[904,138],"distance":867.2392980025755},{"start_region_id":1,"end_region_id":95,"start_point":[38,36],"end_point":[904,138],"distance":871.98623842352}],"complexity_score":0.6766423938474377}
{"id":5386,"query_id":"Q01078","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight for sensor calibration. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid dense vertical obstacles that could cause turbulence. The drone cannot land on or traverse through solid vertical structures or natural accumulations of loose earth materials. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the aerial survey drone to travel from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"melbourne_56.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":143,"start_point":[594,709],"end_point":[880,156],"distance":622.5793122165239},{"start_region_id":143,"end_region_id":142,"start_point":[880,156],"end_point":[594,709],"distance":622.5793122165239}],"complexity_score":0.6766829799581947}
{"id":8373,"query_id":"Q01675","question":"A quadcopter drone starts on a paved, hard surface and needs to reach a grassy, uneven terrain. The drone can fly over loose soil and grassy areas, but must avoid trees and buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest path for the quadcopter drone to reach the grassy, uneven terrain from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"melbourne_56.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":71,"start_point":[880,156],"end_point":[32,899],"distance":1127.4542119305777},{"start_region_id":143,"end_region_id":80,"start_point":[880,156],"end_point":[142,984],"distance":1109.1564362162806},{"start_region_id":143,"end_region_id":77,"start_point":[880,156],"end_point":[174,916],"distance":1037.3215509185181},{"start_region_id":143,"end_region_id":72,"start_point":[880,156],"end_point":[198,869],"distance":986.657488696052},{"start_region_id":143,"end_region_id":41,"start_point":[880,156],"end_point":[272,764],"distance":859.8418459228418}],"complexity_score":0.6766829799581947}
{"id":14673,"query_id":"Q02935","question":"A hiker starts from a paved, hard-surfaced area and needs to reach an area of natural, uncultivated vegetation. The terrain includes loose, sandy or rocky ground without vegetation, and cultivated fields with crops. Individual trees are present, but they can be navigated around. The hiker must avoid all liquid surfaces and any vertical structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard-surfaced area","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"melbourne_56.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":71,"start_point":[962,120],"end_point":[32,899],"distance":1213.1533291385717},{"start_region_id":90,"end_region_id":80,"start_point":[962,120],"end_point":[142,984],"distance":1191.1742106006157},{"start_region_id":139,"end_region_id":2,"start_point":[887,991],"end_point":[174,108],"distance":1134.9264293336375},{"start_region_id":90,"end_region_id":77,"start_point":[962,120],"end_point":[174,916],"distance":1120.071426293877},{"start_region_id":135,"end_region_id":2,"start_point":[882,942],"end_point":[174,108],"distance":1093.9926873613003}],"complexity_score":0.6766829799581947}
{"id":2167,"query_id":"Q00434","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes smooth, stable surfaces that provide good traction and predictable footing, as well as cultivated fields with relatively even soil and scattered tall vegetation that could obstruct visibility or create uneven ground. You must avoid any liquid surfaces and vertical structures. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person walking","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"chiangmai_5.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":157,"start_point":[963,80],"end_point":[997,809],"distance":729.7924362447175},{"start_region_id":88,"end_region_id":157,"start_point":[665,259],"end_point":[997,809],"distance":642.4359890292573},{"start_region_id":90,"end_region_id":157,"start_point":[932,268],"end_point":[997,809],"distance":544.8908147509921},{"start_region_id":128,"end_region_id":144,"start_point":[708,851],"end_point":[990,434],"distance":503.401430272104},{"start_region_id":131,"end_region_id":144,"start_point":[1006,892],"end_point":[990,434],"distance":458.27939076506595}],"complexity_score":0.6766848845673502}
{"id":2354,"query_id":"Q00471","question":"An aerial photography drone starts from a location with tall vertical structures that create obstacles and require careful navigation and needs to reach a destination that also has similar tall vertical structures requiring precise positioning. The drone must maintain stable flight and avoid turbulence or sudden movements that could disrupt its camera stabilization system. Only areas with tall vertical structures are available for navigation, and the drone can carefully maneuver around these obstacles when necessary. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"Starting from a location with tall vertical structures that create obstacles and require careful navigation.","end_land_type":"Needing to reach a destination that also has similar tall vertical structures requiring precise positioning.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Tree","Building"],"traverse_vector":[0,0,0,0,1,0,0,1],"cost_vector":[0,0,0,0,1,0,0,2],"image_name":"chiangmai_5.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":165,"start_point":[575,554],"end_point":[573,17],"distance":537.0037243818706},{"start_region_id":165,"end_region_id":170,"start_point":[573,17],"end_point":[575,554],"distance":537.0037243818706},{"start_region_id":170,"end_region_id":168,"start_point":[575,554],"end_point":[809,142],"distance":473.8143096192853},{"start_region_id":168,"end_region_id":170,"start_point":[809,142],"end_point":[575,554],"distance":473.8143096192853},{"start_region_id":168,"end_region_id":165,"start_point":[809,142],"end_point":[573,17],"distance":267.0599183703912}],"complexity_score":0.6766848845673502}
{"id":6083,"query_id":"Q01217","question":"An aerial survey drone begins its mission on a paved, hard surface and must return to another paved, hard surface area. The drone can fly over areas of loose soil and rocks, grassy and shrub-covered terrain, all paved and compacted surfaces, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense vertical obstacles like tall vegetation clusters. The drone's priority is to complete its survey loop as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the fastest path for the drone to return to the paved area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chiangmai_5.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":131,"start_point":[963,80],"end_point":[1006,892],"distance":813.1377497078831},{"start_region_id":131,"end_region_id":74,"start_point":[1006,892],"end_point":[963,80],"distance":813.1377497078831},{"start_region_id":128,"end_region_id":74,"start_point":[708,851],"end_point":[963,80],"distance":812.0751196779765},{"start_region_id":74,"end_region_id":128,"start_point":[963,80],"end_point":[708,851],"distance":812.0751196779765},{"start_region_id":131,"end_region_id":88,"start_point":[1006,892],"end_point":[665,259],"distance":719.0062586653888}],"complexity_score":0.6766848845673502}
{"id":2230,"query_id":"Q00446","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a parking lot or sidewalk. The drone can fly over liquid surfaces such as rivers or lakes, and it can also traverse cultivated fields with low vegetation. However, it must avoid areas with tall, dense vertical obstacles like trees or structures, as they pose collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_38.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":130,"start_point":[531,562],"end_point":[51,877],"distance":574.1297762701391},{"start_region_id":141,"end_region_id":129,"start_point":[531,562],"end_point":[31,836],"distance":570.1543650626556},{"start_region_id":141,"end_region_id":131,"start_point":[531,562],"end_point":[80,877],"distance":550.1145335291552},{"start_region_id":141,"end_region_id":132,"start_point":[531,562],"end_point":[106,875],"distance":527.8200450911277}],"complexity_score":0.6767025435961133}
{"id":11227,"query_id":"Q02246","question":"A delivery drone is currently on a paved, hard surface and needs to reach a paved lane designated for vehicles. The drone must prioritize safety, minimizing the risk of collision or loss of control. While the primary route should use open areas that provide clear airspace and minimal obstacles, the drone may also traverse areas of loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and liquid surfaces if necessary to complete the journey, provided these areas do not contain tall vertical structures or dense overhead obstacles. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved, hard surface","end_land_type":"paved lane designated for vehicles","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"little_rock_38.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":141,"start_point":[51,877],"end_point":[531,562],"distance":574.1297762701391},{"start_region_id":129,"end_region_id":141,"start_point":[31,836],"end_point":[531,562],"distance":570.1543650626556},{"start_region_id":131,"end_region_id":141,"start_point":[80,877],"end_point":[531,562],"distance":550.1145335291552},{"start_region_id":132,"end_region_id":141,"start_point":[106,875],"end_point":[531,562],"distance":527.8200450911277}],"complexity_score":0.6767025435961133}
{"id":1315,"query_id":"Q00263","question":"An aerial surveillance drone starts from a grassy, shrub-covered ground and needs to reach a paved lane or street. The drone can fly over most surfaces, including loose sandy or rocky areas, hard paved surfaces, water bodies, and cultivated fields, but must avoid dense tree canopies and vertical structures like buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, shrub-covered ground","end_land_type":"paved lane or street","task_description":"What is the shortest path from the grassy, shrub-covered ground to the paved lane or street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"thousand_oaks_29.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":113,"start_point":[161,970],"end_point":[357,230],"distance":765.5168188877368},{"start_region_id":1,"end_region_id":118,"start_point":[662,141],"end_point":[591,925],"distance":787.20835869546},{"start_region_id":19,"end_region_id":115,"start_point":[161,970],"end_point":[534,364],"distance":711.5932827114095},{"start_region_id":16,"end_region_id":113,"start_point":[945,504],"end_point":[357,230],"distance":648.7064050863071},{"start_region_id":11,"end_region_id":118,"start_point":[483,283],"end_point":[591,925],"distance":651.0207369969102}],"complexity_score":0.6768263534957165}
{"id":8110,"query_id":"Q01622","question":"A quadcopter drone is currently positioned on a hard, paved surface. It needs to reach another hard, paved surface. The drone can fly over most terrain types, including liquid surfaces and solid ground, but it cannot fly through dense vertical obstacles like tall structures or thick tree canopies. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the shortest path for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"thousand_oaks_29.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":118,"start_point":[357,230],"end_point":[591,925],"distance":733.3355302997394},{"start_region_id":118,"end_region_id":113,"start_point":[591,925],"end_point":[357,230],"distance":733.3355302997394},{"start_region_id":115,"end_region_id":118,"start_point":[534,364],"end_point":[591,925],"distance":563.888286808655},{"start_region_id":118,"end_region_id":115,"start_point":[591,925],"end_point":[534,364],"distance":563.888286808655},{"start_region_id":116,"end_region_id":113,"start_point":[452,704],"end_point":[357,230],"distance":483.4263128957711}],"complexity_score":0.6768263534957165}
{"id":14990,"query_id":"Q02998","question":"A delivery drone starts from a grassy, uneven field and needs to reach a paved lane while prioritizing a smooth and stable flight. The drone can traverse areas with loose soil, rocks, grassy patches, and paved surfaces, but must avoid flying through dense tree canopies or near vertical structures. Which path should the drone take to maximize comfort?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"Which path should the drone take to maximize comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"thousand_oaks_29.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":113,"start_point":[161,970],"end_point":[357,230],"distance":765.5168188877368},{"start_region_id":1,"end_region_id":118,"start_point":[662,141],"end_point":[591,925],"distance":787.20835869546},{"start_region_id":19,"end_region_id":115,"start_point":[161,970],"end_point":[534,364],"distance":711.5932827114095},{"start_region_id":16,"end_region_id":113,"start_point":[945,504],"end_point":[357,230],"distance":648.7064050863071},{"start_region_id":11,"end_region_id":118,"start_point":[483,283],"end_point":[591,925],"distance":651.0207369969102}],"complexity_score":0.6768263534957165}
{"id":2449,"query_id":"Q00490","question":"A quadcopter drone is starting from a paved road surface and needs to reach another paved road surface as quickly as possible. The drone can fly over hard surfaces like asphalt or concrete, cultivated fields with low vegetation, and open areas with compacted soil or gravel. However, it must avoid flying directly through dense tree canopies or close to vertical structures, as these pose collision risks that could slow it down. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road surface","end_land_type":"another paved road surface","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"tonga_42.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":260,"start_point":[704,601],"end_point":[288,590],"distance":416.14540727971513},{"start_region_id":260,"end_region_id":261,"start_point":[288,590],"end_point":[704,601],"distance":416.14540727971513}],"complexity_score":0.6769069092324154}
{"id":6895,"query_id":"Q01379","question":"An aerial survey drone starts from a paved, hard-surfaced lane and needs to reach a flat, artificial surface area. The drone can fly over open, dry ground with loose soil or rocks; overgrown areas with natural vegetation; flat, artificial surfaces; paved lanes; liquid bodies; and cultivated fields. However, it must avoid vertical structures and dense vegetation clusters that could cause collisions. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tonga_42.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":260,"end_region_id":139,"start_point":[288,590],"end_point":[985,58],"distance":876.8312266337234},{"start_region_id":260,"end_region_id":138,"start_point":[288,590],"end_point":[822,198],"distance":662.4349024621212},{"start_region_id":260,"end_region_id":218,"start_point":[288,590],"end_point":[919,843],"distance":679.8308613177251},{"start_region_id":261,"end_region_id":139,"start_point":[704,601],"end_point":[985,58],"distance":611.4000327118081},{"start_region_id":260,"end_region_id":136,"start_point":[288,590],"end_point":[709,204],"distance":571.1716029355802}],"complexity_score":0.6769069092324154}
{"id":1003,"query_id":"Q00201","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes grassy areas and cultivated fields, but the drone must avoid flying over tall vegetation or structures to ensure a stable and comfortable flight, as these could cause turbulence or obstacles. The drone can fly over open grassy ground and farmed areas, which provide clear airspace.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_42.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":41,"start_point":[473,507],"end_point":[102,514],"distance":371.06603185956},{"start_region_id":41,"end_region_id":37,"start_point":[102,514],"end_point":[473,507],"distance":371.06603185956},{"start_region_id":41,"end_region_id":45,"start_point":[102,514],"end_point":[390,550],"distance":290.24127893874777},{"start_region_id":45,"end_region_id":41,"start_point":[390,550],"end_point":[102,514],"distance":290.24127893874777}],"complexity_score":0.6769379290689073}
{"id":3874,"query_id":"Q00775","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and wooded areas with individual trees, but it must avoid flying near any vertical structures or over liquid surfaces to minimize risk. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"paris_42.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":53,"start_point":[473,507],"end_point":[224,276],"distance":339.6498196672567},{"start_region_id":45,"end_region_id":53,"start_point":[390,550],"end_point":[224,276],"distance":320.36229490999716},{"start_region_id":41,"end_region_id":53,"start_point":[102,514],"end_point":[224,276],"distance":267.4471910489994}],"complexity_score":0.6769379290689073}
{"id":17254,"query_id":"Q03451","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or paved area. The terrain includes areas with loose soil and sparse vegetation, which are traversable. However, you must avoid flying through dense vegetation or near vertical structures, as they are hazardous and should be circumvented. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or paved area","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_42.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":37,"start_point":[224,276],"end_point":[473,507],"distance":339.6498196672567},{"start_region_id":53,"end_region_id":45,"start_point":[224,276],"end_point":[390,550],"distance":320.36229490999716},{"start_region_id":53,"end_region_id":41,"start_point":[224,276],"end_point":[102,514],"distance":267.4471910489994}],"complexity_score":0.6769379290689073}
{"id":7063,"query_id":"Q01413","question":"A hiker is currently in a densely vegetated area with tall, upright structures providing shade and cover. They need to reach a flat, hard, paved surface with clear boundaries and stable footing. The terrain includes areas of loose, dry soil and rocks without vegetation, as well as cultivated fields with planted crops in organized rows. The hiker must avoid any liquid surfaces and man-made vertical structures. The path should prioritize surfaces that minimize risk of injury, loss of footing, or unexpected hazards.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, upright structures providing shade and cover","end_land_type":"a flat, hard, paved surface with clear boundaries and stable footing","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"lambayeque_8.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":150,"start_point":[366,558],"end_point":[975,905],"distance":700.9208229179669},{"start_region_id":203,"end_region_id":104,"start_point":[366,558],"end_point":[933,269],"distance":636.4039597614081},{"start_region_id":203,"end_region_id":114,"start_point":[366,558],"end_point":[958,512],"distance":593.7844726834813},{"start_region_id":203,"end_region_id":95,"start_point":[366,558],"end_point":[714,102],"distance":573.6200833304217},{"start_region_id":203,"end_region_id":106,"start_point":[366,558],"end_point":[837,261],"distance":556.8213357981176}],"complexity_score":0.6771195427120988}
{"id":12221,"query_id":"Q02445","question":"A quadcopter drone is currently positioned above an area with elevated, branching vegetation. It needs to reach a flat, hard, artificial surface. The environment also includes expanses of loose, dry, unconsolidated earth and rock. The drone can fly through the vegetated area because it has sufficient clearance between branches to navigate safely. The flat, hard surface is the safest landing zone. The loose earth and rock areas are also flyable but present a risk of dust clouds affecting sensors. All other surface types are accessible for flight, but permanent vertical structures and liquid bodies present collision and signal interference risks that must be minimized for safety.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"an area with elevated, branching vegetation","end_land_type":"a flat, hard, artificial surface","task_description":"What is the safest flight path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"lambayeque_8.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":150,"start_point":[366,558],"end_point":[975,905],"distance":700.9208229179669},{"start_region_id":203,"end_region_id":104,"start_point":[366,558],"end_point":[933,269],"distance":636.4039597614081},{"start_region_id":203,"end_region_id":114,"start_point":[366,558],"end_point":[958,512],"distance":593.7844726834813},{"start_region_id":203,"end_region_id":95,"start_point":[366,558],"end_point":[714,102],"distance":573.6200833304217},{"start_region_id":203,"end_region_id":106,"start_point":[366,558],"end_point":[837,261],"distance":556.8213357981176}],"complexity_score":0.6771195427120988}
{"id":5768,"query_id":"Q01154","question":"A person on foot starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The only traversable surfaces are paved, hard-surfaced areas and vehicle lanes. All other surfaces—including loose soil, vegetation, water bodies, and structures—are impassable.","agent_category":"Pedestrian","specific_agent":"a person on foot","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to reach the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"palu_10.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":193,"start_point":[861,67],"end_point":[434,495],"distance":604.5767114270942},{"start_region_id":85,"end_region_id":193,"start_point":[265,121],"end_point":[434,495],"distance":410.41076983919413},{"start_region_id":176,"end_region_id":193,"start_point":[707,891],"end_point":[434,495],"distance":480.98336769580715},{"start_region_id":157,"end_region_id":193,"start_point":[400,871],"end_point":[434,495],"distance":377.53410441971994},{"start_region_id":99,"end_region_id":193,"start_point":[413,131],"end_point":[434,495],"distance":364.6052660069517}],"complexity_score":0.6771712430861646}
{"id":10680,"query_id":"Q02136","question":"A quadcopter drone is on a paved road surface and needs to reach a grassy or shrub-covered area as quickly as possible. The drone can traverse paved surfaces, compacted gravel or dirt areas, open ground with loose soil or rocks, and grassy areas, but must avoid tall vegetation and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"grassy or shrub-covered area","task_description":"What is the fastest path for the quadcopter drone to reach the grassy or shrub-covered area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"palu_10.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":68,"start_point":[434,495],"end_point":[948,969],"distance":699.193821482999},{"start_region_id":193,"end_region_id":66,"start_point":[434,495],"end_point":[118,957],"distance":559.7320787662612},{"start_region_id":193,"end_region_id":70,"start_point":[434,495],"end_point":[807,990],"distance":619.8015811531945},{"start_region_id":193,"end_region_id":73,"start_point":[434,495],"end_point":[365,997],"distance":506.719843700639},{"start_region_id":193,"end_region_id":40,"start_point":[434,495],"end_point":[28,530],"distance":407.50582817918075}],"complexity_score":0.6771712430861646}
{"id":16486,"query_id":"Q03298","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a hard, paved surface used by vehicles. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated crop fields. However, it must avoid densely packed vertical obstacles that could obstruct flight. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"hard, paved surface used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_10.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":193,"start_point":[948,969],"end_point":[434,495],"distance":699.193821482999},{"start_region_id":66,"end_region_id":193,"start_point":[118,957],"end_point":[434,495],"distance":559.7320787662612},{"start_region_id":70,"end_region_id":193,"start_point":[807,990],"end_point":[434,495],"distance":619.8015811531945},{"start_region_id":73,"end_region_id":193,"start_point":[365,997],"end_point":[434,495],"distance":506.719843700639},{"start_region_id":40,"end_region_id":193,"start_point":[28,530],"end_point":[434,495],"distance":407.50582817918075}],"complexity_score":0.6771712430861646}
{"id":14228,"query_id":"Q02846","question":"A quadcopter drone is positioned on a grassy, open field with scattered low vegetation. It needs to reach another grassy, open field with scattered low vegetation as quickly as possible. The drone can fly over areas with loose, dry soil and rocks, as well as over flat, hard surfaces like paved areas and parking lots. It can also traverse cultivated fields with planted crops. However, it must avoid flying through dense tree canopies or near tall vertical structures like buildings, as these present collision risks. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with scattered low vegetation","end_land_type":"another grassy, open field with scattered low vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santiago_31.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":8,"start_point":[966,350],"end_point":[64,115],"distance":932.1099720526543},{"start_region_id":8,"end_region_id":15,"start_point":[64,115],"end_point":[966,350],"distance":932.1099720526543},{"start_region_id":1,"end_region_id":15,"start_point":[198,77],"end_point":[966,350],"distance":815.0785238245454},{"start_region_id":15,"end_region_id":1,"start_point":[966,350],"end_point":[198,77],"distance":815.0785238245454},{"start_region_id":5,"end_region_id":15,"start_point":[323,119],"end_point":[966,350],"distance":683.2349522675197}],"complexity_score":0.6774618106657867}
{"id":17381,"query_id":"Q03477","question":"An aerial survey drone starts from a grassy, open field and needs to reach a paved lane while minimizing operational risk. The drone can fly over areas of loose soil and rocks, grassy or shrubby vegetation, hard artificial surfaces, individual or clustered tall vertical obstacles, and liquid bodies. However. The drone must prioritize terrains that pose the lowest risk of collision, signal interference, or unpredictable conditions. Which path should the drone take to reach the destination with maximum safety?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"Which path should the drone take to reach the destination with maximum safety?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_31.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":210,"start_point":[966,350],"end_point":[187,983],"distance":1003.7579389474337},{"start_region_id":1,"end_region_id":210,"start_point":[198,77],"end_point":[187,983],"distance":906.0667745812116},{"start_region_id":8,"end_region_id":210,"start_point":[64,115],"end_point":[187,983],"distance":876.6715462475099},{"start_region_id":5,"end_region_id":210,"start_point":[323,119],"end_point":[187,983],"distance":874.6382109192349},{"start_region_id":15,"end_region_id":203,"start_point":[966,350],"end_point":[98,446],"distance":873.2926199161424}],"complexity_score":0.6774618106657867}
{"id":2441,"query_id":"Q00489","question":"A delivery van is starting from a paved road surface and needs to reach another paved road surface as quickly as possible. The van can travel on hard, smooth surfaces like asphalt or concrete, and is also permitted to cross cultivated fields with firm, flat soil that has been recently harvested, allowing for stable passage. However, the van cannot drive on loose, sandy, or rocky ground without vegetation, as such terrain is too unstable for safe high-speed travel. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road surface","end_land_type":"another paved road surface","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"tonga_8.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":186,"start_point":[80,888],"end_point":[973,27],"distance":1240.4716844813508}],"complexity_score":0.6774734954810719}
{"id":6007,"query_id":"Q01202","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, vegetated area as quickly as possible. The drone can fly over loose, sandy ground, rocky patches, areas with scattered low vegetation and bushes, other paved or compacted surfaces, and areas with individual trees or small groves, but must avoid any structures and water bodies. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, vegetated area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tonga_8.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":12,"start_point":[35,971],"end_point":[993,96],"distance":1297.4548161689486},{"start_region_id":173,"end_region_id":10,"start_point":[35,971],"end_point":[922,63],"distance":1269.3435311215005},{"start_region_id":174,"end_region_id":12,"start_point":[117,985],"end_point":[993,96],"distance":1248.0773213226814},{"start_region_id":174,"end_region_id":10,"start_point":[117,985],"end_point":[922,63],"distance":1223.9726304129517},{"start_region_id":173,"end_region_id":27,"start_point":[35,971],"end_point":[990,294],"distance":1170.6212026099647}],"complexity_score":0.6774734954810719}
{"id":15723,"query_id":"Q03145","question":"A quadcopter drone starts from a patch of grassy, uneven ground and needs to reach a dense canopy of tall trees. The environment includes soft, vegetated areas and flat, hard surfaces that are fully accessible for flight. You can fly over vertical structures and liquid bodies if necessary, but dense foliage from trees may cause turbulence and reduce comfort. However, all other surfaces like loose sand or rocky areas are not present or relevant. What is the most comfortable route to fly?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of grassy, uneven ground","end_land_type":"a dense canopy of tall trees","task_description":"What is the most comfortable route to fly?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"tonga_8.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":335,"start_point":[993,96],"end_point":[126,853],"distance":1150.9726321681155},{"start_region_id":10,"end_region_id":335,"start_point":[922,63],"end_point":[126,853],"distance":1121.47938010469},{"start_region_id":71,"end_region_id":189,"start_point":[1003,797],"end_point":[155,169],"distance":1055.2194084644198},{"start_region_id":27,"end_region_id":335,"start_point":[990,294],"end_point":[126,853],"distance":1029.066081454442},{"start_region_id":84,"end_region_id":192,"start_point":[231,969],"end_point":[683,41],"distance":1032.224781721501}],"complexity_score":0.6774734954810719}
{"id":2122,"query_id":"Q00425","question":"A hiker starts from a paved, hard surface area and needs to reach a cultivated field with planted crops. The cultivated field is currently accessible for crossing. The paved, hard surface area is traversable, and the lanes and streets used by vehicles are also available. Individual trees or groups of trees are present but can be navigated around if necessary. However, natural sandy or rocky areas without vegetation are too loose and unstable for reliable footing, and areas dominated by wild grasses or shrubs are too uneven and overgrown for efficient travel. Water bodies and structures with solid walls and roofs are completely impassable.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with planted crops","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,1,1,1,0,1,0],"image_name":"aachen_51.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":338,"start_point":[646,40],"end_point":[623,954],"distance":914.289341510662},{"start_region_id":137,"end_region_id":337,"start_point":[929,240],"end_point":[206,768],"distance":895.2725841887486},{"start_region_id":120,"end_region_id":338,"start_point":[256,146],"end_point":[623,954],"distance":887.4418290795178},{"start_region_id":123,"end_region_id":337,"start_point":[646,40],"end_point":[206,768],"distance":850.6374080652696},{"start_region_id":122,"end_region_id":338,"start_point":[565,110],"end_point":[623,954],"distance":845.9905436823748}],"complexity_score":0.6776364237675521}
{"id":555,"query_id":"Q00111","question":"A quadcopter drone starts from a hard, flat surface and needs to reach another hard, flat surface as quickly as possible. The terrain includes open areas with loose ground, hard and smooth surfaces, and regions with tall vertical obstacles. The drone can fly over all surfaces, but must avoid colliding with tall vertical obstacles; it can pass through them only if there are sufficient gaps between obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, flat surface","end_land_type":"another hard, flat surface","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"duesseldorf_64.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":383,"end_region_id":228,"start_point":[124,825],"end_point":[988,187],"distance":1074.029794745006},{"start_region_id":228,"end_region_id":383,"start_point":[988,187],"end_point":[124,825],"distance":1074.029794745006},{"start_region_id":228,"end_region_id":269,"start_point":[988,187],"end_point":[45,613],"distance":1034.7584259139908},{"start_region_id":269,"end_region_id":228,"start_point":[45,613],"end_point":[988,187],"distance":1034.7584259139908},{"start_region_id":212,"end_region_id":485,"start_point":[98,230],"end_point":[902,859],"distance":1020.811931748449}],"complexity_score":0.6776515115950799}
{"id":12523,"query_id":"Q02505","question":"A quadcopter drone is hovering over a grassy field with scattered shrubs and needs to reach a paved parking lot. The airspace includes areas with low vegetation and trees, but the drone can fly through these vegetated areas because the canopy is sparse enough to navigate safely. There are also open paved surfaces and hard artificial surfaces available. The operator wants to find the most comfortable route, prioritizing airspace over solid, dry surfaces to ensure stable flight and minimize turbulence from vegetation or liquid surfaces.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy field with scattered shrubs","end_land_type":"A paved parking lot","task_description":"What is the most comfortable path from the grassy field to the paved parking lot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"duesseldorf_64.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":485,"start_point":[103,82],"end_point":[902,859],"distance":1114.5088604403286},{"start_region_id":12,"end_region_id":383,"start_point":[901,72],"end_point":[124,825],"distance":1082.006469481583},{"start_region_id":19,"end_region_id":485,"start_point":[144,192],"end_point":[902,859],"distance":1009.6796521669633},{"start_region_id":12,"end_region_id":269,"start_point":[901,72],"end_point":[45,613],"distance":1012.6287572452206},{"start_region_id":12,"end_region_id":539,"start_point":[901,72],"end_point":[237,833],"distance":1009.9589100552556}],"complexity_score":0.6776515115950799}
{"id":1181,"query_id":"Q00237","question":"An aerial survey drone starts from a hard, flat, paved surface and needs to reach an area of natural, uncultivated vegetation. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. While the drone can fly over most surfaces, it must avoid dense vertical obstacles like trees, as navigating through them would cause turbulence and jostling. It can safely fly over open water, but the drone's sensors are susceptible to moisture interference, making water crossings less desirable. The drone can traverse bare, rocky ground and open grassy areas, but these offer less predictable airflow than paved or developed surfaces. The drone cannot enter solid structures. Given these constraints, what is the most comfortable route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the most comfortable route for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chisinau_55.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":31,"start_point":[133,978],"end_point":[363,791],"distance":296.42705679475347},{"start_region_id":158,"end_region_id":38,"start_point":[133,978],"end_point":[381,970],"distance":248.12899870833317}],"complexity_score":0.6780018913222245}
{"id":5498,"query_id":"Q01100","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven terrain with scattered shrubs. The drone can traverse both hard surfaces and grassy areas, but must avoid any liquid surfaces, vertical structures, or dense vegetation. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"chisinau_55.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":38,"start_point":[448,648],"end_point":[381,970],"distance":328.89664029904594},{"start_region_id":128,"end_region_id":31,"start_point":[538,924],"end_point":[363,791],"distance":219.80445855350615}],"complexity_score":0.6780018913222245}
{"id":10236,"query_id":"Q02048","question":"A quadcopter drone starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area. The terrain includes loose, sandy or rocky surfaces without vegetation, and vehicle lanes with hard surfaces like asphalt or concrete. However, areas with tall vegetation or trees are blocked due to dense growth, and water bodies or buildings are strictly impassable. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, hard-paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_55.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":108,"start_point":[381,970],"end_point":[448,648],"distance":328.89664029904594},{"start_region_id":31,"end_region_id":128,"start_point":[363,791],"end_point":[538,924],"distance":219.80445855350615}],"complexity_score":0.6780018913222245}
{"id":14901,"query_id":"Q02981","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a cluster of tall trees. The terrain includes areas of loose, sandy soil; patches of dense shrubs and wild grasses; hard, paved surfaces; and cultivated crop fields. However, all water bodies and structures are completely impassable. You must find the safest path that minimizes risk while traveling.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a cluster of tall trees","task_description":"What is the safest route to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"chisinau_55.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":171,"start_point":[381,970],"end_point":[529,144],"distance":839.1543362218895},{"start_region_id":38,"end_region_id":187,"start_point":[381,970],"end_point":[909,326],"distance":832.7784819506326},{"start_region_id":38,"end_region_id":168,"start_point":[381,970],"end_point":[172,179],"distance":818.1454638387968},{"start_region_id":38,"end_region_id":178,"start_point":[381,970],"end_point":[486,206],"distance":771.1815609828856},{"start_region_id":38,"end_region_id":190,"start_point":[381,970],"end_point":[801,328],"distance":767.1792489373001}],"complexity_score":0.6780018913222245}
{"id":1445,"query_id":"Q00289","question":"A farm truck is parked on a grassy, open field and needs to reach a cultivated crop field. The vehicle can travel on paved lanes and compacted dirt tracks, but must avoid any areas with standing water, dense tree cover, or structures. The grassy field and crop field are both dry and firm enough to support the truck's weight. What is the fastest route for the farm truck?","agent_category":"Car","specific_agent":"a farm truck","start_land_type":"grassy, open field","end_land_type":"cultivated crop field","task_description":"What is the fastest route for the farm truck?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"pedrogao_grande_37.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":354,"start_point":[173,929],"end_point":[834,384],"distance":856.7064841589563},{"start_region_id":39,"end_region_id":354,"start_point":[79,742],"end_point":[834,384],"distance":835.5770461184295},{"start_region_id":23,"end_region_id":354,"start_point":[43,462],"end_point":[834,384],"distance":794.8364611666981},{"start_region_id":1,"end_region_id":354,"start_point":[84,187],"end_point":[834,384],"distance":775.4411647571981},{"start_region_id":38,"end_region_id":354,"start_point":[223,759],"end_point":[834,384],"distance":716.900272004412}],"complexity_score":0.678037639333265}
{"id":2559,"query_id":"Q00512","question":"A quadcopter drone is positioned on a cultivated field with soft, tilled soil and needs to reach a paved, hard-surfaced lane. The drone can fly over open liquid areas and flat, solid surfaces like parking lots or sidewalks, but must avoid vertical structures and dense vegetation clusters. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved, hard-surfaced lane","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"pedrogao_grande_37.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":354,"end_region_id":154,"start_point":[834,384],"end_point":[24,375],"distance":810.0499984568854},{"start_region_id":357,"end_region_id":154,"start_point":[642,553],"end_point":[24,375],"distance":643.1236273066012},{"start_region_id":354,"end_region_id":164,"start_point":[834,384],"end_point":[732,1011],"distance":635.2424733910666},{"start_region_id":355,"end_region_id":164,"start_point":[464,492],"end_point":[732,1011],"distance":584.1104347638382},{"start_region_id":357,"end_region_id":164,"start_point":[642,553],"end_point":[732,1011],"distance":466.7590384770283}],"complexity_score":0.678037639333265}
{"id":15485,"query_id":"Q03097","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach an open grassy area with scattered shrubs as quickly as possible. The drone can fly over liquid surfaces like rivers or lakes, and it can also traverse hard, flat surfaces such as paved areas or parking lots. However, it must avoid flying through dense tree canopies or near vertical structures like buildings, as these pose collision risks and require slower, more cautious navigation. Which path allows the drone to complete this mission in the shortest time?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"an open grassy area with scattered shrubs","task_description":"Which path allows the drone to complete this mission in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"pedrogao_grande_37.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":354,"end_region_id":44,"start_point":[834,384],"end_point":[173,929],"distance":856.7064841589563},{"start_region_id":354,"end_region_id":39,"start_point":[834,384],"end_point":[79,742],"distance":835.5770461184295},{"start_region_id":354,"end_region_id":23,"start_point":[834,384],"end_point":[43,462],"distance":794.8364611666981},{"start_region_id":354,"end_region_id":1,"start_point":[834,384],"end_point":[84,187],"distance":775.4411647571981},{"start_region_id":354,"end_region_id":38,"start_point":[834,384],"end_point":[223,759],"distance":716.900272004412}],"complexity_score":0.678037639333265}
{"id":9784,"query_id":"Q01957","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, paved surface. The drone can fly over areas with loose soil or sand, low vegetation, paved surfaces, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies or near vertical structures. The drone's flight controller prioritizes smooth, stable flight paths to minimize vibration and ensure clear sensor readings.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_26.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":315,"start_point":[909,20],"end_point":[37,709],"distance":1111.35277927398},{"start_region_id":133,"end_region_id":245,"start_point":[62,714],"end_point":[980,175],"distance":1064.539806677045},{"start_region_id":177,"end_region_id":235,"start_point":[817,904],"end_point":[107,132],"distance":1048.8488928344254},{"start_region_id":15,"end_region_id":315,"start_point":[848,128],"end_point":[37,709],"distance":997.6382109763038},{"start_region_id":152,"end_region_id":245,"start_point":[253,840],"end_point":[980,175],"distance":985.2684913260954}],"complexity_score":0.6781575257162077}
{"id":14226,"query_id":"Q02846","question":"A quadcopter drone is positioned on a grassy, open field with scattered low vegetation. It needs to reach another grassy, open field with scattered low vegetation as quickly as possible. The drone can fly over areas with loose, dry soil and rocks, as well as over flat, hard surfaces like paved areas and parking lots. It can also traverse cultivated fields with planted crops. However, it must avoid flying through dense tree canopies or near tall vertical structures like buildings, as these present collision risks. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with scattered low vegetation","end_land_type":"another grassy, open field with scattered low vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santiago_26.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":5,"start_point":[62,714],"end_point":[909,20],"distance":1095.009132382009},{"start_region_id":5,"end_region_id":133,"start_point":[909,20],"end_point":[62,714],"distance":1095.009132382009},{"start_region_id":5,"end_region_id":152,"start_point":[909,20],"end_point":[253,840],"distance":1050.1123749389872},{"start_region_id":152,"end_region_id":5,"start_point":[253,840],"end_point":[909,20],"distance":1050.1123749389872},{"start_region_id":133,"end_region_id":15,"start_point":[62,714],"end_point":[848,128],"distance":980.4039983598598}],"complexity_score":0.6781575257162077}
{"id":6958,"query_id":"Q01392","question":"A quadcopter drone is positioned on a cultivated field with rows of crops and needs to reach a flat, paved area such as a parking lot or sports court as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, and over areas with tall, dense vegetation like trees, but must avoid any liquid surfaces and vertical structures like buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a flat, paved area such as a parking lot or sports court","task_description":"What is the fastest path for the quadcopter drone to reach the flat, paved area from the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"muenster_52.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":484,"end_region_id":273,"start_point":[97,9],"end_point":[293,890],"distance":902.5391958247575},{"start_region_id":484,"end_region_id":260,"start_point":[97,9],"end_point":[381,850],"distance":887.6581549222651},{"start_region_id":485,"end_region_id":167,"start_point":[839,600],"end_point":[93,118],"distance":888.1666510289609},{"start_region_id":486,"end_region_id":167,"start_point":[519,758],"end_point":[93,118],"distance":768.8146720764374},{"start_region_id":485,"end_region_id":261,"start_point":[839,600],"end_point":[101,770],"distance":757.3268779067596}],"complexity_score":0.6781648701296876}
{"id":9780,"query_id":"Q01956","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field. The drone must avoid any vertical structures or dense obstacles that could cause collisions, and liquid surfaces are considered hazardous due to potential signal interference or splash damage. Hard, paved surfaces and loose, sandy or rocky ground are permissible, but the priority is to minimize risk of damage or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop field","task_description":"What is the safest path for the aerial survey drone to take from the grassy, open field to the cultivated crop field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_52.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":485,"start_point":[38,299],"end_point":[839,600],"distance":855.6880272622727},{"start_region_id":122,"end_region_id":485,"start_point":[40,749],"end_point":[839,600],"distance":812.774261403497},{"start_region_id":24,"end_region_id":484,"start_point":[895,118],"end_point":[97,9],"distance":805.4098335630129},{"start_region_id":24,"end_region_id":486,"start_point":[895,118],"end_point":[519,758],"distance":742.2775761128717},{"start_region_id":122,"end_region_id":484,"start_point":[40,749],"end_point":[97,9],"distance":742.1920236704245}],"complexity_score":0.6781648701296876}
{"id":12402,"query_id":"Q02481","question":"An off-road vehicle is positioned on grassy, uneven terrain and must get to a cultivated field. The vehicle can travel on paved surfaces, compacted dirt areas, grassy terrain, and cultivated fields, but cannot go through wooded areas, liquid bodies, or structures. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"cultivated field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_52.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":485,"start_point":[38,299],"end_point":[839,600],"distance":855.6880272622727},{"start_region_id":122,"end_region_id":485,"start_point":[40,749],"end_point":[839,600],"distance":812.774261403497},{"start_region_id":24,"end_region_id":484,"start_point":[895,118],"end_point":[97,9],"distance":805.4098335630129},{"start_region_id":24,"end_region_id":486,"start_point":[895,118],"end_point":[519,758],"distance":742.2775761128717},{"start_region_id":122,"end_region_id":484,"start_point":[40,749],"end_point":[97,9],"distance":742.1920236704245}],"complexity_score":0.6781648701296876}
{"id":1020,"query_id":"Q00204","question":"A quadcopter drone starts from a paved lane and needs to reach a grassy field as quickly as possible. The drone can traverse grassy fields, areas with trees, and paved lanes, but must avoid all other surfaces, including loose soil, water, buildings, and hard surfaces like sidewalks or parking lots. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a grassy field","task_description":"What is the fastest path for the quadcopter drone to take from the paved lane to the grassy field?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"paris_9.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":20,"start_point":[428,328],"end_point":[544,612],"distance":306.7767918210242},{"start_region_id":57,"end_region_id":4,"start_point":[428,328],"end_point":[189,261],"distance":248.21361767638777},{"start_region_id":57,"end_region_id":9,"start_point":[428,328],"end_point":[257,515],"distance":253.39692184397188},{"start_region_id":57,"end_region_id":1,"start_point":[428,328],"end_point":[295,146],"distance":225.41739063346466}],"complexity_score":0.6782154469779991}
{"id":3865,"query_id":"Q00773","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over open, dry ground with loose or rocky soil; paved areas like sidewalks, parking lots, and artificial sports fields; vehicle lanes and runways; and bodies of liquid like rivers or lakes. However, it must avoid any built structures with solid roofs and walls, as well as cultivated fields with crops. The drone can navigate through the initial leafy structures, but this will slow it down compared to open areas. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Water"],"traverse_vector":[1,0,1,1,1,1,0,0],"cost_vector":[2,0,2,2,1,2,0,0],"image_name":"paris_9.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":23,"start_point":[45,381],"end_point":[489,123],"distance":513.5172830587107},{"start_region_id":99,"end_region_id":23,"start_point":[208,549],"end_point":[489,123],"distance":510.33028520753106},{"start_region_id":85,"end_region_id":42,"start_point":[45,381],"end_point":[535,436],"distance":493.0770730829005},{"start_region_id":99,"end_region_id":30,"start_point":[208,549],"end_point":[216,195],"distance":354.0903839417275},{"start_region_id":99,"end_region_id":42,"start_point":[208,549],"end_point":[535,436],"distance":345.9739874614853}],"complexity_score":0.6782154469779991}
{"id":12944,"query_id":"Q02589","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over areas with hard, flat surfaces like paved lots and vehicle lanes, as well as over liquid bodies and cultivated crop fields. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"paris_9.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":20,"start_point":[507,57],"end_point":[544,612],"distance":556.2319659997976},{"start_region_id":20,"end_region_id":2,"start_point":[544,612],"end_point":[507,57],"distance":556.2319659997976},{"start_region_id":1,"end_region_id":20,"start_point":[295,146],"end_point":[544,612],"distance":528.3531016280684},{"start_region_id":20,"end_region_id":1,"start_point":[544,612],"end_point":[295,146],"distance":528.3531016280684},{"start_region_id":9,"end_region_id":2,"start_point":[257,515],"end_point":[507,57],"distance":521.7892294787235}],"complexity_score":0.6782154469779991}
{"id":1043,"query_id":"Q00209","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The drone can fly over grassy fields, cultivated plots, and paved areas freely. However, areas with tall, dense vegetation or vertical structures should be avoided due to collision risk, and liquid surfaces are also risky and should be minimized. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open area with low vegetation","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"oklahoma_36.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":4,"start_point":[82,861],"end_point":[904,121],"distance":1106.0216996062961},{"start_region_id":77,"end_region_id":44,"start_point":[85,135],"end_point":[954,806],"distance":1097.9080107185666},{"start_region_id":120,"end_region_id":4,"start_point":[193,942],"end_point":[904,121],"distance":1086.0764245668902},{"start_region_id":114,"end_region_id":4,"start_point":[74,797],"end_point":[904,121],"distance":1070.4559776095418},{"start_region_id":72,"end_region_id":44,"start_point":[150,99],"end_point":[954,806],"distance":1070.6376604622126}],"complexity_score":0.678291371357471}
{"id":5360,"query_id":"Q01072","question":"An off-road vehicle is positioned on a grassy, uneven field and must get to a paved, hard-surfaced area. The vehicle can drive over grassy terrain and paved surfaces, but is prohibited from entering any water bodies, buildings, wooded zones, bare sand or rock expanses, agricultural fields, or roads. What is the shortest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a grassy, uneven field","end_land_type":"a paved, hard-surfaced area","task_description":"What is the shortest route for the off-road vehicle to follow?","task_type":"Shortest","input_classes":["Rangeland","Developed space"],"traverse_vector":[0,1,1,0,0,0,0,0],"cost_vector":[0,1,1,0,0,0,0,0],"image_name":"oklahoma_36.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":69,"start_point":[556,128],"end_point":[763,471],"distance":400.622016369545},{"start_region_id":4,"end_region_id":69,"start_point":[904,121],"end_point":[763,471],"distance":377.3340694928037}],"complexity_score":0.678291371357471}
{"id":10083,"query_id":"Q02017","question":"An aerial drone starts from a grassy, shrub-covered area and needs to reach another grassy, shrub-covered area. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, paved or compacted surfaces, and wooded areas with trees. However, flying through dense tree canopies is restricted due to collision risk and requires careful navigation. The drone cannot traverse liquid surfaces, vertical structures, or cultivated fields. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"grassy, shrub-covered terrain","task_description":"What is the fastest route for the aerial drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"oklahoma_36.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":63,"start_point":[904,121],"end_point":[89,950],"distance":1162.5256986406796},{"start_region_id":63,"end_region_id":4,"start_point":[89,950],"end_point":[904,121],"distance":1162.5256986406796},{"start_region_id":63,"end_region_id":15,"start_point":[89,950],"end_point":[850,260],"distance":1027.2395046920656},{"start_region_id":15,"end_region_id":63,"start_point":[850,260],"end_point":[89,950],"distance":1027.2395046920656},{"start_region_id":44,"end_region_id":12,"start_point":[954,806],"end_point":[42,328],"distance":1029.6737347334833}],"complexity_score":0.678291371357471}
{"id":12844,"query_id":"Q02569","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes areas with firm, compacted surfaces suitable for walking, as well as regions with loose soil and scattered vegetation that can be crossed with careful footing. There are also zones with dense vegetation and tall obstacles that require navigation around them, and cultivated fields with soft, tilled earth that are accessible. The hiker must avoid any liquid surfaces and vertical structures.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the shortest path the hiker can take to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"oklahoma_36.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":77,"start_point":[664,959],"end_point":[85,135],"distance":1007.0834126327372},{"start_region_id":77,"end_region_id":116,"start_point":[85,135],"end_point":[664,959],"distance":1007.0834126327372},{"start_region_id":116,"end_region_id":72,"start_point":[664,959],"end_point":[150,99],"distance":1001.8962022085921},{"start_region_id":72,"end_region_id":116,"start_point":[150,99],"end_point":[664,959],"distance":1001.8962022085921},{"start_region_id":116,"end_region_id":79,"start_point":[664,959],"end_point":[231,119],"distance":945.0338618271834}],"complexity_score":0.678291371357471}
{"id":8188,"query_id":"Q01638","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while ensuring a smooth and stable flight. The area includes tall, dense vertical obstacles that can be traversed only if they are sparse enough to fly between without turbulence, but in this case, they are too dense, making them impassable. All other terrain types, such as loose soil, soft ground, vegetation-covered areas, liquid surfaces, and solid structures, are traversable by default, but for this task, only the paved surface is allowed to maximize comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"accra_30.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":183,"start_point":[476,552],"end_point":[980,126],"distance":659.9181767461781},{"start_region_id":183,"end_region_id":181,"start_point":[980,126],"end_point":[476,552],"distance":659.9181767461781},{"start_region_id":183,"end_region_id":182,"start_point":[980,126],"end_point":[336,145],"distance":644.2802185384866},{"start_region_id":182,"end_region_id":183,"start_point":[336,145],"end_point":[980,126],"distance":644.2802185384866},{"start_region_id":181,"end_region_id":182,"start_point":[476,552],"end_point":[336,145],"distance":430.4056226398535}],"complexity_score":0.6785360824430108}
{"id":10231,"query_id":"Q02047","question":"An off-road vehicle starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area. The terrain includes loose, sandy or rocky surfaces without vegetation, and vehicle lanes with hard surfaces like asphalt or concrete. However, areas with tall vegetation or trees are blocked due to dense growth, and water bodies or buildings are strictly impassable. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, hard-paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"accra_30.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":96,"start_point":[42,601],"end_point":[998,79],"distance":1089.2290851790544},{"start_region_id":5,"end_region_id":168,"start_point":[626,45],"end_point":[165,950],"distance":1015.6505304483427},{"start_region_id":5,"end_region_id":175,"start_point":[626,45],"end_point":[514,991],"distance":952.6069493762892},{"start_region_id":5,"end_region_id":163,"start_point":[626,45],"end_point":[59,787],"distance":933.8377803451732},{"start_region_id":70,"end_region_id":96,"start_point":[523,870],"end_point":[998,79],"distance":922.6624518208162}],"complexity_score":0.6785360824430108}
{"id":17042,"query_id":"Q03409","question":"An off-road vehicle starts from a paved lane and needs to reach another paved lane. The vehicle can drive on hard surfaces like streets and parking areas, and can also traverse grassy or shrub-covered ground if it is flat and solid enough for vehicle passage. However, the vehicle cannot go through areas with tall vertical obstacles, cross any liquid bodies, or drive on loose sandy or rocky terrain. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path for the off-road vehicle to take?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"accra_30.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":183,"start_point":[476,552],"end_point":[980,126],"distance":659.9181767461781},{"start_region_id":183,"end_region_id":181,"start_point":[980,126],"end_point":[476,552],"distance":659.9181767461781},{"start_region_id":183,"end_region_id":182,"start_point":[980,126],"end_point":[336,145],"distance":644.2802185384866},{"start_region_id":182,"end_region_id":183,"start_point":[336,145],"end_point":[980,126],"distance":644.2802185384866},{"start_region_id":181,"end_region_id":182,"start_point":[476,552],"end_point":[336,145],"distance":430.4056226398535}],"complexity_score":0.6785360824430108}
{"id":10810,"query_id":"Q02162","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures and needs to reach a flat, hard, paved surface. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; paved areas like sidewalks or parking lots; lanes used by vehicles; bodies of liquid; and cultivated fields with crops. However, flying through dense, vertical obstacles like tall vegetation is only possible if the drone can navigate carefully between them, and flying near or through solid, man-made vertical structures is only allowed if there is sufficient clearance to avoid collisions. The drone's priority is to maintain a smooth and stable flight to ensure passenger comfort and sensor stability.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a flat, hard, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"panama_city_1.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":148,"start_point":[105,31],"end_point":[868,861],"distance":1127.416959247997},{"start_region_id":220,"end_region_id":148,"start_point":[61,793],"end_point":[868,861],"distance":809.8598644209997},{"start_region_id":151,"end_region_id":148,"start_point":[807,63],"end_point":[868,861],"distance":800.3280577363261},{"start_region_id":151,"end_region_id":147,"start_point":[807,63],"end_point":[141,469],"distance":779.9948717780137},{"start_region_id":227,"end_region_id":148,"start_point":[96,962],"end_point":[868,861],"distance":778.5788335165554}],"complexity_score":0.6785433016801456}
{"id":3819,"query_id":"Q00764","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The hiker can traverse areas with loose soil and rocks, cultivated fields with crops, and areas with individual tall vegetation, but cannot cross any liquid surfaces or enter any vertical structures. The hiker must find the safest path to the destination.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"a paved, hard-surfaced lane","task_description":"What is the safest route for the hiker to take from the grassy, uneven terrain to the paved lane?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"oklahoma_8.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":267,"start_point":[951,914],"end_point":[27,286],"distance":1117.2108126938265},{"start_region_id":80,"end_region_id":267,"start_point":[816,965],"end_point":[27,286],"distance":1040.9428418505984},{"start_region_id":51,"end_region_id":267,"start_point":[970,542],"end_point":[27,286],"distance":977.131004522935},{"start_region_id":64,"end_region_id":267,"start_point":[865,757],"end_point":[27,286],"distance":961.2933995404317},{"start_region_id":39,"end_region_id":267,"start_point":[929,397],"end_point":[27,286],"distance":908.8041593214679}],"complexity_score":0.6787748194911526}
{"id":5262,"query_id":"Q01053","question":"A surveillance drone starts from a paved road surface and needs to reach a wooded area with tall trees. The drone can fly over most surfaces but must avoid collisions with dense vertical obstacles. The terrain includes loose, sandy or rocky ground without vegetation; hard, artificial surfaces like sidewalks or parking lots; paved lanes used by vehicles; areas with individual or grouped trees identifiable by height and shadow; and cultivated fields used for crop production. Among these, the wooded area requires careful navigation due to tree branches. The goal is to find the path that minimizes risk while flying.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved road surface","end_land_type":"a wooded area with tall trees","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"oklahoma_8.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":335,"start_point":[27,286],"end_point":[898,794],"distance":1008.3179062180736},{"start_region_id":267,"end_region_id":349,"start_point":[27,286],"end_point":[706,976],"distance":968.0604319979203},{"start_region_id":267,"end_region_id":313,"start_point":[27,286],"end_point":[866,535],"distance":875.1696978300837},{"start_region_id":267,"end_region_id":330,"start_point":[27,286],"end_point":[683,759],"distance":808.742851591283},{"start_region_id":267,"end_region_id":314,"start_point":[27,286],"end_point":[679,548],"distance":702.6720429901848}],"complexity_score":0.6787748194911526}
{"id":17212,"query_id":"Q03443","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The drone can fly over areas with vegetation, firm flat surfaces, and trees, but must avoid flying too close to buildings or water bodies to minimize collision risks. The drone is not permitted to traverse loose sandy or rocky ground, paved vehicle lanes, or cultivated crop fields. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Tree"],"traverse_vector":[0,1,1,0,1,0,0,0],"cost_vector":[0,2,2,0,1,0,0,0],"image_name":"oklahoma_8.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":81,"start_point":[621,750],"end_point":[951,914],"distance":368.50508816025865},{"start_region_id":81,"end_region_id":67,"start_point":[951,914],"end_point":[621,750],"distance":368.50508816025865},{"start_region_id":80,"end_region_id":67,"start_point":[816,965],"end_point":[621,750],"distance":290.25850547399983},{"start_region_id":67,"end_region_id":80,"start_point":[621,750],"end_point":[816,965],"distance":290.25850547399983},{"start_region_id":64,"end_region_id":67,"start_point":[865,757],"end_point":[621,750],"distance":244.10038918445008}],"complexity_score":0.6787748194911526}
{"id":1412,"query_id":"Q00283","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over hard, flat surfaces like sidewalks and parking lots, as well as liquid surfaces. It can also pass through areas with tall vertical obstacles, but these slow it down due to navigation complexity. The drone cannot land on or traverse loose soil, grassy areas, or cultivated fields. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest path for the aerial surveillance drone to reach the destination paved lane?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Water","Building"],"traverse_vector":[0,0,1,1,1,1,0,1],"cost_vector":[0,0,2,2,1,2,0,2],"image_name":"koeln_28.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":409,"end_region_id":416,"start_point":[625,404],"end_point":[401,911],"distance":554.2788107081128},{"start_region_id":416,"end_region_id":409,"start_point":[401,911],"end_point":[625,404],"distance":554.2788107081128}],"complexity_score":0.6789072204743047}
{"id":3360,"query_id":"Q00672","question":"A quadcopter drone starts from above a paved roadway and needs to reach a paved parking lot. The drone operator wants a smooth, vibration-free flight for stable video recording. The airspace over paved surfaces, loose dry soil, and cultivated fields is clear for flight. However, flying directly through areas with dense tree canopies or near structures is prohibited due to collision risk, and flying over water surfaces is discouraged due to potential signal interference and splash risk. What is the most comfortable flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable flight path to the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_28.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":416,"end_region_id":246,"start_point":[401,911],"end_point":[815,65],"distance":941.8662325404813},{"start_region_id":416,"end_region_id":239,"start_point":[401,911],"end_point":[45,65],"distance":917.8518398957426},{"start_region_id":416,"end_region_id":259,"start_point":[401,911],"end_point":[811,115],"distance":895.3859503029964},{"start_region_id":416,"end_region_id":244,"start_point":[401,911],"end_point":[536,109],"distance":813.2828536247398},{"start_region_id":416,"end_region_id":243,"start_point":[401,911],"end_point":[415,126],"distance":785.1248308390201}],"complexity_score":0.6789072204743047}
{"id":14267,"query_id":"Q02854","question":"A quadcopter drone starts from a dry, sandy area, a quadcopter drone must fly to another dry, sandy area. The drone can traverse open airspace over loose, granular surfaces, hard paved surfaces, and liquid bodies, but must avoid areas with dense vertical obstacles like trees or buildings to ensure stable flight and passenger comfort. The journey should prioritize smooth, vibration-free flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a dry, sandy area","end_land_type":"and needing to reach another dry, sandy area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_36.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":5,"start_point":[969,108],"end_point":[807,517],"distance":439.9147644714826},{"start_region_id":5,"end_region_id":2,"start_point":[807,517],"end_point":[969,108],"distance":439.9147644714826},{"start_region_id":1,"end_region_id":5,"start_point":[881,100],"end_point":[807,517],"distance":423.51505286117043},{"start_region_id":5,"end_region_id":1,"start_point":[807,517],"end_point":[881,100],"distance":423.51505286117043},{"start_region_id":2,"end_region_id":3,"start_point":[969,108],"end_point":[799,383],"distance":323.3032632065442}],"complexity_score":0.679102515371013}
{"id":16069,"query_id":"Q03214","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach an exposed, dry ground area with loose soil and rocks. The drone can fly over any surface except dense tree canopies and vertical structures, and it must avoid liquid areas due to sensor interference. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"exposed, dry ground with loose soil and rocks","task_description":"What is the shortest path for the aerial survey drone to travel from the grassy, open field to the exposed, dry ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mahe_36.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":1,"start_point":[45,661],"end_point":[881,100],"distance":1006.7854786398143},{"start_region_id":106,"end_region_id":1,"start_point":[399,972],"end_point":[881,100],"distance":996.3473289972729},{"start_region_id":114,"end_region_id":1,"start_point":[544,987],"end_point":[881,100],"distance":948.8614229696558},{"start_region_id":78,"end_region_id":1,"start_point":[285,837],"end_point":[881,100],"distance":947.8317361219764},{"start_region_id":42,"end_region_id":1,"start_point":[78,475],"end_point":[881,100],"distance":886.2471438599957}],"complexity_score":0.679102515371013}
{"id":17424,"query_id":"Q03485","question":"An aerial survey drone begins on a grassy, uneven field and must reach a dry, sandy patch. The drone can fly over open, solid ground, including loose soil and sparse vegetation, but must avoid dense tree canopies and vertical structures. It can also cross liquid surfaces, though these are less stable for flight. The drone's priority is to minimize vibrations and maintain smooth flight for sensor stability.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven field","end_land_type":"dry, sandy patch","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_36.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":2,"start_point":[45,661],"end_point":[969,108],"distance":1076.8402852791123},{"start_region_id":106,"end_region_id":2,"start_point":[399,972],"end_point":[969,108],"distance":1035.0826053992018},{"start_region_id":74,"end_region_id":1,"start_point":[45,661],"end_point":[881,100],"distance":1006.7854786398143},{"start_region_id":106,"end_region_id":1,"start_point":[399,972],"end_point":[881,100],"distance":996.3473289972729},{"start_region_id":78,"end_region_id":2,"start_point":[285,837],"end_point":[969,108],"distance":999.6484382021512}],"complexity_score":0.679102515371013}
{"id":929,"query_id":"Q00186","question":"A quadcopter starts from a vegetated, uneven ground and needs to reach a smooth, artificial surface. The terrain includes cultivated areas with low vegetation that are traversable. You must avoid flying through dense tree canopies or close to buildings, as they are hazardous. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_60.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":146,"start_point":[56,959],"end_point":[791,141],"distance":1099.704051097385},{"start_region_id":118,"end_region_id":151,"start_point":[888,916],"end_point":[164,220],"distance":1004.2868116230542},{"start_region_id":113,"end_region_id":146,"start_point":[78,837],"end_point":[791,141],"distance":996.38596939138},{"start_region_id":125,"end_region_id":163,"start_point":[56,959],"end_point":[927,512],"distance":979.0045965162778},{"start_region_id":128,"end_region_id":146,"start_point":[255,953],"end_point":[791,141],"distance":972.9542640843916}],"complexity_score":0.679127784036021}
{"id":9928,"query_id":"Q01986","question":"A quadcopter starts from an area with elevated, leafy structures and needs to reach a flat, hard surface used by ground vehicles. The terrain includes open spaces with soft, vegetated ground, flat artificial surfaces, and vertical structures. The elevated obstacles can be flown over or around with careful navigation. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"an area with elevated, leafy structures","end_land_type":"a flat, hard surface used by ground vehicles","task_description":"What is the fastest route from the starting point to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"dortmund_60.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":245,"start_point":[950,97],"end_point":[131,775],"distance":1063.2238710638508},{"start_region_id":278,"end_region_id":254,"start_point":[49,269],"end_point":[799,919],"distance":992.4716620639604},{"start_region_id":278,"end_region_id":248,"start_point":[49,269],"end_point":[941,661],"distance":974.3346447704711},{"start_region_id":270,"end_region_id":245,"start_point":[873,175],"end_point":[131,775],"distance":954.2347719508025},{"start_region_id":393,"end_region_id":244,"start_point":[950,923],"end_point":[167,470],"distance":904.5982533699697}],"complexity_score":0.679127784036021}
{"id":13022,"query_id":"Q02605","question":"An aerial survey drone is starting from a paved, hard-surfaced area and needs to reach a vehicle lane with a hard, smooth surface as quickly as possible. The drone can fly over areas with loose soil and sparse vegetation, as well as cultivated fields with low-growing crops. It can also traverse liquid surfaces. However, vertical structures and dense tree canopies are blocked due to collision risk. What is the fastest path?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane with a hard, smooth surface","task_description":"What is the fastest path for the aerial survey drone to reach the vehicle lane from the paved area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_60.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":254,"start_point":[164,220],"end_point":[799,919],"distance":944.3653953846466},{"start_region_id":142,"end_region_id":254,"start_point":[281,151],"end_point":[799,919],"distance":926.3627799086058},{"start_region_id":146,"end_region_id":245,"start_point":[791,141],"end_point":[131,775],"distance":915.1808564431404},{"start_region_id":151,"end_region_id":248,"start_point":[164,220],"end_point":[941,661],"distance":893.4259902196712},{"start_region_id":196,"end_region_id":248,"start_point":[83,769],"end_point":[941,661],"distance":864.770489783272}],"complexity_score":0.679127784036021}
{"id":14349,"query_id":"Q02870","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes loose, sandy ground; grassy, uneven fields; and cultivated, soft soil. You must avoid any liquid surfaces, vertical structures, and wooded areas. The goal is to find the most comfortable path, prioritizing stable and predictable surfaces to ensure smooth flight and minimize turbulence.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_60.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":200,"start_point":[164,220],"end_point":[967,798],"distance":989.3902162443289},{"start_region_id":200,"end_region_id":151,"start_point":[967,798],"end_point":[164,220],"distance":989.3902162443289},{"start_region_id":146,"end_region_id":196,"start_point":[791,141],"end_point":[83,769],"distance":946.3868130949417},{"start_region_id":196,"end_region_id":146,"start_point":[83,769],"end_point":[791,141],"distance":946.3868130949417},{"start_region_id":142,"end_region_id":200,"start_point":[281,151],"end_point":[967,798],"distance":942.9766699128882}],"complexity_score":0.679127784036021}
{"id":6920,"query_id":"Q01384","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall vertical obstacles. The drone can fly over loose, sandy ground and cultivated fields with low vegetation, but must avoid liquid surfaces and solid structures. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dense cluster of tall vertical obstacles","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tonga_62.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":182,"end_region_id":211,"start_point":[71,853],"end_point":[818,64],"distance":1086.5219740069688},{"start_region_id":182,"end_region_id":231,"start_point":[71,853],"end_point":[915,222],"distance":1053.8012146510366},{"start_region_id":131,"end_region_id":320,"start_point":[319,145],"end_point":[966,935],"distance":1021.1312354442988},{"start_region_id":180,"end_region_id":207,"start_point":[914,870],"end_point":[205,168],"distance":997.7399460781352},{"start_region_id":131,"end_region_id":327,"start_point":[319,145],"end_point":[835,991],"distance":990.9450035193679}],"complexity_score":0.6794284667890574}
{"id":15698,"query_id":"Q03140","question":"A quadcopter drone starts from a grassy, open field and needs to reach a wooded area with tall trees. The terrain includes soft, vegetated ground, flat, hard surfaces, and cultivated fields, all of which are freely traversable by air. The wooded area is accessible because the drone can fly between the trees at a safe altitude, and buildings are avoided due to collision risks and no-fly zones. Water bodies are also avoided because flying over them poses a crash risk if the drone malfunctions. What is the safest path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a wooded area with tall trees","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tonga_62.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":320,"start_point":[53,64],"end_point":[966,935],"distance":1261.8280389973904},{"start_region_id":8,"end_region_id":327,"start_point":[53,64],"end_point":[835,991],"distance":1212.7872855534065},{"start_region_id":22,"end_region_id":320,"start_point":[126,178],"end_point":[966,935],"distance":1130.7736289815039},{"start_region_id":8,"end_region_id":312,"start_point":[53,64],"end_point":[850,832],"distance":1106.8120888389321},{"start_region_id":6,"end_region_id":320,"start_point":[306,48],"end_point":[966,935],"distance":1105.6079775399596}],"complexity_score":0.6794284667890574}
{"id":16172,"query_id":"Q03235","question":"An aerial survey drone starts from grassy, uneven terrain with scattered low vegetation and needs to reach a hard, paved surface. The drone's flight path must prioritize smooth, stable surfaces to minimize vibration and ensure stable sensor readings. While the drone can fly over most terrain types, areas with dense vertical obstacles like tall trees or buildings are blocked due to collision risk. Additionally, flying over liquid surfaces is possible but should be avoided when possible due to potential turbulence and sensor interference. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"a hard, paved surface","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tonga_62.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":203,"start_point":[53,64],"end_point":[465,948],"distance":975.2948272189287},{"start_region_id":6,"end_region_id":203,"start_point":[306,48],"end_point":[465,948],"distance":913.9370875503412},{"start_region_id":2,"end_region_id":203,"start_point":[855,170],"end_point":[465,948],"distance":870.2781164662248},{"start_region_id":22,"end_region_id":203,"start_point":[126,178],"end_point":[465,948],"distance":841.3209851180463},{"start_region_id":30,"end_region_id":203,"start_point":[113,316],"end_point":[465,948],"distance":723.4141275922112}],"complexity_score":0.6794284667890574}
{"id":3665,"query_id":"Q00733","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground; flat, open areas with artificial surfaces; paved lanes; areas with tall, vertical obstacles; and liquid surfaces. However, it must avoid any areas with dense, overhead obstructions or solid, vertical structures unless they are widely spaced. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"kitsap_14.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":212,"start_point":[965,452],"end_point":[164,465],"distance":801.1054861876805},{"start_region_id":212,"end_region_id":213,"start_point":[164,465],"end_point":[965,452],"distance":801.1054861876805}],"complexity_score":0.6795247267754243}
{"id":10227,"query_id":"Q02046","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area. The terrain includes loose, sandy or rocky surfaces without vegetation, and vehicle lanes with hard surfaces like asphalt or concrete. However, areas with tall vegetation or trees are blocked due to dense growth, and water bodies or buildings are strictly impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, hard-paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"kitsap_14.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":115,"start_point":[98,933],"end_point":[879,78],"distance":1158.0094990974815},{"start_region_id":5,"end_region_id":196,"start_point":[947,98],"end_point":[260,931],"distance":1079.7490449173827},{"start_region_id":94,"end_region_id":112,"start_point":[98,933],"end_point":[701,83],"distance":1042.1655338764567},{"start_region_id":11,"end_region_id":191,"start_point":[123,142],"end_point":[934,813],"distance":1052.5977389297395},{"start_region_id":5,"end_region_id":206,"start_point":[947,98],"end_point":[382,970],"distance":1039.0423475489342}],"complexity_score":0.6795247267754243}
{"id":5641,"query_id":"Q01129","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, uneven area as quickly as possible. The hiker can traverse both the paved surface and the grassy terrain, but the grassy area is rougher and may slow movement. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"What is the fastest path from the paved surface to the grassy area?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"rotterdam_28.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":10,"start_point":[543,501],"end_point":[868,773],"distance":423.8030202818286},{"start_region_id":112,"end_region_id":8,"start_point":[332,475],"end_point":[279,716],"distance":246.75899173079793}],"complexity_score":0.6795330413211108}
{"id":1302,"query_id":"Q00261","question":"A delivery drone starts from an open grassy area and needs to reach a paved thoroughfare. The drone can fly over cultivated agricultural plots with low vegetation. However, areas with tall, dense tree canopies must be avoided as they require careful navigation, and solid vertical structures cannot be traversed. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"open grassy area","end_land_type":"paved thoroughfare","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"muenster_49.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":193,"start_point":[320,949],"end_point":[546,194],"distance":788.0996129931799},{"start_region_id":69,"end_region_id":193,"start_point":[875,874],"end_point":[546,194],"distance":755.407836866947},{"start_region_id":68,"end_region_id":193,"start_point":[76,793],"end_point":[546,194],"distance":761.380982163332},{"start_region_id":1,"end_region_id":195,"start_point":[104,80],"end_point":[580,588],"distance":696.1609009417291},{"start_region_id":3,"end_region_id":195,"start_point":[650,40],"end_point":[580,588],"distance":552.4527129085349}],"complexity_score":0.6798159731687119}
{"id":3528,"query_id":"Q00706","question":"A quadcopter is hovering above a grassy, uneven field and needs to reach a paved lane. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, hard artificial surfaces like parking lots or courts, paved lanes, cultivated fields with crops, and areas with tall vertical obstacles. The drone cannot travel through solid structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"muenster_49.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":193,"start_point":[903,950],"end_point":[546,194],"distance":836.0532279705641},{"start_region_id":76,"end_region_id":193,"start_point":[320,949],"end_point":[546,194],"distance":788.0996129931799},{"start_region_id":69,"end_region_id":193,"start_point":[875,874],"end_point":[546,194],"distance":755.407836866947},{"start_region_id":68,"end_region_id":193,"start_point":[76,793],"end_point":[546,194],"distance":761.380982163332},{"start_region_id":1,"end_region_id":195,"start_point":[104,80],"end_point":[580,588],"distance":696.1609009417291}],"complexity_score":0.6798159731687119}
{"id":5538,"query_id":"Q01108","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation with a solid trunk and branches and needs to reach another similar cluster of tall, leafy vegetation with a solid trunk and branches. The drone can fly over open, hard surfaces like paved areas and compacted ground, but must navigate carefully around vertical obstacles such as trees and buildings, which are passable only if there is sufficient clearance to avoid collisions. The objective is to find the fastest route.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation with a solid trunk and branches.","end_land_type":"Another dense cluster of tall, leafy vegetation with a solid trunk and branches.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"muenster_49.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":290,"start_point":[49,74],"end_point":[880,914],"distance":1181.592569374063},{"start_region_id":290,"end_region_id":197,"start_point":[880,914],"end_point":[49,74],"distance":1181.592569374063},{"start_region_id":207,"end_region_id":303,"start_point":[750,112],"end_point":[35,965],"distance":1113.0291999763529},{"start_region_id":303,"end_region_id":207,"start_point":[35,965],"end_point":[750,112],"distance":1113.0291999763529},{"start_region_id":202,"end_region_id":303,"start_point":[452,55],"end_point":[35,965],"distance":1000.9940059760597}],"complexity_score":0.6798159731687119}
{"id":10308,"query_id":"Q02062","question":"An off-road vehicle starts from a paved parking lot and needs to reach a grassy meadow. The terrain includes smooth, hard surfaces designed for vehicles, as well as soft, uneven ground with loose soil and vegetated areas covered in grass and low shrubs. However, all areas with trees, liquid surfaces, or vertical structures are completely blocked. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved parking lot","end_land_type":"grassy meadow","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_49.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":68,"start_point":[912,90],"end_point":[76,793],"distance":1092.2934587371656},{"start_region_id":173,"end_region_id":1,"start_point":[932,728],"end_point":[104,80],"distance":1051.4218943887367},{"start_region_id":86,"end_region_id":76,"start_point":[912,90],"end_point":[320,949],"distance":1043.2377485501568},{"start_region_id":81,"end_region_id":69,"start_point":[157,150],"end_point":[875,874],"distance":1019.6568050084303},{"start_region_id":187,"end_region_id":3,"start_point":[111,863],"end_point":[650,40],"distance":983.7936775564275}],"complexity_score":0.6798159731687119}
{"id":3993,"query_id":"Q00799","question":"A delivery drone is on a paved landing pad and needs to reach a paved road surface. The drone operator wants to maximize flight comfort by avoiding areas that cause turbulence or require frequent altitude changes. The airspace covers various surface types below: hard, paved surfaces; loose, sandy or rocky ground; grassy or shrub-covered fields; cultivated crop fields; and areas with tall vegetation and tree cover. The drone cannot fly through solid vertical structures. What is the most comfortable aerial path from the landing pad to the road surface?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved landing pad","end_land_type":"a paved road surface","task_description":"What is the most comfortable aerial path from the landing pad to the road surface?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"dortmund_28.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":240,"start_point":[293,62],"end_point":[637,857],"distance":866.2338021573621},{"start_region_id":142,"end_region_id":240,"start_point":[411,51],"end_point":[637,857],"distance":837.085419775067},{"start_region_id":140,"end_region_id":233,"start_point":[293,62],"end_point":[550,752],"distance":736.3076802533028},{"start_region_id":140,"end_region_id":232,"start_point":[293,62],"end_point":[580,710],"distance":708.7122123965411},{"start_region_id":142,"end_region_id":233,"start_point":[411,51],"end_point":[550,752],"distance":714.6481651833999}],"complexity_score":0.6800728098393318}
{"id":4954,"query_id":"Q00991","question":"An aerial drone starts from a flat, hard surface and needs to reach a paved lane. The environment includes open, stable surfaces that allow smooth flight, as well as cultivated areas with soft ground. You must avoid flying through dense vegetation or near vertical structures, and liquid areas should be minimized due to potential downdraft effects. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a flat, hard surface","end_land_type":"a paved lane","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_28.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":240,"start_point":[293,62],"end_point":[637,857],"distance":866.2338021573621},{"start_region_id":142,"end_region_id":240,"start_point":[411,51],"end_point":[637,857],"distance":837.085419775067},{"start_region_id":140,"end_region_id":233,"start_point":[293,62],"end_point":[550,752],"distance":736.3076802533028},{"start_region_id":140,"end_region_id":232,"start_point":[293,62],"end_point":[580,710],"distance":708.7122123965411},{"start_region_id":142,"end_region_id":233,"start_point":[411,51],"end_point":[550,752],"distance":714.6481651833999}],"complexity_score":0.6800728098393318}
{"id":14324,"query_id":"Q02865","question":"A delivery drone starts from a flat, artificial surface and needs to reach another flat, artificial surface while prioritizing safety. The terrain includes open, loose ground that is traversable, and areas with tall, dense vegetation that are conditionally passable only if low-risk, but here they are risky and should be avoided. The drone must also avoid any liquid bodies or structures. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"flat, artificial surface","end_land_type":"flat, artificial surface","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_28.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":240,"start_point":[512,332],"end_point":[637,857],"distance":539.6758286230726},{"start_region_id":240,"end_region_id":224,"start_point":[637,857],"end_point":[512,332],"distance":539.6758286230726},{"start_region_id":224,"end_region_id":233,"start_point":[512,332],"end_point":[550,752],"distance":421.7155439392767},{"start_region_id":233,"end_region_id":224,"start_point":[550,752],"end_point":[512,332],"distance":421.7155439392767},{"start_region_id":224,"end_region_id":232,"start_point":[512,332],"end_point":[580,710],"distance":384.06770236509084}],"complexity_score":0.6800728098393318}
{"id":10896,"query_id":"Q02180","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, vertical structures with branching patterns. The drone can fly over loose, sandy ground and rocky surfaces without vegetation, as well as grassy areas with scattered bushes. However, the tall vertical structures pose a collision risk and require careful navigation. The drone must avoid any liquid surfaces and man-made structures entirely. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, vertical structures with branching patterns","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree"],"traverse_vector":[1,1,0,0,1,0,0,0],"cost_vector":[2,2,0,0,1,0,0,0],"image_name":"aachen_16.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":496,"start_point":[959,152],"end_point":[437,945],"distance":949.3855907901699},{"start_region_id":48,"end_region_id":496,"start_point":[907,245],"end_point":[437,945],"distance":843.1488599292535},{"start_region_id":22,"end_region_id":376,"start_point":[959,152],"end_point":[686,598],"distance":522.9196879062788},{"start_region_id":117,"end_region_id":482,"start_point":[954,601],"end_point":[601,908],"distance":467.8226159560908},{"start_region_id":48,"end_region_id":376,"start_point":[907,245],"end_point":[686,598],"distance":416.473288459176}],"complexity_score":0.680161615259393}
{"id":12148,"query_id":"Q02430","question":"An aerial survey drone starts from grassy, uneven terrain with scattered low vegetation and needs to reach a flat, hard artificial surface. The drone's flight path must prioritize smooth, stable surfaces to minimize vibration and ensure stable sensor readings. Liquid areas are accessible but may cause turbulence. Vertical structures and dense vegetation are blocked due to collision risk. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"flat, hard artificial surface","task_description":"What is the most comfortable route from the grassy, uneven terrain to the flat, hard artificial surface?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"aachen_16.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":216,"start_point":[943,915],"end_point":[154,197],"distance":1066.7919197294289},{"start_region_id":22,"end_region_id":275,"start_point":[959,152],"end_point":[103,733],"distance":1034.5515936868494},{"start_region_id":143,"end_region_id":216,"start_point":[981,764],"end_point":[154,197],"distance":1002.7053405662105},{"start_region_id":22,"end_region_id":285,"start_point":[959,152],"end_point":[341,890],"distance":962.5840223066244},{"start_region_id":48,"end_region_id":275,"start_point":[907,245],"end_point":[103,733],"distance":940.5104996755751}],"complexity_score":0.680161615259393}
{"id":15667,"query_id":"Q03134","question":"A hiker starts from a shaded area under a canopy of tall vegetation and needs to reach a destination on open ground covered with low, natural grass and shrubs. The hiker must avoid any liquid surfaces and vertical structures, as these pose permanent hazards. The hiker can traverse cultivated fields with crops, provided they are not actively being worked on. The hiker can also use paved or compacted surfaces like sidewalks and parking lots, but these are not required. The hiker must prioritize terrain that minimizes the risk of slips, falls, or unexpected obstacles.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Tree","end_land_type":"Rangeland","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"aachen_16.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":500,"end_region_id":22,"start_point":[51,945],"end_point":[959,152],"distance":1205.5343213695742},{"start_region_id":320,"end_region_id":169,"start_point":[136,85],"end_point":[943,915],"distance":1157.648046687766},{"start_region_id":500,"end_region_id":48,"start_point":[51,945],"end_point":[907,245],"distance":1105.7739371137304},{"start_region_id":476,"end_region_id":22,"start_point":[82,799],"end_point":[959,152],"distance":1089.8339323034497},{"start_region_id":320,"end_region_id":143,"start_point":[136,85],"end_point":[981,764],"distance":1084.0046125363122}],"complexity_score":0.680161615259393}
{"id":16191,"query_id":"Q03239","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for walking. The hiker can traverse loose, sandy or rocky ground without vegetation, grassy or shrub-covered areas that are not cultivated, sidewalks or pavements with hard surfaces, paved lanes or streets, and cultivated fields with crops or grazing vegetation. The hiker cannot travel through bodies of water or structures with walls and roofs. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface suitable for walking","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"aachen_16.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":319,"start_point":[415,35],"end_point":[926,828],"distance":943.3822131034696},{"start_region_id":69,"end_region_id":319,"start_point":[73,493],"end_point":[926,828],"distance":916.4245740921617},{"start_region_id":22,"end_region_id":318,"start_point":[959,152],"end_point":[430,781],"distance":821.8771197691294},{"start_region_id":75,"end_region_id":319,"start_point":[265,421],"end_point":[926,828],"distance":776.2538244672293},{"start_region_id":169,"end_region_id":302,"start_point":[943,915],"end_point":[378,383],"distance":776.0470346570496}],"complexity_score":0.680161615259393}
{"id":1468,"query_id":"Q00294","question":"An off-road vehicle starts from a paved street and needs to reach a grassy meadow. The terrain includes hard, drivable surfaces, open grassy areas with firm ground, and cultivated fields with packed soil. You must avoid any vertical obstacles, liquid surfaces, and loose sandy or rocky terrain. What is the shortest path to the grassy meadow?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved street","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"rotterdam_13.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":6,"start_point":[537,549],"end_point":[777,271],"distance":367.2655714874456},{"start_region_id":115,"end_region_id":6,"start_point":[759,585],"end_point":[777,271],"distance":314.5155004129367}],"complexity_score":0.6801838179539399}
{"id":5655,"query_id":"Q01131","question":"A park visitor starts from a paved walkway and needs to reach another paved walkway. The area contains both hard, flat surfaces and areas with tall vegetation that can be walked through if necessary. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"a park visitor","start_land_type":"a paved walkway","end_land_type":"a paved walkway","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"rotterdam_13.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":80,"start_point":[755,205],"end_point":[278,747],"distance":722.0062326600789},{"start_region_id":80,"end_region_id":25,"start_point":[278,747],"end_point":[755,205],"distance":722.0062326600789},{"start_region_id":32,"end_region_id":80,"start_point":[804,299],"end_point":[278,747],"distance":690.9269136457199},{"start_region_id":80,"end_region_id":32,"start_point":[278,747],"end_point":[804,299],"distance":690.9269136457199},{"start_region_id":59,"end_region_id":25,"start_point":[251,568],"end_point":[755,205],"distance":621.1159312076933}],"complexity_score":0.6801838179539399}
{"id":15313,"query_id":"Q03063","question":"A quadcopter starts from an area with tall, vertical obstacles extending upward and needs to reach a flat, hard, artificial surface. The environment includes open grassy areas, cultivated fields with vegetation, and the tall vertical obstacles can be flown around if there is sufficient clearance between them. The flat, hard surface is unobstructed. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"an area with tall, vertical obstacles extending upward","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"rotterdam_13.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":223,"end_region_id":25,"start_point":[164,790],"end_point":[755,205],"distance":831.5683976679248},{"start_region_id":223,"end_region_id":32,"start_point":[164,790],"end_point":[804,299],"distance":806.6480025389018},{"start_region_id":206,"end_region_id":37,"start_point":[833,660],"end_point":[96,384],"distance":786.9847520759217},{"start_region_id":198,"end_region_id":25,"start_point":[110,651],"end_point":[755,205],"distance":784.1817391395952},{"start_region_id":198,"end_region_id":32,"start_point":[110,651],"end_point":[804,299],"distance":778.1645070292013}],"complexity_score":0.6801838179539399}
{"id":13831,"query_id":"Q02767","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil. The vehicle can traverse bare, loose ground composed of sand or rocks, and paved, hard surfaces, but cannot cross areas with trees, water bodies, or buildings. The cultivated field is accessible for driving.","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the shortest path for the off-road vehicle to take?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"shanghai_37.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":119,"start_point":[595,38],"end_point":[102,331],"distance":573.4962946698087},{"start_region_id":29,"end_region_id":118,"start_point":[595,38],"end_point":[61,212],"distance":561.633332344155},{"start_region_id":36,"end_region_id":118,"start_point":[611,242],"end_point":[61,212],"distance":550.8175741568165},{"start_region_id":55,"end_region_id":118,"start_point":[517,491],"end_point":[61,212],"distance":534.5811444486235},{"start_region_id":36,"end_region_id":119,"start_point":[611,242],"end_point":[102,331],"distance":516.7223625894277}],"complexity_score":0.6802162877480794}
{"id":17626,"query_id":"Q03526","question":"An aerial survey drone starts from a paved, hard surface and needs to reach cultivated fields with crops as quickly as possible. The drone can fly over rough, loose soil and rocky ground, as well as grassy and shrub-covered areas, and it is permitted to pass through areas with tall vegetation if necessary, but avoiding such areas is preferred for speed. The drone cannot enter buildings or bodies of water. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated fields with crops","task_description":"What is the fastest path for the aerial survey drone to reach the cultivated fields from the paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"shanghai_37.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":118,"start_point":[547,164],"end_point":[61,212],"distance":488.3646178829912},{"start_region_id":73,"end_region_id":119,"start_point":[547,164],"end_point":[102,331],"distance":475.30411317387103},{"start_region_id":74,"end_region_id":118,"start_point":[313,432],"end_point":[61,212],"distance":334.5205524328812},{"start_region_id":74,"end_region_id":119,"start_point":[313,432],"end_point":[102,331],"distance":233.92733914615454}],"complexity_score":0.6802162877480794}
{"id":10897,"query_id":"Q02180","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, vertical structures with branching patterns. The drone can fly over loose, sandy ground and rocky surfaces without vegetation, as well as grassy areas with scattered bushes. However, the tall vertical structures pose a collision risk and require careful navigation. The drone must avoid any liquid surfaces and man-made structures entirely. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, vertical structures with branching patterns","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree"],"traverse_vector":[1,1,0,0,1,0,0,0],"cost_vector":[2,2,0,0,1,0,0,0],"image_name":"aachen_19.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":295,"start_point":[45,231],"end_point":[269,381],"distance":269.58486604407153},{"start_region_id":52,"end_region_id":398,"start_point":[284,838],"end_point":[99,959],"distance":221.05655384991417}],"complexity_score":0.6802645924618304}
{"id":15668,"query_id":"Q03134","question":"A hiker starts from a shaded area under a canopy of tall vegetation and needs to reach a destination on open ground covered with low, natural grass and shrubs. The hiker must avoid any liquid surfaces and vertical structures, as these pose permanent hazards. The hiker can traverse cultivated fields with crops, provided they are not actively being worked on. The hiker can also use paved or compacted surfaces like sidewalks and parking lots, but these are not required. The hiker must prioritize terrain that minimizes the risk of slips, falls, or unexpected obstacles.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Tree","end_land_type":"Rangeland","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"aachen_19.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":398,"end_region_id":8,"start_point":[99,959],"end_point":[900,147],"distance":1140.5897597295884},{"start_region_id":398,"end_region_id":7,"start_point":[99,959],"end_point":[724,44],"distance":1108.0839318391004},{"start_region_id":275,"end_region_id":71,"start_point":[139,72],"end_point":[612,918],"distance":969.2497098271425},{"start_region_id":398,"end_region_id":15,"start_point":[99,959],"end_point":[579,207],"distance":892.1345190048415},{"start_region_id":398,"end_region_id":20,"start_point":[99,959],"end_point":[673,287],"distance":883.7759897168513}],"complexity_score":0.6802645924618304}
{"id":16192,"query_id":"Q03239","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for walking. The hiker can traverse loose, sandy or rocky ground without vegetation, grassy or shrub-covered areas that are not cultivated, sidewalks or pavements with hard surfaces, paved lanes or streets, and cultivated fields with crops or grazing vegetation. The hiker cannot travel through bodies of water or structures with walls and roofs. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface suitable for walking","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"aachen_19.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":266,"start_point":[612,918],"end_point":[74,129],"distance":954.9685858707604},{"start_region_id":29,"end_region_id":266,"start_point":[761,595],"end_point":[74,129],"distance":830.1355311032048},{"start_region_id":8,"end_region_id":266,"start_point":[900,147],"end_point":[74,129],"distance":826.1961026293939},{"start_region_id":52,"end_region_id":266,"start_point":[284,838],"end_point":[74,129],"distance":739.4464145561867},{"start_region_id":65,"end_region_id":266,"start_point":[86,859],"end_point":[74,129],"distance":730.0986234749384}],"complexity_score":0.6802645924618304}
{"id":3890,"query_id":"Q00778","question":"A quadcopter drone is positioned in a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open surface as quickly as possible. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; paved areas like sidewalks, parking lots, or artificial turf; vehicle lanes; cultivated fields; and even vertical structures, but must navigate carefully through or around dense vegetation due to potential obstructions. Water bodies are completely inaccessible. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a flat, hard, and open surface","task_description":"What is the fastest path for the quadcopter drone to reach the flat, hard, and open surface from the densely vegetated area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"paris_43.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":51,"start_point":[54,39],"end_point":[357,558],"distance":600.9742090971957},{"start_region_id":89,"end_region_id":31,"start_point":[519,558],"end_point":[132,109],"distance":592.7647088010553},{"start_region_id":74,"end_region_id":30,"start_point":[49,251],"end_point":[590,31],"distance":584.0214037173638},{"start_region_id":89,"end_region_id":27,"start_point":[519,558],"end_point":[308,24],"distance":574.175060412763},{"start_region_id":59,"end_region_id":30,"start_point":[54,39],"end_point":[590,31],"distance":536.0596981680305}],"complexity_score":0.6805750422019379}
{"id":17274,"query_id":"Q03455","question":"A hiker is standing on a paved lane and needs to reach a flat, hard-surfaced area. The terrain includes open grassy areas with low vegetation that are dry and firm enough to walk on, as well as paved lanes and flat hard surfaces. The hiker must avoid any liquid bodies, vertical structures, loose sandy patches, and cultivated fields. What is the safest path for the hiker to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"paris_43.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":30,"start_point":[104,624],"end_point":[590,31],"distance":766.7105059929726},{"start_region_id":58,"end_region_id":27,"start_point":[104,624],"end_point":[308,24],"distance":633.7318044725229},{"start_region_id":58,"end_region_id":28,"start_point":[104,624],"end_point":[424,201],"distance":530.4045625746445},{"start_region_id":58,"end_region_id":31,"start_point":[104,624],"end_point":[132,109],"distance":515.7606033810648},{"start_region_id":58,"end_region_id":42,"start_point":[104,624],"end_point":[392,337],"distance":406.5870140572618}],"complexity_score":0.6805750422019379}
{"id":934,"query_id":"Q00187","question":"An off-road vehicle starts from a cultivated field and needs to reach another cultivated field area. The terrain includes grassy areas with short vegetation that are dry and stable, hard-packed artificial surfaces that are even and obstacle-free, and cultivated fields that are currently unused with compacted soil. The vehicle must avoid any loose or sandy terrain, any water, any vertical obstacles like trees or structures, and any paved lanes intended for regular traffic. What is the safest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Rangeland","Developed space","Agriculture land"],"traverse_vector":[0,1,1,0,0,0,1,0],"cost_vector":[0,1,3,0,0,0,2,0],"image_name":"baybay_9.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":329,"end_region_id":337,"start_point":[277,186],"end_point":[1005,795],"distance":949.1390835910194},{"start_region_id":337,"end_region_id":329,"start_point":[1005,795],"end_point":[277,186],"distance":949.1390835910194},{"start_region_id":329,"end_region_id":336,"start_point":[277,186],"end_point":[928,801],"distance":895.5590432796712},{"start_region_id":336,"end_region_id":329,"start_point":[928,801],"end_point":[277,186],"distance":895.5590432796712},{"start_region_id":329,"end_region_id":338,"start_point":[277,186],"end_point":[845,874],"distance":892.1703873139928}],"complexity_score":0.6806605959077813}
{"id":3546,"query_id":"Q00710","question":"A delivery drone starts from a paved landing pad and needs to reach a cultivated field. The drone can fly over various surfaces including loose soil, grassy areas, hard surfaces, roads, farmed land, and liquid bodies. However. The drone must avoid flying through dense vegetation and cannot enter any structures. What is the shortest path to the cultivated field?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved landing pad","end_land_type":"cultivated field","task_description":"What is the shortest path to the cultivated field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"baybay_9.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":326,"start_point":[163,813],"end_point":[877,79],"distance":1023.988281182944},{"start_region_id":111,"end_region_id":330,"start_point":[163,813],"end_point":[966,199],"distance":1010.8437070091499},{"start_region_id":111,"end_region_id":332,"start_point":[163,813],"end_point":[824,281],"distance":848.4957277441059},{"start_region_id":111,"end_region_id":337,"start_point":[163,813],"end_point":[1005,795],"distance":842.1923770730771},{"start_region_id":111,"end_region_id":333,"start_point":[163,813],"end_point":[753,313],"distance":773.3692520394122}],"complexity_score":0.6806605959077813}
{"id":7187,"query_id":"Q01438","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated crop field. The drone can fly over loose, sandy ground and open water bodies, but must avoid tall vegetation and vertical structures. The drone's priority is to minimize risk of collision or instability during flight. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"cultivated crop field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"baybay_9.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":326,"start_point":[163,813],"end_point":[877,79],"distance":1023.988281182944},{"start_region_id":111,"end_region_id":330,"start_point":[163,813],"end_point":[966,199],"distance":1010.8437070091499},{"start_region_id":111,"end_region_id":332,"start_point":[163,813],"end_point":[824,281],"distance":848.4957277441059},{"start_region_id":111,"end_region_id":337,"start_point":[163,813],"end_point":[1005,795],"distance":842.1923770730771},{"start_region_id":111,"end_region_id":333,"start_point":[163,813],"end_point":[753,313],"distance":773.3692520394122}],"complexity_score":0.6806605959077813}
{"id":12683,"query_id":"Q02537","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over most surfaces but must prioritize areas that minimize risk of collision or signal interference: paved areas, vehicle lanes, grassy areas with low vegetation, and cultivated fields. The drone must avoid flying over liquid surfaces, vertical structures, and areas with tall trees or dense vegetation that could obstruct its path or cause instability. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"baybay_9.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":326,"start_point":[163,813],"end_point":[877,79],"distance":1023.988281182944},{"start_region_id":111,"end_region_id":330,"start_point":[163,813],"end_point":[966,199],"distance":1010.8437070091499},{"start_region_id":111,"end_region_id":332,"start_point":[163,813],"end_point":[824,281],"distance":848.4957277441059},{"start_region_id":111,"end_region_id":337,"start_point":[163,813],"end_point":[1005,795],"distance":842.1923770730771},{"start_region_id":111,"end_region_id":333,"start_point":[163,813],"end_point":[753,313],"distance":773.3692520394122}],"complexity_score":0.6806605959077813}
{"id":9791,"query_id":"Q01959","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a cluster of tall, vertical structures with foliage as quickly as possible. The drone can fly over most terrain types, including open sandy or rocky ground, grassy or shrub-covered areas, liquid bodies, and cultivated fields. However, flying directly through dense clusters of tall vertical structures is slower and requires careful navigation to avoid collisions. All other surfaces, including solid constructed obstacles, are not accessible for this drone's path. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"a cluster of tall, vertical structures with foliage","task_description":"What is the fastest route for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"santiago_12.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":579,"end_region_id":678,"start_point":[980,929],"end_point":[186,478],"distance":913.14675709877},{"start_region_id":579,"end_region_id":665,"start_point":[980,929],"end_point":[236,435],"distance":893.0688663255482},{"start_region_id":579,"end_region_id":622,"start_point":[980,929],"end_point":[437,225],"distance":889.0809861874226},{"start_region_id":579,"end_region_id":663,"start_point":[980,929],"end_point":[320,412],"distance":838.384756540814},{"start_region_id":578,"end_region_id":688,"start_point":[335,918],"end_point":[947,494],"distance":744.5266952903704}],"complexity_score":0.6807263492108788}
{"id":13240,"query_id":"Q02648","question":"A hiker is standing in a densely vegetated area with tall plants casting shadows and needs to reach a cultivated field with neat rows of crops. The terrain includes areas of compacted, hard surfaces suitable for walking; loose, uneven ground covered with wild grasses and shrubs; and lanes with smooth, paved surfaces designed for vehicles. The hiker can walk through the vegetated areas because there are clear trails between the plants. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall plants casting shadows","end_land_type":"a cultivated field with neat rows of crops","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"lohur_1.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":263,"start_point":[29,684],"end_point":[854,155],"distance":980.0336728908859},{"start_region_id":197,"end_region_id":262,"start_point":[900,616],"end_point":[119,158],"distance":905.386657732485},{"start_region_id":251,"end_region_id":262,"start_point":[554,934],"end_point":[119,158],"distance":889.6072166973468},{"start_region_id":197,"end_region_id":277,"start_point":[900,616],"end_point":[41,629],"distance":859.0983645660141},{"start_region_id":251,"end_region_id":263,"start_point":[554,934],"end_point":[854,155],"distance":834.7700282113632}],"complexity_score":0.6807310589936488}
{"id":1097,"query_id":"Q00220","question":"An aerial surveillance drone starts from an area of low, wild vegetation and grass and needs to reach a cluster of tall, vertical structures with distinct shadows and height. The drone can fly over open sandy or rocky ground, areas with wild vegetation, hard paved surfaces, vehicle lanes, liquid bodies, and cultivated fields. However. The tall vertical structures themselves can only be approached if there is sufficient clearance between them to avoid collision. The liquid bodies present a risk of spray or downdraft turbulence, and the tall structures present a collision risk if flown too close. The drone must find a path that minimizes the risk of loss of control, collision, or damage.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of low, wild vegetation and grass.","end_land_type":"The destination is a cluster of tall, vertical structures with distinct shadows and height.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"melbourne_61.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":42,"start_point":[910,953],"end_point":[267,20],"distance":1133.1098799322156},{"start_region_id":6,"end_region_id":104,"start_point":[754,145],"end_point":[130,952],"distance":1020.1102881551583},{"start_region_id":21,"end_region_id":53,"start_point":[910,953],"end_point":[365,118],"distance":997.1208552627911},{"start_region_id":10,"end_region_id":104,"start_point":[836,256],"end_point":[130,952],"distance":991.3889246910114},{"start_region_id":1,"end_region_id":104,"start_point":[501,41],"end_point":[130,952],"distance":983.6472945116049}],"complexity_score":0.6807967312601768}
{"id":3788,"query_id":"Q00758","question":"A hiker starts from a densely vegetated area with tall, woody plants and overhead canopy and needs to reach an open area covered with low, natural grasses and shrubs. The terrain includes loose, sandy or rocky surfaces without vegetation; open spaces with low grasses and shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes made of asphalt or concrete; cultivated fields with crops; and densely vegetated areas with tall, woody plants. You must avoid any liquid surfaces and vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants and overhead canopy","end_land_type":"an open area covered with low, natural grasses and shrubs","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_61.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":21,"start_point":[267,20],"end_point":[910,953],"distance":1133.1098799322156},{"start_region_id":104,"end_region_id":6,"start_point":[130,952],"end_point":[754,145],"distance":1020.1102881551583},{"start_region_id":53,"end_region_id":21,"start_point":[365,118],"end_point":[910,953],"distance":997.1208552627911},{"start_region_id":104,"end_region_id":10,"start_point":[130,952],"end_point":[836,256],"distance":991.3889246910114},{"start_region_id":104,"end_region_id":1,"start_point":[130,952],"end_point":[501,41],"distance":983.6472945116049}],"complexity_score":0.6807967312601768}
{"id":12836,"query_id":"Q02568","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface while prioritizing a stable and vibration-free flight. The drone can fly over open grassy fields, hard flat surfaces like roads and parking lots, and cultivated crop fields, but must avoid flying directly through dense tree canopies or close to vertical structures that could cause turbulence or collision risk. The path must also avoid any liquid bodies that could interfere with sensors or cause downdraft issues. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"melbourne_61.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":40,"start_point":[187,293],"end_point":[781,731],"distance":738.0243898408778},{"start_region_id":40,"end_region_id":36,"start_point":[781,731],"end_point":[187,293],"distance":738.0243898408778},{"start_region_id":38,"end_region_id":35,"start_point":[375,857],"end_point":[596,239],"distance":656.3269002562671},{"start_region_id":35,"end_region_id":38,"start_point":[596,239],"end_point":[375,857],"distance":656.3269002562671},{"start_region_id":38,"end_region_id":36,"start_point":[375,857],"end_point":[187,293],"distance":594.5082001116554}],"complexity_score":0.6807967312601768}
{"id":6921,"query_id":"Q01385","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved, hard-surfaced area. The terrain includes vertical structures and dense vegetation that may require careful navigation to avoid collisions, but all surfaces are accessible from above. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a paved, hard-surfaced area","task_description":"What is the fastest path from the cultivated field to the paved area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"ngaoundere_26.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":344,"end_region_id":132,"start_point":[990,963],"end_point":[36,253],"distance":1189.2081398981425},{"start_region_id":344,"end_region_id":118,"start_point":[990,963],"end_point":[222,74],"distance":1174.7957269244725},{"start_region_id":344,"end_region_id":162,"start_point":[990,963],"end_point":[62,484],"distance":1044.3299287102711},{"start_region_id":335,"end_region_id":176,"start_point":[936,327],"end_point":[50,849],"distance":1028.3384656814117},{"start_region_id":344,"end_region_id":129,"start_point":[990,963],"end_point":[252,253],"distance":1024.0820279645573}],"complexity_score":0.6807993699388792}
{"id":9868,"query_id":"Q01974","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane designed for vehicle traffic. The drone can fly over various surfaces including loose sandy areas, grassy patches, cultivated fields, water bodies, and wooded areas with vertical obstacles, but must avoid built structures. The drone's priority is to maintain maximum flight speed while navigating these different surface types. Which route allows the drone to reach the paved lane in the shortest possible time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"Which route allows the drone to reach the paved lane in the shortest possible time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"ngaoundere_26.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":325,"end_region_id":196,"start_point":[30,32],"end_point":[856,443],"distance":922.6033817410382},{"start_region_id":344,"end_region_id":195,"start_point":[990,963],"end_point":[231,385],"distance":954.0256809960621},{"start_region_id":334,"end_region_id":196,"start_point":[71,357],"end_point":[856,443],"distance":789.6967772506102},{"start_region_id":339,"end_region_id":195,"start_point":[934,719],"end_point":[231,385],"distance":778.3090645752495},{"start_region_id":327,"end_region_id":196,"start_point":[256,24],"end_point":[856,443],"distance":731.8203331419536}],"complexity_score":0.6807993699388792}
{"id":16746,"query_id":"Q03350","question":"A delivery drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field with soft, tilled soil. The drone must avoid collisions and unstable airflows. Only the following terrain types are available: loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved lanes used by vehicles; and soft, tilled soil used for crops. All other surfaces, including vertical structures and dense tree stands, are impassable due to obstruction risk, and liquid bodies are excluded to prevent water damage. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a cultivated crop field with soft, tilled soil","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Agriculture land"],"traverse_vector":[1,1,0,1,0,0,1,0],"cost_vector":[1,1,0,1,0,0,1,0],"image_name":"ngaoundere_26.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":344,"start_point":[195,128],"end_point":[990,963],"distance":1152.9310473744733},{"start_region_id":110,"end_region_id":335,"start_point":[46,976],"end_point":[936,327],"distance":1101.499432591774},{"start_region_id":31,"end_region_id":344,"start_point":[513,39],"end_point":[990,963],"distance":1039.8581634049906},{"start_region_id":108,"end_region_id":334,"start_point":[923,947],"end_point":[71,357],"distance":1036.3416425098433},{"start_region_id":46,"end_region_id":344,"start_point":[319,180],"end_point":[990,963],"distance":1031.178936945475}],"complexity_score":0.6807993699388792}
{"id":5216,"query_id":"Q01044","question":"An aerial survey drone starts from a paved surface and needs to return to another paved surface while maintaining stable flight and minimizing vibrations. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid dense tree canopies that could cause turbulence. The drone cannot land on or pass through solid vertical structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable route for the aerial survey drone to travel from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_50.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":54,"start_point":[288,406],"end_point":[75,188],"distance":304.78352973873115},{"start_region_id":54,"end_region_id":67,"start_point":[75,188],"end_point":[288,406],"distance":304.78352973873115},{"start_region_id":74,"end_region_id":54,"start_point":[145,493],"end_point":[75,188],"distance":312.92970456637704},{"start_region_id":54,"end_region_id":74,"start_point":[75,188],"end_point":[145,493],"distance":312.92970456637704},{"start_region_id":67,"end_region_id":74,"start_point":[288,406],"end_point":[145,493],"distance":167.38578195294843}],"complexity_score":0.6809751879235137}
{"id":8508,"query_id":"Q01702","question":"A quadcopter drone is hovering above a vegetated, natural area with shrubs and grass and needs to land on a flat, hard surface. The drone can fly over the soft, uneven ground and the solid, paved area, but must avoid any trees or buildings. What is the most comfortable flight path to the landing spot?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path to the landing spot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"paris_50.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":74,"start_point":[610,60],"end_point":[145,493],"distance":635.3849227043399},{"start_region_id":4,"end_region_id":54,"start_point":[610,60],"end_point":[75,188],"distance":550.0990819843277},{"start_region_id":3,"end_region_id":74,"start_point":[515,184],"end_point":[145,493],"distance":482.05912500439194},{"start_region_id":1,"end_region_id":74,"start_point":[108,42],"end_point":[145,493],"distance":452.5151931151041},{"start_region_id":44,"end_region_id":54,"start_point":[278,619],"end_point":[75,188],"distance":476.41368578159046}],"complexity_score":0.6809751879235137}
{"id":13121,"query_id":"Q02625","question":"A quadcopter drone starts from an area with tall trees and needs to reach a grassy field. The terrain includes hard surfaces, loose soil with vegetation, cultivated fields, and vertical structures. Your drone can fly over all these terrains, but flying through dense tree canopies or near buildings requires careful navigation. You need to find a path that provides the most comfortable flight, avoiding rough air disturbances.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"area with tall trees","end_land_type":"grassy field","task_description":"What is the most comfortable flight path from the treed starting point to the grassy destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"santiago_58.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":443,"end_region_id":46,"start_point":[921,642],"end_point":[85,366],"distance":880.3817353852816},{"start_region_id":492,"end_region_id":2,"start_point":[468,890],"end_point":[336,31],"distance":869.0828499055772},{"start_region_id":443,"end_region_id":2,"start_point":[921,642],"end_point":[336,31],"distance":845.8995212198669},{"start_region_id":443,"end_region_id":143,"start_point":[921,642],"end_point":[91,779],"distance":841.2306461369557},{"start_region_id":443,"end_region_id":178,"start_point":[921,642],"end_point":[144,950],"distance":835.8187602584666}],"complexity_score":0.6811092234516889}
{"id":17384,"query_id":"Q03477","question":"An aerial survey drone starts from a grassy, open field and needs to reach a paved lane while minimizing operational risk. The drone can fly over areas of loose soil and rocks, grassy or shrubby vegetation, hard artificial surfaces, individual or clustered tall vertical obstacles, and liquid bodies. However. The drone must prioritize terrains that pose the lowest risk of collision, signal interference, or unpredictable conditions. Which path should the drone take to reach the destination with maximum safety?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"Which path should the drone take to reach the destination with maximum safety?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_58.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":306,"start_point":[144,950],"end_point":[518,423],"distance":646.2236454974392},{"start_region_id":143,"end_region_id":306,"start_point":[91,779],"end_point":[518,423],"distance":555.9361474126323},{"start_region_id":168,"end_region_id":306,"start_point":[263,907],"end_point":[518,423],"distance":547.0658095695618},{"start_region_id":154,"end_region_id":306,"start_point":[839,866],"end_point":[518,423],"distance":547.0740352091296},{"start_region_id":172,"end_region_id":306,"start_point":[372,942],"end_point":[518,423],"distance":539.1446930092144}],"complexity_score":0.6811092234516889}
{"id":8548,"query_id":"Q01710","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while prioritizing safety. The drone can fly over areas of loose, sandy soil and open grassy fields, but must avoid any trees, structures, or water bodies to minimize risk. The path should favor open, unobstructed spaces.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"paris_10.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":14,"start_point":[145,40],"end_point":[456,258],"distance":379.7959978725421},{"start_region_id":14,"end_region_id":13,"start_point":[456,258],"end_point":[145,40],"distance":379.7959978725421},{"start_region_id":15,"end_region_id":14,"start_point":[139,250],"end_point":[456,258],"distance":317.10093030453254},{"start_region_id":14,"end_region_id":15,"start_point":[456,258],"end_point":[139,250],"distance":317.10093030453254},{"start_region_id":15,"end_region_id":13,"start_point":[139,250],"end_point":[145,40],"distance":210.08569680013915}],"complexity_score":0.6811133057536042}
{"id":12992,"query_id":"Q02599","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over loose, dry earth surfaces, grassy or shrubby areas, all hard artificial surfaces including paved lanes, liquid bodies, and cultivated fields with crops. It can also fly near vertical structures if necessary, but must avoid dense clusters of tall vegetation that could pose entanglement risks. The priority is to minimize any risk of collision, signal interference, or loss of control.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"paris_10.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":15,"start_point":[582,13],"end_point":[139,250],"distance":502.4121813809852},{"start_region_id":29,"end_region_id":13,"start_point":[582,13],"end_point":[145,40],"distance":437.8333016114695},{"start_region_id":28,"end_region_id":13,"start_point":[344,520],"end_point":[145,40],"distance":519.6162045202209},{"start_region_id":29,"end_region_id":14,"start_point":[582,13],"end_point":[456,258],"distance":275.50136115816196},{"start_region_id":28,"end_region_id":15,"start_point":[344,520],"end_point":[139,250],"distance":339.00589965367857}],"complexity_score":0.6811133057536042}
{"id":17268,"query_id":"Q03454","question":"A quadcopter drone is starting from a paved, hard-surfaced area and needs to reach an area of natural, uncultivated vegetation. The operator wants to maximize flight comfort by avoiding turbulent or obstructed airspace. The drone can fly over hard artificial surfaces, vehicle lanes, and natural vegetation areas, but cannot fly through any areas with dense trees or structures. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"paris_10.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":8,"start_point":[145,40],"end_point":[625,586],"distance":726.9910590922009},{"start_region_id":13,"end_region_id":10,"start_point":[145,40],"end_point":[336,604],"distance":595.4636848708744},{"start_region_id":15,"end_region_id":8,"start_point":[139,250],"end_point":[625,586],"distance":590.8400798862582},{"start_region_id":13,"end_region_id":5,"start_point":[145,40],"end_point":[58,501],"distance":469.13750649463105},{"start_region_id":14,"end_region_id":5,"start_point":[456,258],"end_point":[58,501],"distance":466.31856064282925}],"complexity_score":0.6811133057536042}
{"id":2232,"query_id":"Q00447","question":"An aerial surveillance drone is positioned on a patch of loose, dry soil and scattered rocks, needing to reach a flat, hard, and stable paved surface as quickly as possible. The drone can fly over liquid surfaces, but must avoid areas with tall, dense vertical obstacles and solid structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of loose, dry soil and scattered rocks","end_land_type":"A flat, hard, and stable paved surface","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":155,"start_point":[184,188],"end_point":[991,645],"distance":927.4146861032556},{"start_region_id":2,"end_region_id":132,"start_point":[184,188],"end_point":[989,373],"distance":825.9842613512682},{"start_region_id":2,"end_region_id":150,"start_point":[184,188],"end_point":[809,634],"distance":767.8157331026762},{"start_region_id":2,"end_region_id":110,"start_point":[184,188],"end_point":[877,165],"distance":693.3815688349381},{"start_region_id":8,"end_region_id":108,"start_point":[652,773],"end_point":[683,79],"distance":694.6920180914706}],"complexity_score":0.6813055027512884}
{"id":2811,"query_id":"Q00563","question":"A quadcopter drone takes off from sandy, open ground and needs to land on another patch of sandy, open ground. It can fly over hard surfaces, vehicle lanes, and cultivated fields. However, areas with tall trees or vertical structures are blocked due to collision risk. What is the shortest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"sandy, open ground","end_land_type":"sandy, open ground","task_description":"What is the shortest flight path for the quadcopter drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":8,"start_point":[184,188],"end_point":[652,773],"distance":749.1655357796433},{"start_region_id":8,"end_region_id":2,"start_point":[652,773],"end_point":[184,188],"distance":749.1655357796433},{"start_region_id":3,"end_region_id":8,"start_point":[441,434],"end_point":[652,773],"distance":399.30189080443887},{"start_region_id":8,"end_region_id":3,"start_point":[652,773],"end_point":[441,434],"distance":399.30189080443887},{"start_region_id":3,"end_region_id":2,"start_point":[441,434],"end_point":[184,188],"distance":355.75975039343615}],"complexity_score":0.6813055027512884}
{"id":6248,"query_id":"Q01250","question":"A hiker starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. You can walk on hard, paved surfaces like sidewalks and roads, as well as on natural surfaces covered with grass, shrubs, or loose soil. Individual trees or groups of trees are present but can be walked around or through if necessary. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":8,"start_point":[184,188],"end_point":[652,773],"distance":749.1655357796433},{"start_region_id":8,"end_region_id":2,"start_point":[652,773],"end_point":[184,188],"distance":749.1655357796433},{"start_region_id":3,"end_region_id":8,"start_point":[441,434],"end_point":[652,773],"distance":399.30189080443887},{"start_region_id":8,"end_region_id":3,"start_point":[652,773],"end_point":[441,434],"distance":399.30189080443887},{"start_region_id":3,"end_region_id":2,"start_point":[441,434],"end_point":[184,188],"distance":355.75975039343615}],"complexity_score":0.6813055027512884}
{"id":7525,"query_id":"Q01505","question":"An aerial surveillance drone starts from a paved surface and needs to reach an area of exposed, loose soil or rocky ground. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and hard, flat surfaces like parking lots or runways, but it must avoid vertical structures and dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"exposed, loose soil or rocky ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":2,"start_point":[902,147],"end_point":[184,188],"distance":719.169660094195},{"start_region_id":195,"end_region_id":8,"start_point":[712,79],"end_point":[652,773],"distance":696.5888313775926},{"start_region_id":196,"end_region_id":8,"start_point":[902,147],"end_point":[652,773],"distance":674.0741798941716},{"start_region_id":201,"end_region_id":2,"start_point":[331,734],"end_point":[184,188],"distance":565.442304749123},{"start_region_id":196,"end_region_id":3,"start_point":[902,147],"end_point":[441,434],"distance":543.037751910491}],"complexity_score":0.6813055027512884}
{"id":8583,"query_id":"Q01717","question":"A delivery drone starts from sandy, open ground and needs to reach a hard, artificial surface while maximizing flight comfort. The drone can fly over loose soil and rocks, grassy and shrubby vegetation, and hard, artificial surfaces, but must avoid flying through dense tree canopies or close to buildings. The hard, artificial surface provides the most stable and predictable flying conditions.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"sandy, open ground","end_land_type":"hard, artificial surface","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":155,"start_point":[184,188],"end_point":[991,645],"distance":927.4146861032556},{"start_region_id":2,"end_region_id":132,"start_point":[184,188],"end_point":[989,373],"distance":825.9842613512682},{"start_region_id":2,"end_region_id":150,"start_point":[184,188],"end_point":[809,634],"distance":767.8157331026762},{"start_region_id":2,"end_region_id":110,"start_point":[184,188],"end_point":[877,165],"distance":693.3815688349381},{"start_region_id":8,"end_region_id":108,"start_point":[652,773],"end_point":[683,79],"distance":694.6920180914706}],"complexity_score":0.6813055027512884}
{"id":10048,"query_id":"Q02010","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach another area of exposed, sandy ground with minimal plant cover. The drone can fly over open liquid surfaces, but must avoid tall vertical structures and dense overhead obstacles. It can traverse grassy or shrub-covered terrain, as well as hard, flat artificial surfaces. The priority is to complete the route in the minimum possible time.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is another area of exposed, sandy ground with minimal plant cover.","task_description":"What is the fastest path for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":8,"start_point":[184,188],"end_point":[652,773],"distance":749.1655357796433},{"start_region_id":8,"end_region_id":2,"start_point":[652,773],"end_point":[184,188],"distance":749.1655357796433},{"start_region_id":3,"end_region_id":8,"start_point":[441,434],"end_point":[652,773],"distance":399.30189080443887},{"start_region_id":8,"end_region_id":3,"start_point":[652,773],"end_point":[441,434],"distance":399.30189080443887},{"start_region_id":3,"end_region_id":2,"start_point":[441,434],"end_point":[184,188],"distance":355.75975039343615}],"complexity_score":0.6813055027512884}
{"id":11179,"query_id":"Q02236","question":"A quadcopter drone starts from a dry, sandy or rocky area and needs to reach another dry, sandy or rocky area. The drone can fly over loose, sandy or rocky ground, vegetation-covered terrain, and liquid surfaces. However, it must avoid flying through dense vertical obstacles like trees or buildings, as they could interfere with flight stability. The goal is to find the most comfortable route, prioritizing surfaces that allow smooth and stable flight while minimizing turbulence or obstacles.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A dry, sandy or rocky area","end_land_type":"Another dry, sandy or rocky area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[2,2,0,0,0,1,2,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":8,"start_point":[184,188],"end_point":[652,773],"distance":749.1655357796433},{"start_region_id":8,"end_region_id":2,"start_point":[652,773],"end_point":[184,188],"distance":749.1655357796433},{"start_region_id":3,"end_region_id":8,"start_point":[441,434],"end_point":[652,773],"distance":399.30189080443887},{"start_region_id":8,"end_region_id":3,"start_point":[652,773],"end_point":[441,434],"distance":399.30189080443887},{"start_region_id":3,"end_region_id":2,"start_point":[441,434],"end_point":[184,188],"distance":355.75975039343615}],"complexity_score":0.6813055027512884}
{"id":13883,"query_id":"Q02777","question":"A hiker is standing on a patch of loose, sandy ground and needs to reach a grassy field. The terrain includes areas of compacted, hard-packed earth and cultivated fields with soft soil. The hiker can walk across the grassy field, the sandy ground, the cultivated fields, and the hard-packed earth. What is the shortest path to the grassy field?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a grassy field","task_description":"What is the shortest path to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":85,"start_point":[441,434],"end_point":[67,887],"distance":587.4393585724403},{"start_region_id":3,"end_region_id":95,"start_point":[441,434],"end_point":[256,959],"distance":556.6417160077027},{"start_region_id":3,"end_region_id":82,"start_point":[441,434],"end_point":[277,805],"distance":405.6316062636145},{"start_region_id":3,"end_region_id":78,"start_point":[441,434],"end_point":[175,718],"distance":389.1169490011968},{"start_region_id":3,"end_region_id":74,"start_point":[441,434],"end_point":[411,687],"distance":254.77244748991205}],"complexity_score":0.6813055027512884}
{"id":14948,"query_id":"Q02990","question":"A hiker is standing in a densely vegetated area with tall, upright structures that provide shade and cover. They need to reach an open expanse of loose, dry soil and scattered rocks with no vegetation. The terrain includes areas of hard, flat surfaces suitable for walking, patches of low, wild grasses and shrubs, and cultivated fields with orderly rows of crops. The hiker can walk through the vegetated areas, cultivated fields, and open loose soil, but must avoid any standing water and cannot enter any constructed shelters or buildings.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"an open expanse of loose, dry soil and scattered rocks with no vegetation","task_description":"What is the shortest path the hiker can take to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":301,"end_region_id":2,"start_point":[623,914],"end_point":[184,188],"distance":848.4085100940466},{"start_region_id":309,"end_region_id":2,"start_point":[484,965],"end_point":[184,188],"distance":832.9039560477546},{"start_region_id":228,"end_region_id":8,"start_point":[148,218],"end_point":[652,773],"distance":749.6939375505181},{"start_region_id":235,"end_region_id":8,"start_point":[81,432],"end_point":[652,773],"distance":665.0729283319237},{"start_region_id":282,"end_region_id":8,"start_point":[41,706],"end_point":[652,773],"distance":614.6625090242612}],"complexity_score":0.6813055027512884}
{"id":16445,"query_id":"Q03289","question":"An aerial survey drone starts from an area of loose, dry soil and scattered rocks and needs to reach another patch of similar loose, dry ground. The drone can fly over areas with low vegetation and bushes, individual or clustered tall vertical obstacles, and liquid surfaces, but must avoid built structures. The drone's rotors can handle flying through gaps in vertical obstacles if necessary, but this slows it down. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks","end_land_type":"needing to reach another patch of similar loose, dry ground","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":8,"start_point":[184,188],"end_point":[652,773],"distance":749.1655357796433},{"start_region_id":8,"end_region_id":2,"start_point":[652,773],"end_point":[184,188],"distance":749.1655357796433},{"start_region_id":3,"end_region_id":8,"start_point":[441,434],"end_point":[652,773],"distance":399.30189080443887},{"start_region_id":8,"end_region_id":3,"start_point":[652,773],"end_point":[441,434],"distance":399.30189080443887},{"start_region_id":3,"end_region_id":2,"start_point":[441,434],"end_point":[184,188],"distance":355.75975039343615}],"complexity_score":0.6813055027512884}
{"id":16804,"query_id":"Q03361","question":"A delivery drone is taking off from a sandy, rocky terrain without vegetation. It needs to land in an open area covered with grass and small bushes. The drone can fly over hard surfaces, cultivated fields, and even liquid surfaces, but it must avoid colliding with tall vertical objects or man-made structures. The drone's flight controller prioritizes smooth, stable airspace to ensure steady navigation and safe package delivery. What is the most comfortable flight path for the delivery drone?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"sandy, rocky terrain without vegetation","end_land_type":"open area covered with grass and small bushes","task_description":"What is the most comfortable flight path for the delivery drone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_45.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":14,"start_point":[652,773],"end_point":[33,111],"distance":906.3139632599732},{"start_region_id":2,"end_region_id":95,"start_point":[184,188],"end_point":[256,959],"distance":774.3545699484184},{"start_region_id":2,"end_region_id":31,"start_point":[184,188],"end_point":[849,550],"distance":757.1452964920273},{"start_region_id":2,"end_region_id":30,"start_point":[184,188],"end_point":[903,400],"distance":749.6032283815218},{"start_region_id":2,"end_region_id":85,"start_point":[184,188],"end_point":[67,887],"distance":708.7242058798331}],"complexity_score":0.6813055027512884}
{"id":7385,"query_id":"Q01477","question":"An aerial surveillance drone starts from a cultivated field with loose soil and vegetation and needs to reach a paved area with a hard, flat surface. The drone can fly over open sandy/rocky terrain, hard artificial surfaces, liquid bodies, and cultivated areas. However, vertical structures and dense vegetation clusters must be avoided due to collision risk. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest path from the cultivated field to the paved area?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"kyoto_11.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":492,"end_region_id":110,"start_point":[833,809],"end_point":[196,31],"distance":1005.5113127160728},{"start_region_id":492,"end_region_id":111,"start_point":[833,809],"end_point":[333,27],"distance":928.1831715776794},{"start_region_id":489,"end_region_id":237,"start_point":[816,384],"end_point":[142,938],"distance":872.4631797388357},{"start_region_id":492,"end_region_id":112,"start_point":[833,809],"end_point":[434,41],"distance":865.4623042050994},{"start_region_id":492,"end_region_id":196,"start_point":[833,809],"end_point":[78,600],"distance":783.3938983678645}],"complexity_score":0.6814555126781551}
{"id":14022,"query_id":"Q02805","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The terrain includes loose, dry soil and rocks, as well as hard, flat surfaces like sidewalks and parking lots. The cultivated fields are accessible for low-altitude flight. However, grassy or shrubby areas, paved roads, wooded areas, water bodies, and structures are not traversable due to restrictions or obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path from the starting cultivated field to the destination cultivated field?","task_type":"Shortest","input_classes":["Bareland","Developed space","Agriculture land"],"traverse_vector":[1,0,1,0,0,0,1,0],"cost_vector":[1,0,1,0,0,0,1,0],"image_name":"kyoto_11.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":492,"end_region_id":489,"start_point":[833,809],"end_point":[816,384],"distance":425.3398641086913},{"start_region_id":489,"end_region_id":492,"start_point":[816,384],"end_point":[833,809],"distance":425.3398641086913}],"complexity_score":0.6814555126781551}
{"id":4036,"query_id":"Q00808","question":"A quadcopter starts from a cultivated field and needs to reach another cultivated field while prioritizing a smooth and stable flying experience. You can traverse areas with loose, dry soil and rocks; grassy or shrub-covered ground; hard, paved surfaces; vehicle lanes and streets; other cultivated fields; and wooded areas. However, you cannot fly over any liquid surfaces or through any structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"shanghai_34.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":108,"start_point":[240,569],"end_point":[544,482],"distance":316.2040480449294},{"start_region_id":108,"end_region_id":109,"start_point":[544,482],"end_point":[240,569],"distance":316.2040480449294}],"complexity_score":0.681565127819936}
{"id":4792,"query_id":"Q00959","question":"A quadcopter drone is hovering above a crop field and needs to reach a paved sports court. The drone can fly over soft soil, hard surfaces, and vehicle lanes, but must avoid flying through dense tree canopies or inside buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a crop field","end_land_type":"a paved sports court","task_description":"What is the shortest path from the crop field to the paved sports court?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_34.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":55,"start_point":[544,482],"end_point":[53,459],"distance":491.5384013482568},{"start_region_id":108,"end_region_id":57,"start_point":[544,482],"end_point":[190,477],"distance":354.0353089735542},{"start_region_id":109,"end_region_id":42,"start_point":[240,569],"end_point":[367,282],"distance":313.84391024839084},{"start_region_id":108,"end_region_id":42,"start_point":[544,482],"end_point":[367,282],"distance":267.0748958625651},{"start_region_id":109,"end_region_id":55,"start_point":[240,569],"end_point":[53,459],"distance":216.9539121564762}],"complexity_score":0.681565127819936}
{"id":7583,"query_id":"Q01517","question":"A delivery drone is hovering above a paved lane and needs to reach a cultivated field. The drone must prioritize safety, minimizing risks such as collisions or signal interference. While the paved lane provides an open airspace, the cultivated field consists of soft, tilled soil below. Dense clusters of tall vegetation with vertical trunks are present and can be flown over or around, but structures with solid roofs and walls are absent from the area. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest flight path for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"shanghai_34.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":109,"start_point":[361,95],"end_point":[240,569],"distance":489.2003679475313},{"start_region_id":62,"end_region_id":108,"start_point":[361,95],"end_point":[544,482],"distance":428.08643986933293},{"start_region_id":67,"end_region_id":108,"start_point":[151,472],"end_point":[544,482],"distance":393.1272058761642},{"start_region_id":63,"end_region_id":109,"start_point":[513,359],"end_point":[240,569],"distance":344.4256088039912},{"start_region_id":68,"end_region_id":109,"start_point":[524,602],"end_point":[240,569],"distance":285.91082525850607}],"complexity_score":0.681565127819936}
{"id":1488,"query_id":"Q00298","question":"An aerial survey drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over liquid surfaces and vertical obstacles, but flying through dense vertical obstacles increases collision risk. The drone must avoid any terrain that could cause loss of control or damage. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"rotterdam_25.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":41,"start_point":[838,544],"end_point":[49,649],"distance":795.9560289362723},{"start_region_id":68,"end_region_id":39,"start_point":[838,544],"end_point":[237,715],"distance":624.8535828496144},{"start_region_id":63,"end_region_id":41,"start_point":[658,533],"end_point":[49,649],"distance":619.9491914665266},{"start_region_id":68,"end_region_id":31,"start_point":[838,544],"end_point":[265,476],"distance":577.0207968522452},{"start_region_id":68,"end_region_id":20,"start_point":[838,544],"end_point":[376,281],"distance":531.6135814668395}],"complexity_score":0.6816200497958482}
{"id":5595,"query_id":"Q01119","question":"A quadcopter drone is launched from a grassy, open field and needs to reach another grassy, open field. The terrain includes grassy areas with low vegetation and a paved, hard surface lane. The drone must avoid any areas with dense vertical obstacles or standing liquid. The operator's priority is to minimize risk of collision or signal interference.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, open field","end_land_type":"Another grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"austin_27.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":21,"start_point":[850,84],"end_point":[33,420],"distance":883.3940230723774},{"start_region_id":21,"end_region_id":2,"start_point":[33,420],"end_point":[850,84],"distance":883.3940230723774},{"start_region_id":19,"end_region_id":2,"start_point":[130,388],"end_point":[850,84],"distance":781.547183476468},{"start_region_id":2,"end_region_id":19,"start_point":[850,84],"end_point":[130,388],"distance":781.547183476468},{"start_region_id":14,"end_region_id":2,"start_point":[126,289],"end_point":[850,84],"distance":752.4632881410229}],"complexity_score":0.6816528771571226}
{"id":16834,"query_id":"Q03367","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a grassy, open field as quickly as possible. The drone can fly over liquid surfaces, but must avoid any vertical obstacles like trees or structures. The paved areas and grassy fields are fully accessible, while liquid surfaces are permissible for overflight. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open field","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"austin_27.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":26,"start_point":[951,791],"end_point":[132,662],"distance":829.0970992591881},{"start_region_id":52,"end_region_id":21,"start_point":[839,308],"end_point":[33,420],"distance":813.7444316245734},{"start_region_id":52,"end_region_id":19,"start_point":[839,308],"end_point":[130,388],"distance":713.4991240359024},{"start_region_id":52,"end_region_id":14,"start_point":[839,308],"end_point":[126,289],"distance":713.2531107538193},{"start_region_id":63,"end_region_id":41,"start_point":[59,791],"end_point":[754,837],"distance":696.5206386030496}],"complexity_score":0.6816528771571226}
{"id":1705,"query_id":"Q00341","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an exposed, loose soil and rock surface while prioritizing a smooth and stable flight. The drone can fly over areas with short vegetation or bushes, liquid surfaces, and cultivated fields, but must avoid tall vertical obstacles and solid structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"exposed, loose soil and rock surface","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":14,"start_point":[418,362],"end_point":[110,613],"distance":397.32228731849415},{"start_region_id":39,"end_region_id":1,"start_point":[418,362],"end_point":[96,30],"distance":462.50189188802244},{"start_region_id":39,"end_region_id":11,"start_point":[418,362],"end_point":[95,487],"distance":346.3437598687177},{"start_region_id":39,"end_region_id":13,"start_point":[418,362],"end_point":[440,607],"distance":245.98577194626523},{"start_region_id":39,"end_region_id":4,"start_point":[418,362],"end_point":[130,254],"distance":307.58413483143113}],"complexity_score":0.6816607556414153}
{"id":4073,"query_id":"Q00815","question":"An aerial survey drone starts from loose, sandy ground and needs to reach a flat, paved surface. The drone can fly over open sandy or rocky areas, paved surfaces, vehicle lanes, liquid bodies, and cultivated fields. It can also pass near vertical structures if necessary, but must avoid dense clusters of tall vegetation that could entangle its rotors. The drone's priority is to minimize risk of collision, loss of control, or damage. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"loose, sandy ground","end_land_type":"flat, paved surface","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,0,1,1,0,1,1,1],"cost_vector":[2,0,2,2,0,1,2,1],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":16,"start_point":[110,613],"end_point":[613,40],"distance":762.455244588166},{"start_region_id":11,"end_region_id":16,"start_point":[95,487],"end_point":[613,40],"distance":684.2024554179852},{"start_region_id":3,"end_region_id":30,"start_point":[577,75],"end_point":[100,502],"distance":640.2015307698038},{"start_region_id":13,"end_region_id":16,"start_point":[440,607],"end_point":[613,40],"distance":592.8051956587425},{"start_region_id":3,"end_region_id":18,"start_point":[577,75],"end_point":[48,268],"distance":563.1074497820109}],"complexity_score":0.6816607556414153}
{"id":4090,"query_id":"Q00818","question":"A delivery drone takes off from a hard, artificial surface and is programmed to land in a dry, vegetation-free zone of sand and rock. The mission priority is to follow the safest possible flight path, minimizing exposure to potential hazards. The drone can freely fly over open ground, grassy areas, paved zones, vehicle lanes, and cultivated fields. It may also pass near vertical structures or over liquid surfaces, but these areas are considered higher risk. However, flying directly through dense clusters of tall vegetation is prohibited due to collision risk. Identify the safest aerial route.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a hard, artificial surface","end_land_type":"a dry, vegetation-free zone of sand and rock","task_description":"Identify the safest aerial route.","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":14,"start_point":[613,40],"end_point":[110,613],"distance":762.455244588166},{"start_region_id":16,"end_region_id":11,"start_point":[613,40],"end_point":[95,487],"distance":684.2024554179852},{"start_region_id":30,"end_region_id":3,"start_point":[100,502],"end_point":[577,75],"distance":640.2015307698038},{"start_region_id":16,"end_region_id":13,"start_point":[613,40],"end_point":[440,607],"distance":592.8051956587425},{"start_region_id":18,"end_region_id":3,"start_point":[48,268],"end_point":[577,75],"distance":563.1074497820109}],"complexity_score":0.6816607556414153}
{"id":6414,"query_id":"Q01283","question":"A quadcopter drone is hovering over a patch of loose, sandy ground and needs to reach a paved, hard surface. The area contains loose soil and rocky terrain, grassy and shrub-covered patches, smooth artificial surfaces like sidewalks and parking lots, vehicle lanes made of asphalt or concrete, and clusters of tall vegetation with vertical obstacles. The drone can traverse all terrain types except clusters of tall vegetation and vertical structures, which are only passable if there is sufficient clearance to avoid collisions. Liquid bodies are traversable by default. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved, hard surface","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":16,"start_point":[110,613],"end_point":[613,40],"distance":762.455244588166},{"start_region_id":11,"end_region_id":16,"start_point":[95,487],"end_point":[613,40],"distance":684.2024554179852},{"start_region_id":3,"end_region_id":30,"start_point":[577,75],"end_point":[100,502],"distance":640.2015307698038},{"start_region_id":13,"end_region_id":16,"start_point":[440,607],"end_point":[613,40],"distance":592.8051956587425},{"start_region_id":3,"end_region_id":18,"start_point":[577,75],"end_point":[48,268],"distance":563.1074497820109}],"complexity_score":0.6816607556414153}
{"id":6453,"query_id":"Q01291","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a wide, paved lane used by vehicles. The drone must avoid any tall, dense vegetation or solid vertical structures that could cause collisions. The drone can fly over open areas with short vegetation, hard flat surfaces, liquid bodies, and cultivated fields. The path must prioritize terrain that minimizes the risk of loss of control or damage to the drone.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks.","end_land_type":"The destination is a wide, paved lane used by vehicles.","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":39,"start_point":[110,613],"end_point":[418,362],"distance":397.32228731849415},{"start_region_id":1,"end_region_id":39,"start_point":[96,30],"end_point":[418,362],"distance":462.50189188802244},{"start_region_id":11,"end_region_id":39,"start_point":[95,487],"end_point":[418,362],"distance":346.3437598687177},{"start_region_id":13,"end_region_id":39,"start_point":[440,607],"end_point":[418,362],"distance":245.98577194626523},{"start_region_id":4,"end_region_id":39,"start_point":[130,254],"end_point":[418,362],"distance":307.58413483143113}],"complexity_score":0.6816607556414153}
{"id":7804,"query_id":"Q01561","question":"A quadcopter drone is operating in an area where the ground is primarily loose, sandy, and uneven, but there are also hard, paved surfaces, liquid bodies, and cultivated fields. The drone starts on a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The drone can fly over all surfaces except vertical structures like trees and buildings, which are blocked. For a smooth and stable flight that minimizes vibrations and ensures predictable handling, what is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"another patch of loose, sandy ground","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":14,"start_point":[577,75],"end_point":[110,613],"distance":712.4135035216556},{"start_region_id":14,"end_region_id":3,"start_point":[110,613],"end_point":[577,75],"distance":712.4135035216556},{"start_region_id":13,"end_region_id":1,"start_point":[440,607],"end_point":[96,30],"distance":671.7626068783525},{"start_region_id":1,"end_region_id":13,"start_point":[96,30],"end_point":[440,607],"distance":671.7626068783525},{"start_region_id":3,"end_region_id":11,"start_point":[577,75],"end_point":[95,487],"distance":634.0883219236891}],"complexity_score":0.6816607556414153}
{"id":10024,"query_id":"Q02005","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a destination on dry, loose soil without vegetation. The drone can fly over open liquid surfaces and areas with low, sparse vegetation, but must avoid dense vertical obstacles and solid structures. The drone's flight path should prioritize terrains that allow maximum and most stable flight speed.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"dry, loose soil without vegetation","task_description":"What is the fastest path for the drone to reach its destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":14,"start_point":[613,40],"end_point":[110,613],"distance":762.455244588166},{"start_region_id":16,"end_region_id":11,"start_point":[613,40],"end_point":[95,487],"distance":684.2024554179852},{"start_region_id":30,"end_region_id":3,"start_point":[100,502],"end_point":[577,75],"distance":640.2015307698038},{"start_region_id":16,"end_region_id":13,"start_point":[613,40],"end_point":[440,607],"distance":592.8051956587425},{"start_region_id":18,"end_region_id":3,"start_point":[48,268],"end_point":[577,75],"distance":563.1074497820109}],"complexity_score":0.6816607556414153}
{"id":10716,"query_id":"Q02144","question":"A quadcopter drone starts from a concrete platform and needs to reach a sandy open area. The drone operator prioritizes flight comfort, seeking to minimize turbulence and sudden maneuvers. The drone can fly over most surfaces including paved areas, grassy fields, and open sandy terrain with equal comfort. However, flying through dense tree canopies requires careful navigation and reduces comfort due to obstacle avoidance maneuvers. The drone must avoid any contact with water surfaces or structures. What is the most comfortable route to reach the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"concrete platform","end_land_type":"sandy open area","task_description":"What is the most comfortable route to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":14,"start_point":[613,40],"end_point":[110,613],"distance":762.455244588166},{"start_region_id":16,"end_region_id":11,"start_point":[613,40],"end_point":[95,487],"distance":684.2024554179852},{"start_region_id":30,"end_region_id":3,"start_point":[100,502],"end_point":[577,75],"distance":640.2015307698038},{"start_region_id":16,"end_region_id":13,"start_point":[613,40],"end_point":[440,607],"distance":592.8051956587425},{"start_region_id":18,"end_region_id":3,"start_point":[48,268],"end_point":[577,75],"distance":563.1074497820109}],"complexity_score":0.6816607556414153}
{"id":11819,"query_id":"Q02364","question":"An off-road vehicle starts from uneven, rocky terrain and needs to reach another area of uneven, rocky terrain. The terrain includes hard, flat surfaces like parking lots and sidewalks, as well as paved lanes for vehicles. All other terrain types are not traversable. What is the shortest path?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"uneven, rocky terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":14,"start_point":[577,75],"end_point":[110,613],"distance":712.4135035216556},{"start_region_id":14,"end_region_id":3,"start_point":[110,613],"end_point":[577,75],"distance":712.4135035216556},{"start_region_id":13,"end_region_id":1,"start_point":[440,607],"end_point":[96,30],"distance":671.7626068783525},{"start_region_id":1,"end_region_id":13,"start_point":[96,30],"end_point":[440,607],"distance":671.7626068783525},{"start_region_id":3,"end_region_id":11,"start_point":[577,75],"end_point":[95,487],"distance":634.0883219236891}],"complexity_score":0.6816607556414153}
{"id":14017,"query_id":"Q02804","question":"A quadcopter starts from an area of exposed, sandy soil and needs to reach another patch of similar loose, dry ground. The environment includes open expanses of bare earth and rock, grassy fields with shrubs, flat paved surfaces, cultivated fields, and water bodies. You must avoid any trees and buildings. What is the shortest route?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest route from the starting bare soil to the destination bare soil?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":14,"start_point":[577,75],"end_point":[110,613],"distance":712.4135035216556},{"start_region_id":14,"end_region_id":3,"start_point":[110,613],"end_point":[577,75],"distance":712.4135035216556},{"start_region_id":13,"end_region_id":1,"start_point":[440,607],"end_point":[96,30],"distance":671.7626068783525},{"start_region_id":1,"end_region_id":13,"start_point":[96,30],"end_point":[440,607],"distance":671.7626068783525},{"start_region_id":3,"end_region_id":11,"start_point":[577,75],"end_point":[95,487],"distance":634.0883219236891}],"complexity_score":0.6816607556414153}
{"id":16630,"query_id":"Q03326","question":"An aerial surveillance drone starts from a flat, dry expanse of loose soil and rocks and needs to complete a monitoring mission. The drone can fly over open ground with sparse vegetation, areas with scattered bushes and grass, and even cross over calm liquid surfaces. However, it must avoid any tall, dense vertical obstacles that could pose collision risks. The mission requires the drone to return to a similar open, solid ground area. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a flat, dry expanse of loose soil and rocks","end_land_type":"and must return to a similar open, solid ground area.","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"khartoum_31.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":14,"start_point":[577,75],"end_point":[110,613],"distance":712.4135035216556},{"start_region_id":14,"end_region_id":3,"start_point":[110,613],"end_point":[577,75],"distance":712.4135035216556},{"start_region_id":13,"end_region_id":1,"start_point":[440,607],"end_point":[96,30],"distance":671.7626068783525},{"start_region_id":1,"end_region_id":13,"start_point":[96,30],"end_point":[440,607],"distance":671.7626068783525},{"start_region_id":3,"end_region_id":11,"start_point":[577,75],"end_point":[95,487],"distance":634.0883219236891}],"complexity_score":0.6816607556414153}
{"id":1268,"query_id":"Q00254","question":"An off-road vehicle starts from a grassy field and needs to reach another grassy field area. The terrain includes paved lanes for vehicles, cultivated crop fields, and open grassy areas with shrubs. The crop fields are currently fallow with dry, packed soil that is firm enough to drive on, and the grassy areas have low vegetation that won't obstruct vehicle clearance. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_14.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":10,"start_point":[884,923],"end_point":[344,58],"distance":1019.7180982997213},{"start_region_id":10,"end_region_id":186,"start_point":[344,58],"end_point":[884,923],"distance":1019.7180982997213},{"start_region_id":173,"end_region_id":10,"start_point":[351,891],"end_point":[344,58],"distance":833.0294112454853},{"start_region_id":10,"end_region_id":173,"start_point":[344,58],"end_point":[351,891],"distance":833.0294112454853},{"start_region_id":186,"end_region_id":28,"start_point":[884,923],"end_point":[450,219],"distance":827.025997173003}],"complexity_score":0.6817755730883001}
{"id":8153,"query_id":"Q01631","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface area as quickly as possible. The drone can fly over loose, sandy ground; grassy or shrub-covered areas; liquid surfaces; and cultivated fields with crops. However, it must avoid areas with tall, dense vertical obstacles that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the fastest route for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"muenster_14.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":412,"start_point":[855,72],"end_point":[389,936],"distance":981.6577815104406},{"start_region_id":412,"end_region_id":240,"start_point":[389,936],"end_point":[855,72],"distance":981.6577815104406},{"start_region_id":258,"end_region_id":412,"start_point":[934,194],"end_point":[389,936],"distance":920.6459688718569},{"start_region_id":412,"end_region_id":258,"start_point":[389,936],"end_point":[934,194],"distance":920.6459688718569},{"start_region_id":233,"end_region_id":356,"start_point":[148,167],"end_point":[922,668],"distance":921.9962038967406}],"complexity_score":0.6817755730883001}
{"id":12678,"query_id":"Q02536","question":"An off-road vehicle starts from a paved, hard surface area and needs to reach a grassy, open field. The vehicle can traverse paved surfaces, vehicle lanes, and cultivated fields, but must avoid any areas with dense vegetation, liquid, or vertical structures. The grassy field is accessible because it is firm and clear. What is the safest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface area","end_land_type":"a grassy, open field","task_description":"What is the safest path for the off-road vehicle to take from the paved area to the grassy field?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"muenster_14.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":186,"start_point":[148,167],"end_point":[884,923],"distance":1055.0980997044778},{"start_region_id":240,"end_region_id":173,"start_point":[855,72],"end_point":[351,891],"distance":961.6532639158461},{"start_region_id":235,"end_region_id":186,"start_point":[535,41],"end_point":[884,923],"distance":948.538349251099},{"start_region_id":277,"end_region_id":186,"start_point":[149,378],"end_point":[884,923],"distance":915.0136611002046},{"start_region_id":258,"end_region_id":173,"start_point":[934,194],"end_point":[351,891],"distance":908.6792613458282}],"complexity_score":0.6817755730883001}
{"id":14903,"query_id":"Q02981","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a cluster of tall trees. The terrain includes areas of loose, sandy soil; patches of dense shrubs and wild grasses; hard, paved surfaces; and cultivated crop fields. However, all water bodies and structures are completely impassable. You must find the safest path that minimizes risk while traveling.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a cluster of tall trees","task_description":"What is the safest route to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"muenster_14.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":467,"start_point":[884,923],"end_point":[59,51],"distance":1200.4203430465514},{"start_region_id":172,"end_region_id":474,"start_point":[169,849],"end_point":[950,64],"distance":1107.3328316274199},{"start_region_id":173,"end_region_id":474,"start_point":[351,891],"end_point":[950,64],"distance":1021.1415181060851},{"start_region_id":172,"end_region_id":473,"start_point":[169,849],"end_point":[781,25],"distance":1026.4112236331011},{"start_region_id":107,"end_region_id":474,"start_point":[151,633],"end_point":[950,64],"distance":980.8985676409156}],"complexity_score":0.6817755730883001}
{"id":2147,"query_id":"Q00430","question":"A hiker is starting from a densely vegetated area with tall plants casting shadows and needs to reach a flat, hard-surfaced area. The hiker can traverse areas with hard, paved surfaces and vehicle lanes, as well as cultivated fields with planted crops. The densely vegetated areas are passable since the vegetation is not too thick to walk through. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall plants casting shadows","end_land_type":"a flat, hard-surfaced area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"vienna_56.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":79,"start_point":[397,918],"end_point":[878,71],"distance":974.0482534248496},{"start_region_id":212,"end_region_id":79,"start_point":[248,789],"end_point":[878,71],"distance":955.2088776806883},{"start_region_id":251,"end_region_id":75,"start_point":[397,918],"end_point":[236,37],"distance":895.5903081208505},{"start_region_id":179,"end_region_id":116,"start_point":[308,237],"end_point":[941,839],"distance":873.5519446489716},{"start_region_id":251,"end_region_id":83,"start_point":[397,918],"end_point":[184,71],"distance":873.371627659154}],"complexity_score":0.6818034078935739}
{"id":6057,"query_id":"Q01212","question":"A quadcopter drone starts from a flat, hard surface area and needs to reach a paved lane as quickly as possible. The drone can traverse bare, sandy or rocky ground, grassy or shrub-covered terrain, paved or compacted surfaces, vehicle lanes, and areas with individual trees or small groups of trees, as these offer open airspace for flight. However, water bodies and buildings are conditionally traversable only if explicitly allowed; here, they are not traversable due to restricted flight zones. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard surface area","end_land_type":"a paved lane","task_description":"What is the fastest path from the flat, hard surface area to the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"vienna_56.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":147,"start_point":[941,839],"end_point":[248,59],"distance":1043.3834386264716},{"start_region_id":129,"end_region_id":147,"start_point":[755,911],"end_point":[248,59],"distance":991.4398620188721},{"start_region_id":116,"end_region_id":169,"start_point":[941,839],"end_point":[141,451],"distance":889.1254129761447},{"start_region_id":104,"end_region_id":147,"start_point":[945,579],"end_point":[248,59],"distance":869.6027828842316},{"start_region_id":79,"end_region_id":169,"start_point":[878,71],"end_point":[141,451],"distance":829.1978051104574}],"complexity_score":0.6818034078935739}
{"id":6788,"query_id":"Q01358","question":"An aerial photography drone starts from a flat, paved surface and needs to reach another flat, paved surface while maintaining stable flight for clear image capture. The drone can fly over areas with tall, dense vegetation that could cause turbulence, and it can also cross over liquid surfaces that might create updrafts or downdrafts. However, the drone's flight controller prioritizes smooth, predictable air currents to minimize camera shake. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"vienna_56.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":75,"start_point":[941,839],"end_point":[236,37],"distance":1067.8150588936269},{"start_region_id":75,"end_region_id":116,"start_point":[236,37],"end_point":[941,839],"distance":1067.8150588936269},{"start_region_id":115,"end_region_id":79,"start_point":[132,805],"end_point":[878,71],"distance":1046.5524353800913},{"start_region_id":79,"end_region_id":115,"start_point":[878,71],"end_point":[132,805],"distance":1046.5524353800913},{"start_region_id":83,"end_region_id":116,"start_point":[184,71],"end_point":[941,839],"distance":1078.3658933775678}],"complexity_score":0.6818034078935739}
{"id":11079,"query_id":"Q02216","question":"A delivery drone starts from a concrete surface and needs to reach a grassy field. The drone can fly over hard surfaces, vehicle lanes, grassy areas, wooded patches, and liquid surfaces. However. The drone must avoid all vertical structures. The drone's priority is to minimize risk during flight.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"concrete surface","end_land_type":"grassy field","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"vienna_56.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":49,"start_point":[878,71],"end_point":[89,885],"distance":1133.6300101885095},{"start_region_id":115,"end_region_id":2,"start_point":[132,805],"end_point":[960,35],"distance":1130.700667727759},{"start_region_id":75,"end_region_id":60,"start_point":[236,37],"end_point":[820,959],"distance":1091.3936045258831},{"start_region_id":79,"end_region_id":52,"start_point":[878,71],"end_point":[214,915],"distance":1073.8863999511307},{"start_region_id":83,"end_region_id":60,"start_point":[184,71],"end_point":[820,959],"distance":1092.2637044230664}],"complexity_score":0.6818034078935739}
{"id":15783,"query_id":"Q03157","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved, flat area such as a sidewalk or parking lot. The terrain includes areas with loose soil and natural ground cover, cultivated fields with soft earth, and patches of dense vegetation with uneven footing. You must avoid any liquid surfaces and vertical structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a grassy, open field with scattered low vegetation","end_land_type":"a paved, flat area such as a sidewalk or parking lot","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"vienna_56.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":79,"start_point":[89,885],"end_point":[878,71],"distance":1133.6300101885095},{"start_region_id":2,"end_region_id":115,"start_point":[960,35],"end_point":[132,805],"distance":1130.700667727759},{"start_region_id":60,"end_region_id":75,"start_point":[820,959],"end_point":[236,37],"distance":1091.3936045258831},{"start_region_id":52,"end_region_id":79,"start_point":[214,915],"end_point":[878,71],"distance":1073.8863999511307},{"start_region_id":60,"end_region_id":83,"start_point":[820,959],"end_point":[184,71],"distance":1092.2637044230664}],"complexity_score":0.6818034078935739}
{"id":703,"query_id":"Q00141","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, hard-surfaced area. The drone can fly over loose, rocky ground, flat hard surfaces, paved lanes, and areas with tall vegetation, but must avoid collisions with solid structures. The goal is to find the path that minimizes risk while reaching the destination.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"buenos_aires_9.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":279,"end_region_id":185,"start_point":[659,915],"end_point":[37,254],"distance":907.6370419942103},{"start_region_id":279,"end_region_id":163,"start_point":[659,915],"end_point":[201,149],"distance":892.4796916456979},{"start_region_id":279,"end_region_id":147,"start_point":[659,915],"end_point":[693,72],"distance":843.685367894928},{"start_region_id":279,"end_region_id":160,"start_point":[659,915],"end_point":[364,139],"distance":830.1813054989856},{"start_region_id":279,"end_region_id":156,"start_point":[659,915],"end_point":[958,151],"distance":820.4248899198512}],"complexity_score":0.6818071971892382}
{"id":8758,"query_id":"Q01752","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain while prioritizing safety. The hiker can traverse areas with loose soil and rocks, as well as paved, hard surfaces, but must avoid any liquid surfaces or vertical structures. The hiker is allowed to walk on grassy, uneven terrain only if it is not too dense or obstructed. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,4,3,0,0,0,0],"image_name":"buenos_aires_9.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":130,"start_point":[48,188],"end_point":[998,935],"distance":1208.5152047036893},{"start_region_id":130,"end_region_id":27,"start_point":[998,935],"end_point":[48,188],"distance":1208.5152047036893},{"start_region_id":31,"end_region_id":130,"start_point":[146,196],"end_point":[998,935],"distance":1127.8408575681233},{"start_region_id":130,"end_region_id":31,"start_point":[998,935],"end_point":[146,196],"distance":1127.8408575681233},{"start_region_id":27,"end_region_id":127,"start_point":[48,188],"end_point":[884,919],"distance":1110.5210488775078}],"complexity_score":0.6818071971892382}
{"id":13232,"query_id":"Q02647","question":"A delivery 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, sandy or rocky ground, grassy or shrub-covered areas, cultivated fields, and liquid surfaces. The drone can also navigate around vertical structures if necessary, but must avoid wooded areas with trees due to collision risk with branches. The drone seeks the path that minimizes risk of crashes or signal interference.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard surface area","end_land_type":"Another paved, hard surface area","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"buenos_aires_9.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":156,"start_point":[220,969],"end_point":[958,151],"distance":1101.7113959653861},{"start_region_id":156,"end_region_id":261,"start_point":[958,151],"end_point":[220,969],"distance":1101.7113959653861},{"start_region_id":245,"end_region_id":185,"start_point":[966,804],"end_point":[37,254],"distance":1079.6022415686252},{"start_region_id":185,"end_region_id":245,"start_point":[37,254],"end_point":[966,804],"distance":1079.6022415686252},{"start_region_id":231,"end_region_id":185,"start_point":[974,653],"end_point":[37,254],"distance":1018.4154358610242}],"complexity_score":0.6818071971892382}
{"id":10097,"query_id":"Q02020","question":"An aerial surveillance drone is positioned within a cluster of tall, leafy vegetation. It needs to reach an open area covered with low, dense shrubs and grasses. The drone must avoid any liquid surfaces and man-made structures. The terrain includes rough, loose soil areas and hard, flat paved surfaces. The drone is permitted to fly through the vegetation cluster only if it can maintain a safe altitude to navigate between branches without collision. The objective is to find the path that minimizes the risk of damage or loss of control.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cluster of tall, leafy vegetation","end_land_type":"An open area covered with low, dense shrubs and grasses","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"melbourne_5.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":73,"start_point":[760,266],"end_point":[18,926],"distance":993.0579036491276},{"start_region_id":186,"end_region_id":8,"start_point":[346,860],"end_point":[844,71],"distance":933.0192924050392},{"start_region_id":120,"end_region_id":76,"start_point":[248,36],"end_point":[217,964],"distance":928.5176358045118},{"start_region_id":183,"end_region_id":1,"start_point":[711,829],"end_point":[140,107],"distance":920.5025801158843},{"start_region_id":120,"end_region_id":73,"start_point":[248,36],"end_point":[18,926],"distance":919.2388155425118}],"complexity_score":0.6818556170525699}
{"id":17187,"query_id":"Q03438","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or tennis court. The drone can fly over areas with loose soil, low vegetation, and hard surfaces, but must avoid trees and buildings unless necessary. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or tennis court","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"melbourne_5.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":81,"start_point":[449,873],"end_point":[48,220],"distance":766.2962873458281},{"start_region_id":115,"end_region_id":103,"start_point":[329,303],"end_point":[764,921],"distance":755.7440042765804},{"start_region_id":116,"end_region_id":82,"start_point":[449,873],"end_point":[559,128],"distance":753.077021293307},{"start_region_id":115,"end_region_id":101,"start_point":[329,303],"end_point":[619,908],"distance":670.9135562797937},{"start_region_id":116,"end_region_id":93,"start_point":[449,873],"end_point":[827,386],"distance":616.4843874746546}],"complexity_score":0.6818556170525699}
{"id":5524,"query_id":"Q01105","question":"A survey drone takes off from a grassy field and must land in another grassy field after flying over a forested zone. To ensure safety, the drone must avoid liquid surfaces, vertical obstacles like dense trees or buildings, and any hard, paved areas that could cause signal interference or collision risks. The forested zone is traversable because the trees are widely spaced, allowing safe flight between them. What is the safest path?","agent_category":"Drone","specific_agent":"Survey drone","start_land_type":"Rangeland","end_land_type":"Rangeland","task_description":"What is the safest path for the survey drone to land in the grassy field after flying over the forested zone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"muenster_34.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":160,"start_point":[961,139],"end_point":[729,876],"distance":772.6532210506858},{"start_region_id":160,"end_region_id":26,"start_point":[729,876],"end_point":[961,139],"distance":772.6532210506858},{"start_region_id":26,"end_region_id":90,"start_point":[961,139],"end_point":[841,513],"distance":392.77983654968847},{"start_region_id":90,"end_region_id":26,"start_point":[841,513],"end_point":[961,139],"distance":392.77983654968847},{"start_region_id":160,"end_region_id":90,"start_point":[729,876],"end_point":[841,513],"distance":379.8855090681928}],"complexity_score":0.6819034288417137}
{"id":14967,"query_id":"Q02994","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The terrain includes areas of loose, sandy soil and rocky ground; flat, hard surfaces like sidewalks and parking lots; dense clusters of tall vegetation; and cultivated fields with crops. The hiker can traverse the grassy fields, cultivated areas, and loose ground, but must avoid any bodies of water and all structures. The hard surfaces are available for use. The dense vegetation can be entered if necessary, but it presents obstacles and reduced visibility. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"muenster_34.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":160,"start_point":[37,31],"end_point":[729,876],"distance":1092.1945797338494},{"start_region_id":160,"end_region_id":1,"start_point":[729,876],"end_point":[37,31],"distance":1092.1945797338494},{"start_region_id":165,"end_region_id":26,"start_point":[197,909],"end_point":[961,139],"distance":1084.7100995196827},{"start_region_id":26,"end_region_id":165,"start_point":[961,139],"end_point":[197,909],"distance":1084.7100995196827},{"start_region_id":36,"end_region_id":160,"start_point":[57,169],"end_point":[729,876],"distance":975.4142709638812}],"complexity_score":0.6819034288417137}
{"id":16990,"query_id":"Q03398","question":"A hiker starts from an area of natural, uncultivated vegetation and shrubs and needs to reach a paved, hard-surface area. The vegetation-covered ground is dry and firm enough to walk on, and the trees are sparse enough to pass between without obstruction. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest route from the starting point to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_34.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":310,"start_point":[37,31],"end_point":[912,875],"distance":1215.714193385929},{"start_region_id":1,"end_region_id":312,"start_point":[37,31],"end_point":[841,913],"distance":1193.4571630351884},{"start_region_id":36,"end_region_id":310,"start_point":[57,169],"end_point":[912,875],"distance":1108.8106240472266},{"start_region_id":36,"end_region_id":312,"start_point":[57,169],"end_point":[841,913],"distance":1080.8293112235622},{"start_region_id":165,"end_region_id":193,"start_point":[197,909],"end_point":[794,64],"distance":1034.6178038290275}],"complexity_score":0.6819034288417137}
{"id":1393,"query_id":"Q00279","question":"A quadcopter starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes grassy expanses with low vegetation and cultivated fields with soft soil. The drone can fly over these surfaces, but must avoid densely packed vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path for the quadcopter to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"austin_23.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":88,"start_point":[514,354],"end_point":[979,930],"distance":740.2708963615954},{"start_region_id":88,"end_region_id":85,"start_point":[979,930],"end_point":[514,354],"distance":740.2708963615954}],"complexity_score":0.681928022791477}
{"id":187,"query_id":"Q00038","question":"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 buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the shortest path for the aerial survey drone to reach the destination grassy, open field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_21.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":24,"start_point":[56,160],"end_point":[384,368],"distance":388.3915550060274},{"start_region_id":24,"end_region_id":5,"start_point":[384,368],"end_point":[56,160],"distance":388.3915550060274},{"start_region_id":3,"end_region_id":22,"start_point":[364,110],"end_point":[102,314],"distance":332.05421244128195},{"start_region_id":22,"end_region_id":3,"start_point":[102,314],"end_point":[364,110],"distance":332.05421244128195},{"start_region_id":3,"end_region_id":5,"start_point":[364,110],"end_point":[56,160],"distance":312.03204963593083}],"complexity_score":0.6819727092888594}
{"id":4638,"query_id":"Q00928","question":"A quadcopter drone starts from a paved road and needs to reach another paved road as quickly as possible. The terrain includes hard, flat surfaces, loose sandy or rocky ground, cultivated fields with crops, and areas with dense tall vegetation. However. The drone must avoid flying over any water bodies or structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Road","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"rio_21.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":41,"start_point":[401,250],"end_point":[82,58],"distance":372.3237838226293}],"complexity_score":0.6819727092888594}
{"id":8954,"query_id":"Q01791","question":"A family sedan is starting from a paved, smooth road surface and needs to reach another paved, smooth road surface. The sedan must maintain a comfortable ride, so it should avoid any rough or uneven terrain. The vehicle can only travel on hard, stable surfaces like paved roads, or on flat, compacted ground that is firm and even enough to not cause discomfort. Loose, sandy areas or soft, vegetated ground that could be bumpy are not allowed. What is the most comfortable path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved, smooth road surface","end_land_type":"another paved, smooth road surface","task_description":"What is the most comfortable path for the family sedan to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"rio_21.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":41,"start_point":[57,79],"end_point":[367,270],"distance":364.1167395218188}],"complexity_score":0.6819727092888594}
{"id":9408,"query_id":"Q01882","question":"A quadcopter drone starts from a vegetated area with tall, dense foliage and needs to reach another vegetated area with tall, dense foliage. The drone can fly over loose, sandy or rocky ground; open grassy or shrub-covered terrain; hard, paved surfaces; vehicle lanes; liquid bodies; and cultivated fields with crops. However, flying through dense vegetation is slower due to navigation challenges and potential collisions. The drone cannot pass through solid vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, dense foliage","end_land_type":"a vegetated area with tall, dense foliage","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"rio_21.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":83,"start_point":[322,135],"end_point":[297,379],"distance":245.27739398485136},{"start_region_id":83,"end_region_id":54,"start_point":[297,379],"end_point":[322,135],"distance":245.27739398485136},{"start_region_id":58,"end_region_id":83,"start_point":[416,191],"end_point":[297,379],"distance":222.49719099350446},{"start_region_id":83,"end_region_id":58,"start_point":[297,379],"end_point":[416,191],"distance":222.49719099350446}],"complexity_score":0.6819727092888594}
{"id":4224,"query_id":"Q00845","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cluster of tall, leafy vegetation as quickly as possible. The drone can fly over most surfaces, but dense vegetation requires careful navigation to avoid collisions. The drone is permitted to traverse paved areas and vehicle lanes, which offer clear, open airspace for high-speed flight, and can also pass through vegetation if it flies cautiously to prevent entanglement. All other surface types are obstructed or unsuitable for aerial travel.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Developed space","Road","Tree"],"traverse_vector":[0,0,1,1,1,0,0,0],"cost_vector":[0,0,2,2,1,0,0,0],"image_name":"buenos_aires_37.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":445,"start_point":[984,665],"end_point":[122,919],"distance":898.6434220534861},{"start_region_id":153,"end_region_id":445,"start_point":[927,621],"end_point":[122,919],"distance":858.3874416602331},{"start_region_id":124,"end_region_id":464,"start_point":[445,167],"end_point":[536,998],"distance":835.9677027254103},{"start_region_id":139,"end_region_id":445,"start_point":[516,194],"end_point":[122,919],"distance":825.143017906593},{"start_region_id":174,"end_region_id":445,"start_point":[783,409],"end_point":[122,919],"distance":834.8778353747331}],"complexity_score":0.6819796490954481}
{"id":8796,"query_id":"Q01760","question":"A quadcopter drone begins above grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The drone can fly over loose, sandy ground and compacted soil areas, but must avoid any trees or structures. What is the fastest route to reach the paved lane?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard-surfaced lane","task_description":"What is the fastest route to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"buenos_aires_37.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":304,"start_point":[121,34],"end_point":[963,730],"distance":1092.4193334063618},{"start_region_id":1,"end_region_id":308,"start_point":[121,34],"end_point":[815,840],"distance":1063.6127114697342},{"start_region_id":1,"end_region_id":310,"start_point":[121,34],"end_point":[252,917],"distance":892.6645506571883},{"start_region_id":71,"end_region_id":289,"start_point":[1002,697],"end_point":[322,472],"distance":716.2576352123585},{"start_region_id":106,"end_region_id":290,"start_point":[476,913],"end_point":[696,100],"distance":842.2404644755558}],"complexity_score":0.6819796490954481}
{"id":14075,"query_id":"Q02815","question":"A delivery drone is on a flat, hard landing pad and needs to fly to a grassy clearing. The airspace includes zones of loose, sandy soil and agricultural fields. The drone can fly over all solid surfaces, including the sandy and cultivated areas, but must avoid flying close to trees or buildings to prevent collision risks. Flying over water is allowed but considered less safe due to potential signal interference and no landing options. The grassy clearing and paved pad are the safest for potential emergency landings. The agricultural fields are currently barren, posing no obstruction. What is the safest flight path to the grassy clearing?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"flat, hard landing pad","end_land_type":"grassy clearing","task_description":"What is the safest flight path to the grassy clearing?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_37.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":1,"start_point":[825,922],"end_point":[121,34],"distance":1133.2078361889314},{"start_region_id":216,"end_region_id":1,"start_point":[984,665],"end_point":[121,34],"distance":1069.0790429149754},{"start_region_id":153,"end_region_id":1,"start_point":[927,621],"end_point":[121,34],"distance":997.098290039653},{"start_region_id":243,"end_region_id":1,"start_point":[583,834],"end_point":[121,34],"distance":923.8203288518823},{"start_region_id":124,"end_region_id":100,"start_point":[445,167],"end_point":[725,912],"distance":795.8800160828264}],"complexity_score":0.6819796490954481}
{"id":1641,"query_id":"Q00329","question":"An aerial photography drone starts from a paved lane and needs to reach a flat, hard-surfaced area while maintaining stable flight for clear image capture. The drone can fly over liquid surfaces and navigate around vertical obstacles like tall vegetation, but must prioritize smooth, predictable airspace to minimize vibrations that could blur photos. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved lane","end_land_type":"flat, hard-surfaced area","task_description":"What is the most comfortable route for the aerial photography drone to reach the flat, hard-surfaced area from the paved lane?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"chicago_8.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":196,"start_point":[490,388],"end_point":[92,940],"distance":680.5203891140956},{"start_region_id":199,"end_region_id":167,"start_point":[490,388],"end_point":[982,103],"distance":568.5850859809814},{"start_region_id":199,"end_region_id":195,"start_point":[490,388],"end_point":[210,938],"distance":617.1709649683789},{"start_region_id":199,"end_region_id":193,"start_point":[490,388],"end_point":[683,930],"distance":575.3372923772628},{"start_region_id":199,"end_region_id":189,"start_point":[490,388],"end_point":[112,813],"distance":568.7785157686602}],"complexity_score":0.6822993912370172}
{"id":2741,"query_id":"Q00549","question":"A commuter on foot starts from a paved lane and needs to reach another paved lane. The person must walk only on hard, stable surfaces intended for travel to avoid tripping or injury. All other surfaces—including loose soil, vegetation, water bodies, and vertical structures—are prohibited due to safety hazards. What is the safest route?","agent_category":"Pedestrian","specific_agent":"commuter on foot","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the safest route from the starting paved lane to the destination paved lane?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"chicago_8.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":199,"start_point":[101,203],"end_point":[977,877],"distance":1105.283673995052}],"complexity_score":0.6822993912370172}
{"id":5773,"query_id":"Q01155","question":"A passenger car starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The only traversable surfaces are paved, hard-surfaced areas and vehicle lanes. All other surfaces—including loose soil, vegetation, water bodies, and structures—are impassable.","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to reach the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"chicago_8.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":199,"start_point":[92,940],"end_point":[490,388],"distance":680.5203891140956},{"start_region_id":167,"end_region_id":199,"start_point":[982,103],"end_point":[490,388],"distance":568.5850859809814},{"start_region_id":195,"end_region_id":199,"start_point":[210,938],"end_point":[490,388],"distance":617.1709649683789},{"start_region_id":193,"end_region_id":199,"start_point":[683,930],"end_point":[490,388],"distance":575.3372923772628},{"start_region_id":189,"end_region_id":199,"start_point":[112,813],"end_point":[490,388],"distance":568.7785157686602}],"complexity_score":0.6822993912370172}
{"id":15446,"query_id":"Q03090","question":"An aerial surveillance drone starts from a paved, hard surface and needs to return to another paved, hard surface after a mission. The drone can fly over soft grassy areas, cultivated fields with low vegetation, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. The drone's flight path should prioritize smooth, stable, and predictable surfaces to minimize vibrations and ensure stable sensor operation. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route for the drone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_8.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":196,"start_point":[982,103],"end_point":[92,940],"distance":1221.7483374246924},{"start_region_id":196,"end_region_id":167,"start_point":[92,940],"end_point":[982,103],"distance":1221.7483374246924},{"start_region_id":165,"end_region_id":196,"start_point":[812,17],"end_point":[92,940],"distance":1170.6105244700304},{"start_region_id":196,"end_region_id":165,"start_point":[92,940],"end_point":[812,17],"distance":1170.6105244700304},{"start_region_id":167,"end_region_id":195,"start_point":[982,103],"end_point":[210,938],"distance":1137.1934751835327}],"complexity_score":0.6822993912370172}
{"id":7449,"query_id":"Q01490","question":"A hiker starts from a paved lane and needs to reach a cluster of tall woody plants. The hiker can traverse cultivated fields with soft soil and vegetation, but cannot cross liquid surfaces or enter enclosed structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a cluster of tall woody plants","task_description":"What is the shortest path for the hiker to reach the cluster of tall woody plants from the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"joplin_28.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":288,"start_point":[70,97],"end_point":[642,1001],"distance":1069.7663296253065},{"start_region_id":157,"end_region_id":268,"start_point":[70,97],"end_point":[192,956],"distance":867.6203086604186},{"start_region_id":157,"end_region_id":256,"start_point":[70,97],"end_point":[571,788],"distance":853.511569927438},{"start_region_id":157,"end_region_id":217,"start_point":[70,97],"end_point":[868,338],"distance":833.5976247566928},{"start_region_id":161,"end_region_id":268,"start_point":[719,416],"end_point":[192,956],"distance":754.5389320638134}],"complexity_score":0.6823347191626127}
{"id":15353,"query_id":"Q03071","question":"A quadcopter starts from a paved, hard surface and needs to reach an area with tall vegetation casting shadows. The terrain includes grassy fields with scattered bushes, additional paved surfaces, vehicle lanes, liquid surfaces, and cultivated fields. The tall vegetation areas have gaps between canopies allowing safe flight, and solid vertical structures are accessible with careful navigation. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"area with tall vegetation casting shadows","task_description":"What is the most comfortable path from the paved, hard surface to the area with tall vegetation casting shadows?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"joplin_28.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":221,"start_point":[985,766],"end_point":[75,320],"distance":1013.4179789208399},{"start_region_id":119,"end_region_id":217,"start_point":[116,830],"end_point":[868,338],"distance":898.6478731961702},{"start_region_id":123,"end_region_id":221,"start_point":[798,728],"end_point":[75,320],"distance":830.1764872603898},{"start_region_id":94,"end_region_id":288,"start_point":[205,301],"end_point":[642,1001],"distance":825.2084585121507},{"start_region_id":119,"end_region_id":226,"start_point":[116,830],"end_point":[757,311],"distance":824.7678461239866}],"complexity_score":0.6823347191626127}
{"id":5016,"query_id":"Q01004","question":"A quadcopter drone is hovering above a crop field with low vegetation. It needs to reach a concrete roadway. The drone can fly over: hard paved surfaces; solid artificial flat areas; and cultivated vegetated areas. What is the shortest aerial path to the roadway?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"crop field","end_land_type":"concrete roadway","task_description":"What is the shortest aerial path from the crop field to the concrete roadway?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"dortmund_45.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":266,"end_region_id":156,"start_point":[286,659],"end_point":[335,218],"distance":443.71387176873344},{"start_region_id":265,"end_region_id":156,"start_point":[446,389],"end_point":[335,218],"distance":203.86760409638407}],"complexity_score":0.6824312287876053}
{"id":7257,"query_id":"Q01452","question":"An aerial surveillance drone starts from a cultivated field, an aerial surveillance drone must navigate to another cultivated field. The drone can fly over open, dry ground; hard, flat surfaces; liquid bodies; and cultivated fields. However, it must avoid tall vegetation and vertical structures to minimize collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_45.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":268,"start_point":[446,389],"end_point":[98,951],"distance":661.0204232850904},{"start_region_id":268,"end_region_id":265,"start_point":[98,951],"end_point":[446,389],"distance":661.0204232850904},{"start_region_id":266,"end_region_id":268,"start_point":[286,659],"end_point":[98,951],"distance":347.28662513837185},{"start_region_id":268,"end_region_id":266,"start_point":[98,951],"end_point":[286,659],"distance":347.28662513837185},{"start_region_id":266,"end_region_id":265,"start_point":[286,659],"end_point":[446,389],"distance":313.8470965295043}],"complexity_score":0.6824312287876053}
{"id":12749,"query_id":"Q02550","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces but prefers stable, open areas for a smooth and comfortable flight. Paved areas, compacted lanes, grassy or shrub-covered areas, and the cultivated field are all traversable. The drone should avoid liquid areas and vertical obstacles like trees or structures to maximize comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"dortmund_45.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":268,"start_point":[891,113],"end_point":[98,951],"distance":1153.7300377471327},{"start_region_id":103,"end_region_id":268,"start_point":[969,223],"end_point":[98,951],"distance":1135.1761977772437},{"start_region_id":107,"end_region_id":268,"start_point":[905,318],"end_point":[98,951],"distance":1025.6402878202475},{"start_region_id":100,"end_region_id":268,"start_point":[575,161],"end_point":[98,951],"distance":922.8374721477234},{"start_region_id":97,"end_region_id":268,"start_point":[506,159],"end_point":[98,951],"distance":890.9141372769881}],"complexity_score":0.6824312287876053}
{"id":1682,"query_id":"Q00337","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The environment includes soft, vegetated ground that is traversable, a hard, paved surface that is accessible, and cultivated fields with loose soil that are also traversable. However, sandy or rocky expanses, vertical structures, wooded areas, and liquid surfaces are not traversable. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the most comfortable path from the starting grassy, uneven terrain to the destination grassy, uneven terrain?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"christchurch_29.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":4,"start_point":[712,991],"end_point":[543,41],"distance":964.9150221651646},{"start_region_id":4,"end_region_id":185,"start_point":[543,41],"end_point":[712,991],"distance":964.9150221651646},{"start_region_id":182,"end_region_id":4,"start_point":[797,944],"end_point":[543,41],"distance":938.04317597859},{"start_region_id":4,"end_region_id":182,"start_point":[543,41],"end_point":[797,944],"distance":938.04317597859},{"start_region_id":177,"end_region_id":4,"start_point":[378,957],"end_point":[543,41],"distance":930.7421769749128}],"complexity_score":0.6826334996712147}
{"id":12157,"query_id":"Q02432","question":"A quadcopter drone starts from a paved lane used by vehicles and needs to reach a hard, flat artificial surface like a parking lot or sidewalk. The drone can fly over most surfaces, including grassy areas, paved areas, and liquid bodies, but it must avoid flying through dense vegetation or near vertical structures to ensure a smooth and stable flight. The goal is to find the most comfortable path for the drone.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved lane used by vehicles","end_land_type":"A hard, flat artificial surface like a parking lot or sidewalk","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"christchurch_29.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":269,"end_region_id":207,"start_point":[967,926],"end_point":[73,219],"distance":1139.7741004251675},{"start_region_id":269,"end_region_id":196,"start_point":[967,926],"end_point":[201,99],"distance":1127.2466455927026},{"start_region_id":269,"end_region_id":190,"start_point":[967,926],"end_point":[363,20],"distance":1088.8764851901249},{"start_region_id":269,"end_region_id":222,"start_point":[967,926],"end_point":[82,383],"distance":1038.3034238602895},{"start_region_id":270,"end_region_id":192,"start_point":[250,945],"end_point":[770,83],"distance":1006.6995579615599}],"complexity_score":0.6826334996712147}
{"id":16225,"query_id":"Q03245","question":"An off-road vehicle is on a paved surface and needs to reach a grassy area with shrubs. The vehicle can traverse loose, dry soil and rocky patches, as well as cultivated fields with crops, but cannot go through water, trees, or buildings. The paved surface is available for travel. What is the fastest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved surface","end_land_type":"grassy area with shrubs","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"christchurch_29.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":177,"start_point":[989,43],"end_point":[378,957],"distance":1099.4166635084262},{"start_region_id":264,"end_region_id":104,"start_point":[989,43],"end_point":[208,736],"distance":1044.1312178074172},{"start_region_id":264,"end_region_id":185,"start_point":[989,43],"end_point":[712,991],"distance":987.6401166416845},{"start_region_id":270,"end_region_id":37,"start_point":[250,945],"end_point":[868,170],"distance":991.2360970021219},{"start_region_id":269,"end_region_id":4,"start_point":[967,926],"end_point":[543,41],"distance":981.3261435425023}],"complexity_score":0.6826334996712147}
{"id":4908,"query_id":"Q00982","question":"A family sedan is parked on a smooth, paved parking area and needs to reach another paved parking area. The vehicle requires a smooth, stable surface to maintain ride comfort. The driver can use hard, paved surfaces designed for vehicles, as well as cultivated fields that have been recently harvested and leveled for agricultural machinery access, providing relatively even ground. The goal is to find a route that prioritizes ride smoothness and stability.","agent_category":"Car","specific_agent":"family sedan","start_land_type":"paved parking area","end_land_type":"paved parking area","task_description":"What is the most comfortable path for the family sedan to take?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"santiago_47.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":122,"start_point":[871,140],"end_point":[223,300],"distance":667.4608602757169},{"start_region_id":122,"end_region_id":107,"start_point":[223,300],"end_point":[871,140],"distance":667.4608602757169},{"start_region_id":107,"end_region_id":130,"start_point":[871,140],"end_point":[256,359],"distance":652.8292272868916},{"start_region_id":130,"end_region_id":107,"start_point":[256,359],"end_point":[871,140],"distance":652.8292272868916},{"start_region_id":122,"end_region_id":106,"start_point":[223,300],"end_point":[823,102],"distance":631.8259253940123}],"complexity_score":0.6827070086426313}
{"id":8694,"query_id":"Q01739","question":"A delivery drone starts from a flat, artificial surface and needs to reach another flat, artificial surface while flying a delivery drone. The terrain includes loose, sandy ground and areas with low, natural vegetation. You must avoid any liquid surfaces and vertical obstacles. To ensure stable and smooth flight, you should prioritize surfaces that are open and predictable. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A flat, artificial surface","end_land_type":"Another flat, artificial surface","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santiago_47.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":153,"end_region_id":107,"start_point":[82,845],"end_point":[871,140],"distance":1058.086007846243},{"start_region_id":107,"end_region_id":153,"start_point":[871,140],"end_point":[82,845],"distance":1058.086007846243},{"start_region_id":153,"end_region_id":106,"start_point":[82,845],"end_point":[823,102],"distance":1049.3474162545024},{"start_region_id":106,"end_region_id":153,"start_point":[823,102],"end_point":[82,845],"distance":1049.3474162545024},{"start_region_id":171,"end_region_id":106,"start_point":[365,988],"end_point":[823,102],"distance":997.3765587780775}],"complexity_score":0.6827070086426313}
{"id":9797,"query_id":"Q01960","question":"An aerial surveillance drone starts from a grassy, open field and needs to return to another grassy, open field after completing its mission. The drone must avoid any tall, dense vegetation that could entangle its rotors and any solid, vertical structures that could cause collisions. It can fly over loose, sandy areas; grassy or shrub-covered terrain; paved lanes; cultivated crop fields; and water bodies, but must steer clear of tall, dense vegetation and solid, vertical structures. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_47.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":21,"start_point":[22,912],"end_point":[988,128],"distance":1244.110927530178},{"start_region_id":21,"end_region_id":78,"start_point":[988,128],"end_point":[22,912],"distance":1244.110927530178},{"start_region_id":7,"end_region_id":78,"start_point":[826,42],"end_point":[22,912],"distance":1184.6163936059638},{"start_region_id":78,"end_region_id":7,"start_point":[22,912],"end_point":[826,42],"distance":1184.6163936059638},{"start_region_id":87,"end_region_id":41,"start_point":[992,942],"end_point":[31,349],"distance":1129.2342538198175}],"complexity_score":0.6827070086426313}
{"id":13120,"query_id":"Q02624","question":"A quadcopter drone is launched from a grassy, open area and needs to reach a paved street. The drone can fly over most surfaces but must avoid collisions with tall vertical obstacles and areas with strong wind exposure or signal interference. Open, stable areas are preferred, while dense vegetation or structures should be avoided if possible. The operator must find a path that minimizes risk.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open area","end_land_type":"a paved street","task_description":"What is the safest path from the grassy area to the paved street?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_47.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":184,"start_point":[988,128],"end_point":[43,809],"distance":1164.811572744708},{"start_region_id":7,"end_region_id":184,"start_point":[826,42],"end_point":[43,809],"distance":1096.0739026178846},{"start_region_id":28,"end_region_id":184,"start_point":[883,263],"end_point":[43,809],"distance":1001.8562771176313},{"start_region_id":6,"end_region_id":184,"start_point":[684,47],"end_point":[43,809],"distance":995.7534835490158},{"start_region_id":53,"end_region_id":184,"start_point":[985,520],"end_point":[43,809],"distance":985.334968424444}],"complexity_score":0.6827070086426313}
{"id":1164,"query_id":"Q00233","question":"A delivery drone starts from a grassy, uneven field and needs to reach another grassy, uneven field while ensuring a smooth and stable flight for package safety. The drone can fly over areas with soft ground and low vegetation, hard paved surfaces, and cultivated fields, but must avoid flying directly through dense tree canopies or close to buildings due to navigation risks. However, water surfaces are permissible but less comfortable due to potential turbulence. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a grassy, uneven field","end_land_type":"another grassy, uneven field","task_description":"What is the most comfortable flight path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"ngaoundere_69.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":36,"start_point":[815,360],"end_point":[62,917],"distance":936.6205208087212},{"start_region_id":36,"end_region_id":4,"start_point":[62,917],"end_point":[815,360],"distance":936.6205208087212},{"start_region_id":3,"end_region_id":33,"start_point":[124,221],"end_point":[820,792],"distance":900.2538530881164},{"start_region_id":33,"end_region_id":3,"start_point":[820,792],"end_point":[124,221],"distance":900.2538530881164},{"start_region_id":1,"end_region_id":33,"start_point":[269,100],"end_point":[820,792],"distance":884.5705172568211}],"complexity_score":0.6828967718605785}
{"id":12490,"query_id":"Q02498","question":"A quadcopter starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with hard, flat surfaces. The terrain includes grassy areas with natural vegetation, compacted dirt paths, and smooth artificial surfaces. You can fly over all these surfaces, but you must avoid any vertical obstacles like structures or dense tree canopies. What is the shortest path to the paved area?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest path to the paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"ngaoundere_69.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":111,"start_point":[916,144],"end_point":[143,998],"distance":1151.8875813203301},{"start_region_id":247,"end_region_id":111,"start_point":[990,235],"end_point":[143,998],"distance":1139.9903508363568},{"start_region_id":254,"end_region_id":44,"start_point":[187,931],"end_point":[915,78],"distance":1121.4245404841113},{"start_region_id":242,"end_region_id":111,"start_point":[722,39],"end_point":[143,998],"distance":1120.2330114757376},{"start_region_id":241,"end_region_id":111,"start_point":[565,25],"end_point":[143,998],"distance":1060.5720154708968}],"complexity_score":0.6828967718605785}
{"id":7574,"query_id":"Q01515","question":"A delivery drone is on a paved landing pad and needs to reach a cultivated field. The drone operator wants to minimize vibrations and ensure stable flight for the safety of the package. The area contains hard paved surfaces, loose sandy or rocky ground, cultivated soil with crops, and areas with tall vertical obstacles. The hard paved surfaces, loose sandy or rocky ground, and cultivated soil with crops are all available for overflight. Areas with tall vertical obstacles can be flown around but not through, as passing through them would cause turbulence and discomfort. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved landing pad","end_land_type":"cultivated field","task_description":"What is the most comfortable route for the delivery drone to travel from the paved landing pad to the cultivated field?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_60.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":442,"start_point":[974,891],"end_point":[381,170],"distance":933.5362874575363},{"start_region_id":210,"end_region_id":443,"start_point":[974,891],"end_point":[167,552],"distance":875.311373169571},{"start_region_id":162,"end_region_id":443,"start_point":[925,427],"end_point":[167,552],"distance":768.2375934566077},{"start_region_id":215,"end_region_id":442,"start_point":[282,925],"end_point":[381,170],"distance":761.4630654207728},{"start_region_id":194,"end_region_id":443,"start_point":[896,695],"end_point":[167,552],"distance":742.8929936404031}],"complexity_score":0.6829710596256796}
{"id":12968,"query_id":"Q02594","question":"An aerial survey drone starts from a cultivated field and needs to reach a paved area as quickly as possible. The drone can fly over loose, dry soil surfaces; hard, flat surfaces; and liquid surfaces. It can also pass through cultivated vegetation areas. However, it must avoid dense vertical obstacles that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the fastest route for the aerial survey drone to travel from the cultivated field to the paved area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_60.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":442,"end_region_id":210,"start_point":[381,170],"end_point":[974,891],"distance":933.5362874575363},{"start_region_id":443,"end_region_id":210,"start_point":[167,552],"end_point":[974,891],"distance":875.311373169571},{"start_region_id":443,"end_region_id":162,"start_point":[167,552],"end_point":[925,427],"distance":768.2375934566077},{"start_region_id":442,"end_region_id":215,"start_point":[381,170],"end_point":[282,925],"distance":761.4630654207728},{"start_region_id":443,"end_region_id":194,"start_point":[167,552],"end_point":[896,695],"distance":742.8929936404031}],"complexity_score":0.6829710596256796}
{"id":13812,"query_id":"Q02763","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The terrain includes loose, sandy expanses; grassy, uneven ground; hard, paved surfaces; and soft, tilled soil. The drone can fly over all these terrains, but trees and buildings are present and must be avoided due to low-altitude flight restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_60.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":443,"end_region_id":442,"start_point":[167,552],"end_point":[381,170],"distance":437.85842460777206},{"start_region_id":442,"end_region_id":443,"start_point":[381,170],"end_point":[167,552],"distance":437.85842460777206}],"complexity_score":0.6829710596256796}
{"id":17631,"query_id":"Q03527","question":"A hiker starts from a paved, hard surface and needs to reach cultivated fields with crops as quickly as possible. The hiker can walk on rough, loose soil and rocky ground, as well as grassy and shrub-covered areas, and is permitted to pass through areas with tall vegetation if needed, but must avoid bodies of water and buildings. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved, hard surface","end_land_type":"cultivated fields with crops","task_description":"What is the fastest path for the hiker to reach the cultivated fields from the paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"buenos_aires_60.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":443,"start_point":[670,536],"end_point":[167,552],"distance":503.2544088232114},{"start_region_id":262,"end_region_id":442,"start_point":[670,536],"end_point":[381,170],"distance":466.3442934142113}],"complexity_score":0.6829710596256796}
{"id":9619,"query_id":"Q01924","question":"A hiker starts from a paved surface and needs to reach another paved surface. The hiker can traverse areas with loose soil and rocks, as well as cultivated fields with crops, and can pass through wooded areas with individual trees. The hiker cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"buenos_aires_53.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":384,"end_region_id":391,"start_point":[49,524],"end_point":[867,961],"distance":927.4119904335937},{"start_region_id":391,"end_region_id":384,"start_point":[867,961],"end_point":[49,524],"distance":927.4119904335937},{"start_region_id":380,"end_region_id":391,"start_point":[530,499],"end_point":[867,961],"distance":571.8505049398838},{"start_region_id":391,"end_region_id":380,"start_point":[867,961],"end_point":[530,499],"distance":571.8505049398838},{"start_region_id":380,"end_region_id":384,"start_point":[530,499],"end_point":[49,524],"distance":481.64924997346355}],"complexity_score":0.6829888059662116}
{"id":14144,"query_id":"Q02829","question":"An aerial survey drone is currently positioned on a hard, flat, paved surface. It needs to reach a tall, vertical structure with a canopy and trunk as quickly as possible. The drone can fly over areas of loose, dry soil and rock, as well as overgrown grassy and shrubby terrain. It can also navigate around the vertical structures and their canopies. The primary objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"A tall, vertical structure with a canopy and trunk","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"buenos_aires_53.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":392,"end_region_id":444,"start_point":[46,1006],"end_point":[969,221],"distance":1211.6740485790722},{"start_region_id":391,"end_region_id":406,"start_point":[867,961],"end_point":[205,94],"distance":1090.8405016316547},{"start_region_id":392,"end_region_id":493,"start_point":[46,1006],"end_point":[950,464],"distance":1054.0303600940535},{"start_region_id":384,"end_region_id":568,"start_point":[49,524],"end_point":[998,974],"distance":1050.286151484442},{"start_region_id":384,"end_region_id":444,"start_point":[49,524],"end_point":[969,221],"distance":968.6118933814513}],"complexity_score":0.6829888059662116}
{"id":17459,"query_id":"Q03492","question":"An aerial survey drone starts from a vegetated area with tall, vertical structures and needs to reach another similar vegetated area with tall, vertical structures. The mission requires minimizing risk to the aerial vehicle. You can traverse areas with loose, dry soil and rocks; grassy or shrub-covered terrain; paved lanes used by ground vehicles; other vegetated areas with tall, vertical structures; and open liquid surfaces. However, you must avoid all constructed vertical obstacles and cultivated crop fields. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path from the starting vegetated area to the destination vegetated area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Water"],"traverse_vector":[1,1,0,1,1,1,0,0],"cost_vector":[2,2,0,2,1,1,0,0],"image_name":"buenos_aires_53.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":568,"end_region_id":406,"start_point":[998,974],"end_point":[205,94],"distance":1184.5881140717224},{"start_region_id":406,"end_region_id":568,"start_point":[205,94],"end_point":[998,974],"distance":1184.5881140717224},{"start_region_id":554,"end_region_id":406,"start_point":[855,842],"end_point":[205,94],"distance":990.9611495916478},{"start_region_id":406,"end_region_id":554,"start_point":[205,94],"end_point":[855,842],"distance":990.9611495916478},{"start_region_id":544,"end_region_id":568,"start_point":[43,751],"end_point":[998,974],"distance":980.6905730147506}],"complexity_score":0.6829888059662116}
{"id":3715,"query_id":"Q00743","question":"A quadcopter drone is on a paved road and needs to reach a wooded area. The environment includes various ground surfaces and open airspaces, but flying through dense tree canopies is restricted and should be minimized. All other terrain types are accessible. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road","end_land_type":"a wooded area","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_26.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":178,"start_point":[111,444],"end_point":[969,35],"distance":950.4972382916218},{"start_region_id":167,"end_region_id":276,"start_point":[111,444],"end_point":[962,695],"distance":887.2440475990808},{"start_region_id":167,"end_region_id":287,"start_point":[111,444],"end_point":[804,768],"distance":765.0},{"start_region_id":167,"end_region_id":298,"start_point":[111,444],"end_point":[699,857],"distance":718.5492328295953},{"start_region_id":167,"end_region_id":260,"start_point":[111,444],"end_point":[814,554],"distance":711.5539333037236}],"complexity_score":0.6831255420903004}
{"id":8333,"query_id":"Q01667","question":"A hiker starts from a paved surface and needs to reach a grassy or shrub-covered ground. The terrain includes only hard, flat surfaces, loose sandy or rocky ground, and vegetated areas. The hard, flat surfaces are traversable by default. The loose sandy or rocky ground is traversable because it is dry and stable. The grassy or shrub-covered ground is traversable because the vegetation is low and sparse. All other terrain types, such as vertical structures, dense tree canopies, liquid bodies, and cultivated fields, are not allowed due to physical barriers or restrictions.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_26.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":103,"start_point":[377,50],"end_point":[975,974],"distance":1100.627093978701},{"start_region_id":126,"end_region_id":103,"start_point":[110,326],"end_point":[975,974],"distance":1080.8001665432885},{"start_region_id":153,"end_region_id":2,"start_point":[968,898],"end_point":[500,20],"distance":994.9412042929974},{"start_region_id":135,"end_region_id":103,"start_point":[94,599],"end_point":[975,974],"distance":957.489425529076},{"start_region_id":150,"end_region_id":2,"start_point":[816,911],"end_point":[500,20],"distance":945.3766445179402}],"complexity_score":0.6831255420903004}
{"id":12754,"query_id":"Q02551","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, flat surfaces suitable for walking; areas with loose soil and scattered vegetation; and patches of tall, dense vegetation that require careful navigation. You cannot cross any liquid surfaces or enter any vertical structures. What is the shortest route to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest route to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_26.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":103,"start_point":[111,444],"end_point":[975,974],"distance":1013.6054459206501},{"start_region_id":167,"end_region_id":82,"start_point":[111,444],"end_point":[925,797],"distance":887.2457382258874},{"start_region_id":167,"end_region_id":89,"start_point":[111,444],"end_point":[663,917],"distance":726.9339722423214},{"start_region_id":167,"end_region_id":64,"start_point":[111,444],"end_point":[807,584],"distance":709.9408426059174},{"start_region_id":166,"end_region_id":103,"start_point":[550,572],"end_point":[975,974],"distance":585.003418793429}],"complexity_score":0.6831255420903004}
{"id":4807,"query_id":"Q00962","question":"An aerial drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes only hard, artificial surfaces and cultivated fields with planted crops. What is the shortest path to the vehicle lane?","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"buenos_aires_27.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":386,"start_point":[94,343],"end_point":[545,448],"distance":463.0615509843157},{"start_region_id":283,"end_region_id":386,"start_point":[971,606],"end_point":[545,448],"distance":454.35668807666957},{"start_region_id":168,"end_region_id":386,"start_point":[223,194],"end_point":[545,448],"distance":410.1219330881976},{"start_region_id":151,"end_region_id":386,"start_point":[502,66],"end_point":[545,448],"distance":384.4125388173492},{"start_region_id":155,"end_region_id":386,"start_point":[667,135],"end_point":[545,448],"distance":335.93600581063055}],"complexity_score":0.6833762610519685}
{"id":4336,"query_id":"Q00868","question":"A hiker starts from a vegetated area with tall, upright structures that provide shade and cover and needs to reach a flat, hard-surfaced area suitable for walking. The area contains loose, unpaved ground that is currently dry and firm enough to walk on, and there are also paved lanes and pathways available. What is the shortest route to your destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a vegetated area with tall, upright structures that provide shade and cover","end_land_type":"a flat, hard-surfaced area suitable for walking","task_description":"What is the shortest route to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"mexico_city_41.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":79,"start_point":[933,920],"end_point":[235,292],"distance":938.9291773078521},{"start_region_id":236,"end_region_id":106,"start_point":[933,920],"end_point":[126,417],"distance":950.9248130109972},{"start_region_id":211,"end_region_id":106,"start_point":[973,658],"end_point":[126,417],"distance":880.6191004060722},{"start_region_id":211,"end_region_id":79,"start_point":[973,658],"end_point":[235,292],"distance":823.7718130647588},{"start_region_id":236,"end_region_id":92,"start_point":[933,920],"end_point":[302,334],"distance":861.1370390361803}],"complexity_score":0.6833772107302932}
{"id":4747,"query_id":"Q00950","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The hiker can traverse hard, flat surfaces like sidewalks and parking lots, as well as cultivated fields with crops, but cannot cross any water bodies or enter buildings. The hiker must find a path that minimizes the total distance traveled.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"mexico_city_41.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":158,"start_point":[545,347],"end_point":[200,863],"distance":620.7100772502408},{"start_region_id":158,"end_region_id":154,"start_point":[200,863],"end_point":[545,347],"distance":620.7100772502408}],"complexity_score":0.6833772107302932}
{"id":13316,"query_id":"Q02664","question":"A delivery drone starts from a paved road surface and needs to reach a flat, hard-surfaced area such as a rooftop landing pad or paved yard. The drone prefers to fly over surfaces that are stable and predictable to ensure smooth operation, avoiding areas with dense obstacles or liquid that could cause turbulence. While open grassy or cultivated areas are accessible, water bodies should be avoided due to potential downdrafts. Structures and trees can be navigated around if necessary, but dense clusters are less comfortable. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved road surface","end_land_type":"a flat, hard-surfaced area such as a rooftop landing pad or paved yard","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"mexico_city_41.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":80,"start_point":[200,863],"end_point":[940,253],"distance":959.0099061010789},{"start_region_id":158,"end_region_id":75,"start_point":[200,863],"end_point":[816,138],"distance":951.3574512243019},{"start_region_id":162,"end_region_id":79,"start_point":[767,880],"end_point":[235,292],"distance":792.9489264763525},{"start_region_id":162,"end_region_id":106,"start_point":[767,880],"end_point":[126,417],"distance":790.7275131168765},{"start_region_id":162,"end_region_id":75,"start_point":[767,880],"end_point":[816,138],"distance":743.6161644289344}],"complexity_score":0.6833772107302932}
{"id":1670,"query_id":"Q00334","question":"A family sedan is parked on a grassy, uneven field and needs to reach a paved road surface. The vehicle requires smooth, stable surfaces to minimize vibrations and ensure passenger comfort. While the grassy field can be crossed if the vegetation is low and the ground is firm enough to support the vehicle's weight without excessive sinking, the sedan cannot drive through areas with dense trees, water bodies, or buildings. What is the most comfortable path to reach the paved road?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"grassy, uneven field","end_land_type":"paved road surface","task_description":"What is the most comfortable path to reach the paved road?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"santa_rosa_17.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":354,"start_point":[193,987],"end_point":[795,44],"distance":1118.7729885906256},{"start_region_id":103,"end_region_id":354,"start_point":[62,817],"end_point":[795,44],"distance":1065.2783673763397},{"start_region_id":121,"end_region_id":354,"start_point":[238,943],"end_point":[795,44],"distance":1057.567964719053},{"start_region_id":117,"end_region_id":352,"start_point":[999,950],"end_point":[442,52],"distance":1056.7180324003182},{"start_region_id":128,"end_region_id":352,"start_point":[193,987],"end_point":[442,52],"distance":967.5877221213589}],"complexity_score":0.6834082422255356}
{"id":5830,"query_id":"Q01166","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface. The drone can fly over liquid areas, but cannot pass through dense vertical obstacles like trees or structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_17.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":259,"end_region_id":152,"start_point":[942,828],"end_point":[497,133],"distance":825.2575355608697},{"start_region_id":152,"end_region_id":259,"start_point":[497,133],"end_point":[942,828],"distance":825.2575355608697},{"start_region_id":259,"end_region_id":161,"start_point":[942,828],"end_point":[376,277],"distance":789.9094884858645},{"start_region_id":161,"end_region_id":259,"start_point":[376,277],"end_point":[942,828],"distance":789.9094884858645},{"start_region_id":152,"end_region_id":257,"start_point":[497,133],"end_point":[791,776],"distance":707.0254592304296}],"complexity_score":0.6834082422255356}
{"id":16384,"query_id":"Q03277","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The drone can fly over sandy or rocky expanses, grassy or shrub-covered terrain, cultivated fields, and paved areas, but must avoid flying through dense tree canopies or close to structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path for the quadcopter drone to travel from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santa_rosa_17.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":353,"end_region_id":354,"start_point":[603,531],"end_point":[795,44],"distance":523.481613812749},{"start_region_id":354,"end_region_id":353,"start_point":[795,44],"end_point":[603,531],"distance":523.481613812749},{"start_region_id":353,"end_region_id":352,"start_point":[603,531],"end_point":[442,52],"distance":505.33355321015443},{"start_region_id":352,"end_region_id":353,"start_point":[442,52],"end_point":[603,531],"distance":505.33355321015443},{"start_region_id":354,"end_region_id":352,"start_point":[795,44],"end_point":[442,52],"distance":353.09063992125306}],"complexity_score":0.6834082422255356}
{"id":587,"query_id":"Q00118","question":"A delivery drone must complete a time-sensitive drop-off. It launches from a paved lane and needs to land on a hard, flat artificial surface. The drone can fly over most surfaces but must avoid areas with dense vertical obstacles that could cause collisions. Permitted surfaces include compacted mineral areas without vegetation, paved lanes, hard flat artificial surfaces, and areas with tall vertical obstacles that require careful navigation. Which aerial route minimizes travel time?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"Which aerial route minimizes travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"mexico_city_39.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":416,"end_region_id":389,"start_point":[108,108],"end_point":[903,874],"distance":1103.984148436924},{"start_region_id":416,"end_region_id":377,"start_point":[108,108],"end_point":[956,671],"distance":1017.87671159134},{"start_region_id":429,"end_region_id":384,"start_point":[992,368],"end_point":[149,794],"distance":944.5236894858699},{"start_region_id":430,"end_region_id":389,"start_point":[100,413],"end_point":[903,874],"distance":925.9211629507125},{"start_region_id":429,"end_region_id":217,"start_point":[992,368],"end_point":[120,122],"distance":906.0353193998565}],"complexity_score":0.6835945415861111}
{"id":9541,"query_id":"Q01909","question":"A quadcopter starts from a paved road surface and needs to reach a grassy, shrubby area. The flyable terrain includes sandy or rocky ground, vegetated open spaces, hard artificial surfaces, liquid surfaces, and cultivated fields. You must avoid flying through dense tree canopies or close to building structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mexico_city_39.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":429,"end_region_id":1,"start_point":[992,368],"end_point":[55,26],"distance":997.4632825322444},{"start_region_id":429,"end_region_id":81,"start_point":[992,368],"end_point":[199,950],"distance":983.6528859308044},{"start_region_id":429,"end_region_id":31,"start_point":[992,368],"end_point":[49,388],"distance":943.2120652324163},{"start_region_id":416,"end_region_id":80,"start_point":[108,108],"end_point":[656,872],"distance":940.2127418834526},{"start_region_id":416,"end_region_id":47,"start_point":[108,108],"end_point":[836,642],"distance":902.8510397623741}],"complexity_score":0.6835945415861111}
{"id":6822,"query_id":"Q01365","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach a cluster of tall vegetation with vertical structures as quickly as possible. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; all paved or compacted surfaces; liquid bodies; cultivated fields; and man-made vertical structures. However, it must navigate carefully around the tall vegetation clusters due to potential collision risks with branches and leaves. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A cluster of tall vegetation with vertical structures","task_description":"What is the fastest path for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"vienna_51.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":242,"start_point":[944,74],"end_point":[86,835],"distance":1146.8587532909185},{"start_region_id":152,"end_region_id":190,"start_point":[961,822],"end_point":[83,86],"distance":1145.678838069378},{"start_region_id":156,"end_region_id":190,"start_point":[761,880],"end_point":[83,86],"distance":1044.088118886524},{"start_region_id":68,"end_region_id":256,"start_point":[944,74],"end_point":[415,922],"distance":999.4723607984365},{"start_region_id":155,"end_region_id":225,"start_point":[29,870],"end_point":[946,526],"distance":979.4003267305969}],"complexity_score":0.6836234635154216}
{"id":12006,"query_id":"Q02402","question":"A luxury sedan starts from a smooth, paved parking area and needs to reach another paved parking area while prioritizing ride comfort. The vehicle requires stable, hard surfaces for smooth travel and cannot traverse water, buildings, or vegetated areas. It can only travel on paved surfaces, compacted gravel areas, and firm, dry ground without vegetation. What is the most comfortable route?","agent_category":"Car","specific_agent":"luxury sedan","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route for the luxury sedan to travel from the starting paved area to the destination paved area?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"vienna_51.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":73,"start_point":[761,880],"end_point":[165,139],"distance":950.9453191430094},{"start_region_id":73,"end_region_id":156,"start_point":[165,139],"end_point":[761,880],"distance":950.9453191430094},{"start_region_id":66,"end_region_id":156,"start_point":[643,47],"end_point":[761,880],"distance":841.3162306766701},{"start_region_id":156,"end_region_id":66,"start_point":[761,880],"end_point":[643,47],"distance":841.3162306766701},{"start_region_id":98,"end_region_id":68,"start_point":[139,416],"end_point":[944,74],"distance":874.6364959227348}],"complexity_score":0.6836234635154216}
{"id":8163,"query_id":"Q01633","question":"A farmer is currently in a cultivated field with loose, plowed soil and needs to reach a paved lane. The farmer can walk through the field because the soil is soft and manageable on foot. However, the paved lane is the only other traversable surface available, as all other terrain types—such as water bodies, vertical structures, dense wooded areas, and natural sandy or rocky expanses—are either physically impassable or blocked for this person. What is the fastest route for the farmer to take?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a cultivated field with loose, plowed soil","end_land_type":"a paved lane","task_description":"What is the fastest route for the farmer to take?","task_type":"Fastest","input_classes":["Road","Agriculture land"],"traverse_vector":[0,0,0,1,0,0,1,0],"cost_vector":[0,0,0,2,0,0,1,0],"image_name":"daressalaam_121.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":416,"end_region_id":208,"start_point":[271,602],"end_point":[746,136],"distance":665.4179137955334},{"start_region_id":415,"end_region_id":208,"start_point":[610,429],"end_point":[746,136],"distance":323.02476685232665},{"start_region_id":415,"end_region_id":212,"start_point":[610,429],"end_point":[405,616],"distance":277.4779270500629}],"complexity_score":0.6836890895204023}
{"id":3179,"query_id":"Q00636","question":"A delivery drone starts from a paved, hard surface and needs to reach another paved, hard surface while maintaining stable flight and minimizing vibrations. The drone can fly over open, dry ground with loose soil and rocks, as well as over liquid surfaces, but must avoid areas with tall, dense vertical obstacles that could cause turbulence. Which path provides the most comfortable ride?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"Which path provides the most comfortable ride?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_47.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":59,"start_point":[135,827],"end_point":[955,159],"distance":1057.6502257362781},{"start_region_id":59,"end_region_id":75,"start_point":[955,159],"end_point":[135,827],"distance":1057.6502257362781},{"start_region_id":73,"end_region_id":63,"start_point":[983,769],"end_point":[103,200],"distance":1047.9317725882731},{"start_region_id":63,"end_region_id":73,"start_point":[103,200],"end_point":[983,769],"distance":1047.9317725882731},{"start_region_id":84,"end_region_id":63,"start_point":[723,988],"end_point":[103,200],"distance":1002.6684397147444}],"complexity_score":0.6837126353978089}
{"id":7740,"query_id":"Q01548","question":"A delivery drone starts from a paved lane and needs to reach a paved area while maintaining stable flight and minimizing vibrations. The drone can fly over hard surfaces, loose soil, cultivated fields, and liquid surfaces, but must avoid vertical obstacles like trees and buildings. Which path provides the most comfortable ride?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved lane","end_land_type":"paved area","task_description":"Which path provides the most comfortable ride?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_47.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":75,"start_point":[775,147],"end_point":[135,827],"distance":933.8094023943002},{"start_region_id":92,"end_region_id":63,"start_point":[899,672],"end_point":[103,200],"distance":925.418824100742},{"start_region_id":89,"end_region_id":77,"start_point":[775,147],"end_point":[252,812],"distance":846.0224583307466},{"start_region_id":89,"end_region_id":84,"start_point":[775,147],"end_point":[723,988],"distance":842.6060764081873},{"start_region_id":93,"end_region_id":59,"start_point":[227,721],"end_point":[955,159],"distance":919.6890778953505}],"complexity_score":0.6837126353978089}
{"id":10449,"query_id":"Q02090","question":"A quadcopter drone starts from a paved concrete area and needs to reach another paved concrete area while prioritizing a smooth and stable flight. The drone can fly over areas with loose, sandy soil and rocky patches, grassy or shrub-covered ground, and wooded areas with trees, as long as it maintains sufficient altitude to avoid collisions. However, water bodies and buildings are to be avoided due to potential signal interference and safety risks. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved concrete area","end_land_type":"a paved concrete area","task_description":"What is the most comfortable flight path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"houston_47.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":59,"start_point":[135,827],"end_point":[955,159],"distance":1057.6502257362781},{"start_region_id":59,"end_region_id":75,"start_point":[955,159],"end_point":[135,827],"distance":1057.6502257362781},{"start_region_id":73,"end_region_id":63,"start_point":[983,769],"end_point":[103,200],"distance":1047.9317725882731},{"start_region_id":63,"end_region_id":73,"start_point":[103,200],"end_point":[983,769],"distance":1047.9317725882731},{"start_region_id":59,"end_region_id":77,"start_point":[955,159],"end_point":[252,812],"distance":959.4884053494342}],"complexity_score":0.6837126353978089}
{"id":15258,"query_id":"Q03052","question":"A delivery drone begins on grassy, uneven terrain with scattered low vegetation and needs to reach a flat, hard, paved surface. The drone can fly over loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; hard, artificial surfaces like sidewalks, parking lots, or sports fields; open water bodies; and cultivated crop fields. However, it must avoid densely packed vertical obstacles like trees or tall structures, and cannot pass through solid buildings. The drone's priority is to maintain a smooth, vibration-free flight to protect its sensitive cargo.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"flat, hard, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_47.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":75,"start_point":[951,66],"end_point":[135,827],"distance":1115.7853736270251},{"start_region_id":6,"end_region_id":75,"start_point":[992,132],"end_point":[135,827],"distance":1103.3920427481794},{"start_region_id":55,"end_region_id":59,"start_point":[223,988],"end_point":[955,159],"distance":1105.9226916923262},{"start_region_id":11,"end_region_id":73,"start_point":[47,197],"end_point":[983,769],"distance":1096.9412017059074},{"start_region_id":1,"end_region_id":73,"start_point":[156,92],"end_point":[983,769],"distance":1068.7647075011412}],"complexity_score":0.6837126353978089}
{"id":5426,"query_id":"Q01086","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes only hard, flat surfaces and soft, grassy ground with low vegetation; all other surfaces like loose soil, water bodies, vertical structures, and dense tree cover are impassable. The drone can fly over grassy areas and paved surfaces without obstruction. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"al_qurnah_33.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":62,"start_point":[958,944],"end_point":[261,29],"distance":1150.2321504809365},{"start_region_id":62,"end_region_id":118,"start_point":[261,29],"end_point":[958,944],"distance":1150.2321504809365},{"start_region_id":68,"end_region_id":113,"start_point":[975,135],"end_point":[102,868],"distance":1139.9201726436813},{"start_region_id":113,"end_region_id":68,"start_point":[102,868],"end_point":[975,135],"distance":1139.9201726436813},{"start_region_id":118,"end_region_id":72,"start_point":[958,944],"end_point":[45,322],"distance":1104.7411461514412}],"complexity_score":0.6837985139530316}
{"id":14780,"query_id":"Q02956","question":"A delivery drone is starting from grassy, uneven terrain with scattered low vegetation and needs to reach a paved, hard surface. The drone can fly over loose soil and rocks, grassy areas, cultivated fields, and liquid surfaces. However, the drone must avoid flying through areas with tall, dense vegetation or near vertical structures, as these pose collision risks. The drone can also fly over other hard, flat surfaces. The objective is to find the path that minimizes risk while traveling from the starting point to the destination.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"paved, hard surface","task_description":"What is the safest path for the delivery drone to take from the grassy, uneven terrain to the paved, hard surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"al_qurnah_33.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":113,"start_point":[981,22],"end_point":[102,868],"distance":1219.9823769218963},{"start_region_id":9,"end_region_id":113,"start_point":[961,98],"end_point":[102,868],"distance":1153.594816215815},{"start_region_id":1,"end_region_id":118,"start_point":[97,194],"end_point":[958,944],"distance":1141.8498149931977},{"start_region_id":7,"end_region_id":104,"start_point":[981,22],"end_point":[46,661],"distance":1132.4954746046449},{"start_region_id":7,"end_region_id":109,"start_point":[981,22],"end_point":[165,764],"distance":1102.914321241682}],"complexity_score":0.6837985139530316}
{"id":854,"query_id":"Q00171","question":"A hiker starts from a cultivated field and needs to reach a paved area. The terrain includes grassy and shrubby open areas, as well as cultivated fields, but no water bodies, buildings, or roads are accessible. The hiker can traverse grassy and shrubby open areas and cultivated fields, but must avoid water bodies, buildings, and roads. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated fields","end_land_type":"paved area","task_description":"What is the shortest path for the hiker to reach the paved area from the cultivated field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Agriculture land"],"traverse_vector":[0,1,1,0,0,0,1,0],"cost_vector":[0,1,1,0,0,0,1,0],"image_name":"kyoto_5.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":182,"end_region_id":76,"start_point":[988,874],"end_point":[501,890],"distance":487.2627627882106},{"start_region_id":181,"end_region_id":76,"start_point":[780,865],"end_point":[501,890],"distance":280.1178323491741},{"start_region_id":182,"end_region_id":74,"start_point":[988,874],"end_point":[725,871],"distance":263.0171097096157},{"start_region_id":172,"end_region_id":56,"start_point":[990,223],"end_point":[786,264],"distance":208.07931180201456}],"complexity_score":0.68386108596497}
{"id":17562,"query_id":"Q03513","question":"A quadcopter drone starts from a densely vegetated area with tall, woody plants and needs to reach another similar area. The terrain includes open grassy fields, paved lanes used by vehicles, areas with tall, woody plants, and cultivated fields with crops. For safety, you must avoid any liquid surfaces and vertical structures unless they are widely spaced. The tall, woody plants are sparse enough to fly through cautiously. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"another densely vegetated area with tall, woody plants","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"kyoto_5.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":136,"start_point":[786,76],"end_point":[200,850],"distance":970.8099711066013},{"start_region_id":136,"end_region_id":117,"start_point":[200,850],"end_point":[786,76],"distance":970.8099711066013}],"complexity_score":0.68386108596497}
{"id":9620,"query_id":"Q01924","question":"A hiker starts from a paved surface and needs to reach another paved surface. The hiker can traverse areas with loose soil and rocks, as well as cultivated fields with crops, and can pass through wooded areas with individual trees. The hiker cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"buenos_aires_55.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":374,"end_region_id":381,"start_point":[382,521],"end_point":[952,894],"distance":681.1967410374186},{"start_region_id":381,"end_region_id":374,"start_point":[952,894],"end_point":[382,521],"distance":681.1967410374186}],"complexity_score":0.6840319721237806}
{"id":14145,"query_id":"Q02829","question":"An aerial survey drone is currently positioned on a hard, flat, paved surface. It needs to reach a tall, vertical structure with a canopy and trunk as quickly as possible. The drone can fly over areas of loose, dry soil and rock, as well as overgrown grassy and shrubby terrain. It can also navigate around the vertical structures and their canopies. The primary objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"A tall, vertical structure with a canopy and trunk","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"buenos_aires_55.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":381,"end_region_id":391,"start_point":[952,894],"end_point":[921,84],"distance":810.5929928145197},{"start_region_id":381,"end_region_id":392,"start_point":[952,894],"end_point":[959,105],"distance":789.0310513534939},{"start_region_id":374,"end_region_id":392,"start_point":[382,521],"end_point":[959,105],"distance":711.3262261438138},{"start_region_id":374,"end_region_id":391,"start_point":[382,521],"end_point":[921,84],"distance":693.8948047074571},{"start_region_id":381,"end_region_id":456,"start_point":[952,894],"end_point":[554,399],"distance":635.1606096098844}],"complexity_score":0.6840319721237806}
{"id":17460,"query_id":"Q03492","question":"An aerial survey drone starts from a vegetated area with tall, vertical structures and needs to reach another similar vegetated area with tall, vertical structures. The mission requires minimizing risk to the aerial vehicle. You can traverse areas with loose, dry soil and rocks; grassy or shrub-covered terrain; paved lanes used by ground vehicles; other vegetated areas with tall, vertical structures; and open liquid surfaces. However, you must avoid all constructed vertical obstacles and cultivated crop fields. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path from the starting vegetated area to the destination vegetated area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Water"],"traverse_vector":[1,1,0,1,1,1,0,0],"cost_vector":[2,2,0,2,1,1,0,0],"image_name":"buenos_aires_55.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":392,"end_region_id":481,"start_point":[959,105],"end_point":[586,563],"distance":590.6716515967225},{"start_region_id":481,"end_region_id":392,"start_point":[586,563],"end_point":[959,105],"distance":590.6716515967225},{"start_region_id":391,"end_region_id":481,"start_point":[921,84],"end_point":[586,563],"distance":584.5220269587794},{"start_region_id":481,"end_region_id":391,"start_point":[586,563],"end_point":[921,84],"distance":584.5220269587794},{"start_region_id":392,"end_region_id":477,"start_point":[959,105],"end_point":[651,533],"distance":527.3025696884096}],"complexity_score":0.6840319721237806}
{"id":4407,"query_id":"Q00882","question":"A surveillance drone is launched from a grassy, shrub-covered area. It must fly to a field with crops. The drone can fly over various surfaces, but areas with tall, dense vegetation pose a collision risk and should be avoided if possible. The drone cannot use any liquid surfaces or man-made vertical structures for navigation. The goal is to select a flight path that minimizes the risk of collisions, signal interference, or unexpected obstacles.","agent_category":"Drone","specific_agent":"A surveillance drone","start_land_type":"A grassy, shrub-covered area","end_land_type":"A field with crops","task_description":"What is the safest flight path for the surveillance drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"lohur_16.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":359,"start_point":[952,816],"end_point":[264,159],"distance":951.3112003965895},{"start_region_id":144,"end_region_id":359,"start_point":[726,967],"end_point":[264,159],"distance":930.7566814157178},{"start_region_id":144,"end_region_id":356,"start_point":[726,967],"end_point":[423,90],"distance":927.8674474298579},{"start_region_id":141,"end_region_id":355,"start_point":[146,874],"end_point":[610,78],"distance":921.3642059468124},{"start_region_id":121,"end_region_id":369,"start_point":[952,816],"end_point":[236,274],"distance":898.0089086417796}],"complexity_score":0.6841728993581622}
{"id":17851,"query_id":"Q03571","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane designed for vehicle traffic. The drone can fly over open grassy areas with low vegetation, cultivated fields, and water surfaces. However. The drone must avoid flying through dense tree canopies or close to vertical structures. What is the fastest path to reach the paved lane?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest path to reach the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"lohur_16.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":385,"end_region_id":211,"start_point":[378,723],"end_point":[858,94],"distance":791.2275273270009},{"start_region_id":369,"end_region_id":211,"start_point":[236,274],"end_point":[858,94],"distance":647.5214282168583},{"start_region_id":359,"end_region_id":211,"start_point":[264,159],"end_point":[858,94],"distance":597.54581414315},{"start_region_id":359,"end_region_id":210,"start_point":[264,159],"end_point":[521,622],"distance":529.5450877876217},{"start_region_id":356,"end_region_id":210,"start_point":[423,90],"end_point":[521,622],"distance":540.9510144181264}],"complexity_score":0.6841728993581622}
{"id":4814,"query_id":"Q00963","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area while maintaining stable flight for sensor calibration. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and vehicle lanes with hard surfaces, but must avoid areas with tall vertical obstacles that could cause turbulence. The drone cannot traverse solid vertical structures or areas with dense overhead obstructions.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_43.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":180,"start_point":[206,181],"end_point":[469,443],"distance":371.23173355735634},{"start_region_id":180,"end_region_id":130,"start_point":[469,443],"end_point":[206,181],"distance":371.23173355735634},{"start_region_id":256,"end_region_id":271,"start_point":[192,921],"end_point":[450,948],"distance":259.40894356209077},{"start_region_id":271,"end_region_id":256,"start_point":[450,948],"end_point":[192,921],"distance":259.40894356209077},{"start_region_id":140,"end_region_id":180,"start_point":[320,275],"end_point":[469,443],"distance":224.5551157288562}],"complexity_score":0.6842475070070762}
{"id":9618,"query_id":"Q01924","question":"A hiker starts from a paved surface and needs to reach another paved surface. The hiker can traverse areas with loose soil and rocks, as well as cultivated fields with crops, and can pass through wooded areas with individual trees. The hiker cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"buenos_aires_43.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":308,"end_region_id":290,"start_point":[354,882],"end_point":[796,46],"distance":945.653213392732},{"start_region_id":290,"end_region_id":308,"start_point":[796,46],"end_point":[354,882],"distance":945.653213392732},{"start_region_id":288,"end_region_id":308,"start_point":[380,230],"end_point":[354,882],"distance":652.5181989799212},{"start_region_id":308,"end_region_id":288,"start_point":[354,882],"end_point":[380,230],"distance":652.5181989799212},{"start_region_id":288,"end_region_id":303,"start_point":[380,230],"end_point":[829,626],"distance":598.6793799689447}],"complexity_score":0.6842475070070762}
{"id":14143,"query_id":"Q02829","question":"An aerial survey drone is currently positioned on a hard, flat, paved surface. It needs to reach a tall, vertical structure with a canopy and trunk as quickly as possible. The drone can fly over areas of loose, dry soil and rock, as well as overgrown grassy and shrubby terrain. It can also navigate around the vertical structures and their canopies. The primary objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"A tall, vertical structure with a canopy and trunk","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"buenos_aires_43.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":308,"end_region_id":340,"start_point":[354,882],"end_point":[993,170],"distance":956.6948311765879},{"start_region_id":290,"end_region_id":476,"start_point":[796,46],"end_point":[700,930],"distance":889.1973909093526},{"start_region_id":288,"end_region_id":465,"start_point":[380,230],"end_point":[967,835],"distance":842.9673777792353},{"start_region_id":303,"end_region_id":371,"start_point":[829,626],"end_point":[64,286],"distance":837.1529131526689},{"start_region_id":290,"end_region_id":465,"start_point":[796,46],"end_point":[967,835],"distance":807.3177812980463}],"complexity_score":0.6842475070070762}
{"id":17458,"query_id":"Q03492","question":"An aerial survey drone starts from a vegetated area with tall, vertical structures and needs to reach another similar vegetated area with tall, vertical structures. The mission requires minimizing risk to the aerial vehicle. You can traverse areas with loose, dry soil and rocks; grassy or shrub-covered terrain; paved lanes used by ground vehicles; other vegetated areas with tall, vertical structures; and open liquid surfaces. However, you must avoid all constructed vertical obstacles and cultivated crop fields. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path from the starting vegetated area to the destination vegetated area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Water"],"traverse_vector":[1,1,0,1,1,1,0,0],"cost_vector":[2,2,0,2,1,1,0,0],"image_name":"buenos_aires_43.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":371,"end_region_id":465,"start_point":[64,286],"end_point":[967,835],"distance":1056.792316399017},{"start_region_id":465,"end_region_id":371,"start_point":[967,835],"end_point":[64,286],"distance":1056.792316399017},{"start_region_id":340,"end_region_id":371,"start_point":[993,170],"end_point":[64,286],"distance":936.2141848957427},{"start_region_id":371,"end_region_id":340,"start_point":[64,286],"end_point":[993,170],"distance":936.2141848957427},{"start_region_id":476,"end_region_id":371,"start_point":[700,930],"end_point":[64,286],"distance":905.1143574156804}],"complexity_score":0.6842475070070762}
{"id":1723,"query_id":"Q00345","question":"An aerial surveillance drone is deployed from a patch of low, dry grass and shrubs. It must navigate to a destination located on another similar patch of low, dry grass and shrubs. The drone's flight path must prioritize minimal risk of collision, signal loss, or damage. For this mission, the drone is permitted to fly over the following terrain types: 1) Dry, open expanses of loose earth and rock, 2) Areas covered by low, dry grass and shrubs, 3) Long, paved strips used by ground vehicles, 4) Large bodies of liquid, and 5) Flat, cultivated fields with orderly rows of low crops. The drone is explicitly prohibited from flying near or through tall, dense clusters of vertical wooden structures or near large, solid, vertical man-made structures, as these pose significant collision risks. The drone must also avoid areas with thick, tall vegetation that could entangle its rotors.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of low, dry grass and shrubs","end_land_type":"Another patch of low, dry grass and shrubs","task_description":"What is the safest flight path for the drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Water","Agriculture land"],"traverse_vector":[1,1,0,1,0,1,1,0],"cost_vector":[2,2,0,2,0,1,2,0],"image_name":"christchurch_8.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":86,"start_point":[762,896],"end_point":[134,553],"distance":715.5648118793993},{"start_region_id":86,"end_region_id":118,"start_point":[134,553],"end_point":[762,896],"distance":715.5648118793993},{"start_region_id":118,"end_region_id":62,"start_point":[762,896],"end_point":[448,430],"distance":561.9181435049059},{"start_region_id":62,"end_region_id":118,"start_point":[448,430],"end_point":[762,896],"distance":561.9181435049059},{"start_region_id":118,"end_region_id":107,"start_point":[762,896],"end_point":[215,871],"distance":547.5709999625619}],"complexity_score":0.6843210284366898}
{"id":10749,"query_id":"Q02150","question":"A quadcopter drone starts from a densely vegetated area with tall vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open grassy areas, soft ground with scattered vegetation, paved surfaces, and liquid bodies, but must navigate carefully around tall vertical structures. The flat, hard, artificial surface is your destination. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest route from the starting point to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"christchurch_8.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":384,"end_region_id":120,"start_point":[989,747],"end_point":[115,146],"distance":1060.696469306842},{"start_region_id":391,"end_region_id":120,"start_point":[781,779],"end_point":[115,146],"distance":918.8280579085513},{"start_region_id":409,"end_region_id":126,"start_point":[493,956],"end_point":[762,89],"distance":907.7719978056164},{"start_region_id":409,"end_region_id":120,"start_point":[493,956],"end_point":[115,146],"distance":893.8590492913298},{"start_region_id":384,"end_region_id":123,"start_point":[989,747],"end_point":[282,273],"distance":851.1903429903326}],"complexity_score":0.6843210284366898}
{"id":4209,"query_id":"Q00842","question":"An aerial drone starts from a location with tall vertical obstacles that require careful navigation and needs to reach a flat, hard surface area. The drone can fly over most terrain types, but must navigate carefully around tall vertical structures. Flat paved surfaces and vehicle lanes are available for direct flight. The objective is to find the path that minimizes travel time.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"Starting from a location with tall vertical obstacles that require careful navigation.","end_land_type":"The destination is a flat, hard surface area.","task_description":"What is the fastest route for the drone to reach the flat, hard surface area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"buenos_aires_5.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":380,"end_region_id":351,"start_point":[620,70],"end_point":[358,1006],"distance":971.9773659916161},{"start_region_id":532,"end_region_id":228,"start_point":[859,997],"end_point":[265,270],"distance":938.8104174965252},{"start_region_id":462,"end_region_id":286,"start_point":[51,583],"end_point":[973,812],"distance":950.013157803617},{"start_region_id":472,"end_region_id":286,"start_point":[35,682],"end_point":[973,812],"distance":946.9656804763307},{"start_region_id":472,"end_region_id":191,"start_point":[35,682],"end_point":[768,131],"distance":917.0005452561084}],"complexity_score":0.6843554944193989}
{"id":4816,"query_id":"Q00964","question":"A car starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft soil. You cannot travel on loose sand, natural grass or shrubs, vertical obstacles like trees, liquid surfaces, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"a car","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"buenos_aires_5.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":326,"start_point":[855,68],"end_point":[208,847],"distance":1012.6450513383255},{"start_region_id":357,"end_region_id":274,"start_point":[855,68],"end_point":[97,536],"distance":890.8355628285167},{"start_region_id":357,"end_region_id":306,"start_point":[855,68],"end_point":[389,775],"distance":846.7614776310977},{"start_region_id":357,"end_region_id":325,"start_point":[855,68],"end_point":[649,859],"distance":817.3842425689402},{"start_region_id":357,"end_region_id":286,"start_point":[855,68],"end_point":[973,812],"distance":753.2994092656651}],"complexity_score":0.6843554944193989}
{"id":13242,"query_id":"Q02649","question":"An aerial surveillance drone starts from a paved surface, an aerial surveillance drone must navigate to another paved surface while prioritizing safety. The drone can fly over open grassy areas, hard artificial surfaces, liquid bodies, and cultivated fields, but must avoid vertical structures and dense vegetation clusters due to collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest path for the aerial surveillance drone to reach the destination paved surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"buenos_aires_5.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":355,"end_region_id":357,"start_point":[641,605],"end_point":[855,68],"distance":578.0700649575274},{"start_region_id":357,"end_region_id":355,"start_point":[855,68],"end_point":[641,605],"distance":578.0700649575274}],"complexity_score":0.6843554944193989}
{"id":3758,"query_id":"Q00752","question":"An agricultural monitoring drone is on a paved road surface and needs to reach a cultivated crop field as quickly as possible. The drone can fly over various surfaces including loose soil, grassy areas, hard paved surfaces, roads, and cultivated fields. It can also fly over liquid surfaces. However, it must avoid flying through dense tree canopies or close to solid vertical structures, as these could pose collision risks. What is the fastest route for the drone?","agent_category":"Drone","specific_agent":"an agricultural monitoring drone","start_land_type":"paved road surface","end_land_type":"cultivated crop field","task_description":"What is the fastest route for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_53.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":247,"end_region_id":441,"start_point":[840,928],"end_point":[134,112],"distance":1079.0236327347052},{"start_region_id":247,"end_region_id":445,"start_point":[840,928],"end_point":[189,273],"distance":923.48578765458},{"start_region_id":247,"end_region_id":437,"start_point":[840,928],"end_point":[778,21],"distance":909.1166041823238},{"start_region_id":239,"end_region_id":437,"start_point":[283,781],"end_point":[778,21],"distance":906.9867694735133},{"start_region_id":247,"end_region_id":446,"start_point":[840,928],"end_point":[684,248],"distance":697.664675900966}],"complexity_score":0.684590690028622}
{"id":888,"query_id":"Q00178","question":"A quadcopter takes off from a grassy field and must land on a paved road. The drone can fly over grassy areas, paved surfaces, and wooded zones, but must avoid collisions with tall vertical obstacles. What is the shortest flight path to the road?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy field","end_land_type":"paved road","task_description":"What is the shortest flight path to the road?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_32.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":165,"start_point":[481,840],"end_point":[148,107],"distance":805.0950254473071},{"start_region_id":38,"end_region_id":165,"start_point":[736,392],"end_point":[148,107],"distance":653.4286495096461},{"start_region_id":40,"end_region_id":165,"start_point":[715,424],"end_point":[148,107],"distance":649.5983374362961},{"start_region_id":56,"end_region_id":166,"start_point":[481,840],"end_point":[410,211],"distance":632.9944707499426},{"start_region_id":23,"end_region_id":171,"start_point":[52,232],"end_point":[384,756],"distance":620.3224967708329}],"complexity_score":0.6846096324366044}
{"id":9924,"query_id":"Q01985","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field. The drone must avoid any vertical obstacles like tall structures or dense tree canopies, as they could cause turbulence or collisions. Smooth, open surfaces such as bare soil, paved areas, cultivated fields, and calm water bodies are all acceptable for stable flight. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_32.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":23,"start_point":[481,840],"end_point":[52,232],"distance":744.1135666012278},{"start_region_id":23,"end_region_id":56,"start_point":[52,232],"end_point":[481,840],"distance":744.1135666012278},{"start_region_id":38,"end_region_id":23,"start_point":[736,392],"end_point":[52,232],"distance":702.4642339649756},{"start_region_id":23,"end_region_id":38,"start_point":[52,232],"end_point":[736,392],"distance":702.4642339649756},{"start_region_id":40,"end_region_id":23,"start_point":[715,424],"end_point":[52,232],"distance":690.2412621685261}],"complexity_score":0.6846096324366044}
{"id":13050,"query_id":"Q02610","question":"A delivery drone is dispatched from a grassy, open field and needs to reach a paved parking lot. The drone can fly over most surfaces, but must avoid dense tree canopies and building structures. The drone's flight path is restricted to areas with grassy vegetation, paved surfaces, vehicle lanes, water bodies, and cultivated crop fields. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, open field","end_land_type":"paved parking lot","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,1,1,1,0,1,1,0],"image_name":"dortmund_32.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":143,"start_point":[52,232],"end_point":[775,832],"distance":939.5365878985235},{"start_region_id":23,"end_region_id":129,"start_point":[52,232],"end_point":[868,646],"distance":915.0147539794099},{"start_region_id":38,"end_region_id":154,"start_point":[736,392],"end_point":[54,931],"distance":869.2784364057353},{"start_region_id":56,"end_region_id":87,"start_point":[481,840],"end_point":[100,68],"distance":860.8977871965986},{"start_region_id":30,"end_region_id":143,"start_point":[126,295],"end_point":[775,832],"distance":842.359780616335}],"complexity_score":0.6846096324366044}
{"id":2054,"query_id":"Q00411","question":"A jogger starts from a paved road surface and needs to reach a hard, flat paved area such as a sidewalk or parking lot as quickly as possible. The jogger can traverse areas with loose soil and low vegetation typical of cultivated fields, as well as patches with scattered trees, provided the ground is firm enough for running. However, the jogger cannot enter buildings or cross water bodies. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the fastest path for the jogger to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"vienna_11.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":77,"start_point":[295,877],"end_point":[905,235],"distance":885.5868111032368},{"start_region_id":172,"end_region_id":72,"start_point":[295,877],"end_point":[838,208],"distance":861.6321721012976},{"start_region_id":151,"end_region_id":123,"start_point":[706,370],"end_point":[44,845],"distance":814.7815658199441},{"start_region_id":172,"end_region_id":64,"start_point":[295,877],"end_point":[584,149],"distance":783.2655999084857},{"start_region_id":172,"end_region_id":90,"start_point":[295,877],"end_point":[935,496],"distance":744.8227977176854}],"complexity_score":0.6846419748853101}
{"id":2409,"query_id":"Q00482","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface using a quadcopter drone. The drone can fly over most surfaces, including loose soil, hard paved areas, and liquid bodies, but it must avoid dense vegetation and vertical structures to ensure stable flight and comfort. The objective is to find a path that maximizes ride comfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"A paved surface","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"vienna_11.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":172,"start_point":[706,370],"end_point":[295,877],"distance":652.6637725506143},{"start_region_id":172,"end_region_id":151,"start_point":[295,877],"end_point":[706,370],"distance":652.6637725506143}],"complexity_score":0.6846419748853101}
{"id":11030,"query_id":"Q02206","question":"A family SUV is parked on a smooth, paved road surface. It needs to reach a destination located on a grassy, open field with low vegetation. The vehicle must avoid any areas with standing water, dense tree canopies, or solid structures. It can travel on compacted dirt or gravel patches, maintained grassy areas, paved surfaces like sidewalks or parking lots, asphalt roads, and cultivated fields, but it should prioritize surfaces that offer the best stability and control to minimize risks such as skidding or getting stuck. What is the safest path to take?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"vienna_11.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":1,"start_point":[295,877],"end_point":[194,76],"distance":807.3425543101267},{"start_region_id":172,"end_region_id":12,"start_point":[295,877],"end_point":[337,229],"distance":649.359684612465},{"start_region_id":172,"end_region_id":20,"start_point":[295,877],"end_point":[141,265],"distance":631.0784420339519},{"start_region_id":151,"end_region_id":1,"start_point":[706,370],"end_point":[194,76],"distance":590.4066395290622},{"start_region_id":172,"end_region_id":32,"start_point":[295,877],"end_point":[475,349],"distance":557.838686360134}],"complexity_score":0.6846419748853101}
{"id":15745,"query_id":"Q03149","question":"A quadcopter drone starts from a grassy, open field and needs to reach a flat, paved area. The airspace includes soft, vegetated surfaces, hard, even surfaces, areas with tall, dense vegetation that can be flown over or around, and cultivated fields with low vegetation. You must avoid any liquid surfaces and vertical structures. What is the most comfortable flight path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"vienna_11.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":116,"start_point":[194,76],"end_point":[728,823],"distance":918.2401646628185},{"start_region_id":1,"end_region_id":100,"start_point":[194,76],"end_point":[757,786],"distance":906.1285780726706},{"start_region_id":1,"end_region_id":90,"start_point":[194,76],"end_point":[935,496],"distance":851.7517243892142},{"start_region_id":1,"end_region_id":124,"start_point":[194,76],"end_point":[471,878],"distance":848.4886563767367},{"start_region_id":1,"end_region_id":144,"start_point":[194,76],"end_point":[278,905],"distance":833.2448619703574}],"complexity_score":0.6846419748853101}
{"id":5533,"query_id":"Q01107","question":"A quadcopter drone starts from a densely vegetated area with tall woody plants and needs to reach another densely vegetated area with tall woody plants. The terrain consists of areas covered by herbaceous vegetation or bushes, and densely vegetated areas with tall woody plants. The drone can fly over herbaceous vegetation or bushes without restriction, but must navigate carefully through densely vegetated areas with tall woody plants to avoid collisions. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"a densely vegetated area with tall woody plants","end_land_type":"another densely vegetated area with tall woody plants","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"muenster_36.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":238,"end_region_id":169,"start_point":[817,829],"end_point":[168,29],"distance":1030.1461061422308},{"start_region_id":169,"end_region_id":238,"start_point":[168,29],"end_point":[817,829],"distance":1030.1461061422308},{"start_region_id":258,"end_region_id":169,"start_point":[419,923],"end_point":[168,29],"distance":928.5671758144373},{"start_region_id":169,"end_region_id":258,"start_point":[168,29],"end_point":[419,923],"distance":928.5671758144373},{"start_region_id":266,"end_region_id":169,"start_point":[125,935],"end_point":[168,29],"distance":907.0198454278716}],"complexity_score":0.684690048780705}
{"id":12646,"query_id":"Q02530","question":"A hiker starts from a paved sidewalk and needs to return to another paved sidewalk while prioritizing safety. The hiker can traverse grassy areas and shrubs if they are dry and stable, and can walk on paved surfaces and vehicle lanes. However. The hiker must avoid any areas with tall, dense vegetation that could obscure hazards or cause tripping. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a paved sidewalk","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"muenster_36.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":157,"start_point":[933,166],"end_point":[112,984],"distance":1158.949955778937},{"start_region_id":157,"end_region_id":92,"start_point":[112,984],"end_point":[933,166],"distance":1158.949955778937},{"start_region_id":157,"end_region_id":83,"start_point":[112,984],"end_point":[492,17],"distance":1038.9846004633562},{"start_region_id":83,"end_region_id":157,"start_point":[492,17],"end_point":[112,984],"distance":1038.9846004633562},{"start_region_id":139,"end_region_id":92,"start_point":[198,861],"end_point":[933,166],"distance":1011.5582039606026}],"complexity_score":0.684690048780705}
{"id":14937,"query_id":"Q02988","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area while prioritizing a smooth and stable journey. The drone can traverse most surfaces, including soft ground and vegetated patches, but must avoid dense vertical obstacles and liquid surfaces to ensure comfort. Which path should the quadcopter drone take to maximize ride comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"Which path should the quadcopter drone take to maximize ride comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_36.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":168,"end_region_id":3,"start_point":[53,903],"end_point":[869,298],"distance":1015.8154359921884},{"start_region_id":163,"end_region_id":8,"start_point":[882,620],"end_point":[87,102],"distance":948.867219372658},{"start_region_id":163,"end_region_id":24,"start_point":[882,620],"end_point":[43,388],"distance":870.4854967200774},{"start_region_id":168,"end_region_id":49,"start_point":[53,903],"end_point":[864,681],"distance":840.8358936201522},{"start_region_id":168,"end_region_id":8,"start_point":[53,903],"end_point":[87,102],"distance":801.7212732614746}],"complexity_score":0.684690048780705}
{"id":17016,"query_id":"Q03404","question":"A hiker starts from a grassy field and needs to reach another grassy field area. The terrain includes areas with hard, flat surfaces suitable for walking, as well as patches with tall vegetation and tree cover that can be navigated through. The hiker must find the most direct route.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path from the starting grassy field to the destination grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_36.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":49,"start_point":[87,102],"end_point":[864,681],"distance":969.0046439517201},{"start_region_id":49,"end_region_id":8,"start_point":[864,681],"end_point":[87,102],"distance":969.0046439517201},{"start_region_id":63,"end_region_id":8,"start_point":[718,795],"end_point":[87,102],"distance":937.2352959636123},{"start_region_id":8,"end_region_id":63,"start_point":[87,102],"end_point":[718,795],"distance":937.2352959636123},{"start_region_id":8,"end_region_id":59,"start_point":[87,102],"end_point":[741,736],"distance":910.8633267400769}],"complexity_score":0.684690048780705}
{"id":1413,"query_id":"Q00283","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over hard, flat surfaces like sidewalks and parking lots, as well as liquid surfaces. It can also pass through areas with tall vertical obstacles, but these slow it down due to navigation complexity. The drone cannot land on or traverse loose soil, grassy areas, or cultivated fields. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest path for the aerial surveillance drone to reach the destination paved lane?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Water","Building"],"traverse_vector":[0,0,1,1,1,1,0,1],"cost_vector":[0,0,2,2,1,2,0,2],"image_name":"koeln_29.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":202,"start_point":[752,781],"end_point":[395,699],"distance":366.2963281279243},{"start_region_id":202,"end_region_id":201,"start_point":[395,699],"end_point":[752,781],"distance":366.2963281279243}],"complexity_score":0.6847567443526534}
{"id":5604,"query_id":"Q01121","question":"A quadcopter starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas of soft, uneven ground covered with grass and shrubs. You must avoid any vertical structures, liquid surfaces, cultivated fields, loose sandy or rocky expanses, and wooded areas. As a quadcopter operator seeking a smooth and stable flight, what is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"koeln_29.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":202,"start_point":[752,781],"end_point":[395,699],"distance":366.2963281279243},{"start_region_id":202,"end_region_id":201,"start_point":[395,699],"end_point":[752,781],"distance":366.2963281279243}],"complexity_score":0.6847567443526534}
{"id":1178,"query_id":"Q00236","question":"A quadcopter drone starts from a paved, hard-surfaced lane and needs to reach another paved, hard-surfaced lane. The drone can fly over grassy areas, shrub-covered ground, and tall vertical obstacles, but must avoid liquid surfaces and solid structures due to safety protocols. The drone operator wants to find a path that minimizes turbulence and ensures stable flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"Another paved, hard-surfaced lane","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_4.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":135,"start_point":[751,320],"end_point":[489,916],"distance":651.0453133231204},{"start_region_id":135,"end_region_id":123,"start_point":[489,916],"end_point":[751,320],"distance":651.0453133231204},{"start_region_id":126,"end_region_id":135,"start_point":[342,306],"end_point":[489,916],"distance":627.4623494680776},{"start_region_id":135,"end_region_id":126,"start_point":[489,916],"end_point":[342,306],"distance":627.4623494680776},{"start_region_id":126,"end_region_id":123,"start_point":[342,306],"end_point":[751,320],"distance":409.23953865676276}],"complexity_score":0.6848001411192068}
{"id":3701,"query_id":"Q00741","question":"A hiker starts from a densely vegetated area with tall, woody plants casting shadows and needs to reach a flat, hard, artificial surface. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with natural grasses and shrubs; flat, hard artificial surfaces like sidewalks or parking lots; paved lanes used by vehicles; cultivated fields with crops; and densely vegetated areas with tall, woody plants. You cannot travel over liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants casting shadows","end_land_type":"a flat, hard, artificial surface","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_4.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":26,"start_point":[959,890],"end_point":[136,135],"distance":1116.8500346957958},{"start_region_id":188,"end_region_id":26,"start_point":[778,992],"end_point":[136,135],"distance":1070.8001680986047},{"start_region_id":177,"end_region_id":26,"start_point":[989,760],"end_point":[136,135],"distance":1057.465838691728},{"start_region_id":184,"end_region_id":28,"start_point":[959,890],"end_point":[275,94],"distance":1049.5103620260259},{"start_region_id":157,"end_region_id":112,"start_point":[30,447],"end_point":[944,954],"distance":1045.2009376191738}],"complexity_score":0.6848001411192068}
{"id":8267,"query_id":"Q01654","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a patch of low vegetation. The drone can fly over various terrains but must avoid tall, dense obstacles. The area includes open, dry ground with no vertical obstructions. The hard surface is clear for takeoff. The objective is to complete the flight in the shortest duration.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a patch of low vegetation","task_description":"What is the fastest flight path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_4.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":23,"start_point":[136,135],"end_point":[497,983],"distance":921.6425554410994},{"start_region_id":28,"end_region_id":23,"start_point":[275,94],"end_point":[497,983],"distance":916.2996234856806},{"start_region_id":28,"end_region_id":17,"start_point":[275,94],"end_point":[289,888],"distance":794.1234161010491},{"start_region_id":29,"end_region_id":17,"start_point":[721,251],"end_point":[289,888],"distance":769.670708809943},{"start_region_id":26,"end_region_id":17,"start_point":[136,135],"end_point":[289,888],"distance":768.3866214348087}],"complexity_score":0.6848001411192068}
{"id":9496,"query_id":"Q01900","question":"A hiker is standing on a paved, hard surface and aims to reach a cluster of tall, leafy vegetation. The hiker can walk across loose, sandy ground and cultivated fields with rows of crops, but must avoid areas with standing liquid and vertical structures. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface","end_land_type":"A cluster of tall, leafy vegetation","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"duesseldorf_11.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":248,"end_region_id":259,"start_point":[516,489],"end_point":[757,25],"distance":522.8546643188716},{"start_region_id":248,"end_region_id":401,"start_point":[516,489],"end_point":[296,912],"distance":476.7903103042259},{"start_region_id":248,"end_region_id":260,"start_point":[516,489],"end_point":[781,124],"distance":451.0543204537564},{"start_region_id":248,"end_region_id":306,"start_point":[516,489],"end_point":[35,393],"distance":490.4864931881407},{"start_region_id":248,"end_region_id":263,"start_point":[516,489],"end_point":[636,87],"distance":419.5283065539202}],"complexity_score":0.6848050524335124}
{"id":8169,"query_id":"Q01634","question":"An agricultural monitoring drone is currently above a cultivated field with loose, plowed soil and needs to reach a paved lane. The drone can fly over the field because it is an open area with no overhead obstacles. However, the paved lane is the only other traversable surface available, as all other terrain types—such as vertical structures and dense wooded areas—are either physically impassable due to collision risk or blocked for this drone. What is the fastest flight path for the drone to take?","agent_category":"Drone","specific_agent":"an agricultural monitoring drone","start_land_type":"a cultivated field with loose, plowed soil","end_land_type":"a paved lane","task_description":"What is the fastest flight path for the drone to take?","task_type":"Fastest","input_classes":["Road","Agriculture land"],"traverse_vector":[0,0,0,1,0,0,1,0],"cost_vector":[0,0,0,1,0,0,1,0],"image_name":"buenos_aires_23.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":434,"end_region_id":279,"start_point":[108,644],"end_point":[89,855],"distance":211.85372312045877}],"complexity_score":0.6848375509967477}
{"id":12966,"query_id":"Q02594","question":"An aerial survey drone starts from a cultivated field and needs to reach a paved area as quickly as possible. The drone can fly over loose, dry soil surfaces; hard, flat surfaces; and liquid surfaces. It can also pass through cultivated vegetation areas. However, it must avoid dense vertical obstacles that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the fastest route for the aerial survey drone to travel from the cultivated field to the paved area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_23.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":434,"end_region_id":109,"start_point":[108,644],"end_point":[726,65],"distance":846.8559499702413},{"start_region_id":434,"end_region_id":220,"start_point":[108,644],"end_point":[892,652],"distance":784.0408152641035},{"start_region_id":434,"end_region_id":197,"start_point":[108,644],"end_point":[867,530],"distance":767.5135177962666},{"start_region_id":434,"end_region_id":171,"start_point":[108,644],"end_point":[634,296],"distance":630.6980259997648},{"start_region_id":433,"end_region_id":249,"start_point":[700,387],"end_point":[391,942],"distance":635.2212213079787}],"complexity_score":0.6848375509967477}
{"id":13811,"query_id":"Q02763","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The terrain includes loose, sandy expanses; grassy, uneven ground; hard, paved surfaces; and soft, tilled soil. The drone can fly over all these terrains, but trees and buildings are present and must be avoided due to low-altitude flight restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_23.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":433,"end_region_id":434,"start_point":[700,387],"end_point":[108,644],"distance":645.3781837031679},{"start_region_id":434,"end_region_id":433,"start_point":[108,644],"end_point":[700,387],"distance":645.3781837031679}],"complexity_score":0.6848375509967477}
{"id":5082,"query_id":"Q01017","question":"A quadcopter drone is launched from a cultivated field and needs to land in a paved area. The environment contains loose soil surfaces; hard, flat paved surfaces; vehicle lanes; areas with tall vertical obstacles; and cultivated plots. The drone must avoid liquid surfaces due to splash risk. The areas with tall vertical obstacles have sufficient clearance between them for safe flight. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest path from the cultivated field to the paved area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"dortmund_50.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":106,"start_point":[70,875],"end_point":[941,61],"distance":1192.1564494645827},{"start_region_id":292,"end_region_id":159,"start_point":[71,69],"end_point":[926,800],"distance":1124.8937727625662},{"start_region_id":292,"end_region_id":161,"start_point":[71,69],"end_point":[782,914],"distance":1104.3305664519116},{"start_region_id":292,"end_region_id":149,"start_point":[71,69],"end_point":[965,670],"distance":1077.2358144807476},{"start_region_id":294,"end_region_id":105,"start_point":[70,875],"end_point":[746,73],"distance":1048.894656292995}],"complexity_score":0.6849170170820732}
{"id":7228,"query_id":"Q01446","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a flat, hard, paved surface as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, and can also cross over calm water bodies, but must avoid areas with tall, dense vegetation or vertical structures. Which path should it take to minimize travel time?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a flat, hard, paved surface","task_description":"Which path should it take to minimize travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_50.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":106,"start_point":[70,875],"end_point":[941,61],"distance":1192.1564494645827},{"start_region_id":294,"end_region_id":105,"start_point":[70,875],"end_point":[746,73],"distance":1048.894656292995},{"start_region_id":294,"end_region_id":112,"start_point":[70,875],"end_point":[781,196],"distance":983.1388508242363},{"start_region_id":294,"end_region_id":123,"start_point":[70,875],"end_point":[946,408],"distance":992.705898038286},{"start_region_id":294,"end_region_id":104,"start_point":[70,875],"end_point":[483,43],"distance":928.8665135529432}],"complexity_score":0.6849170170820732}
{"id":9401,"query_id":"Q01881","question":"A quadcopter drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over loose, sandy or rocky ground, liquid surfaces, and planted areas, but must avoid vertical structures and dense vegetation clusters. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"cultivated field","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_50.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":294,"start_point":[809,205],"end_point":[70,875],"distance":997.5073934563092},{"start_region_id":182,"end_region_id":294,"start_point":[798,235],"end_point":[70,875],"distance":969.3214121229346},{"start_region_id":193,"end_region_id":294,"start_point":[880,672],"end_point":[70,875],"distance":835.050297886301},{"start_region_id":173,"end_region_id":294,"start_point":[254,238],"end_point":[70,875],"distance":663.0422309325402},{"start_region_id":174,"end_region_id":294,"start_point":[442,465],"end_point":[70,875],"distance":553.6099710084709}],"complexity_score":0.6849170170820732}
{"id":1080,"query_id":"Q00216","question":"A quadcopter drone is positioned above a flat, hard-surfaced lane and must fly to a group of elevated, leafy structures. The airspace includes open zones with low, soft vegetation that can be flown over easily. The flat lane offers a stable, predictable surface for takeoff and landing. The elevated structures have dense canopies and trunks, requiring careful maneuvering to avoid collisions, but flight between them is permitted. Large bodies of liquid and solid vertical constructions are not part of the permitted flight area.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard-surfaced lane","end_land_type":"a group of elevated, leafy structures","task_description":"What is the most comfortable flight path for the quadcopter drone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"melbourne_23.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":238,"start_point":[576,900],"end_point":[97,516],"distance":613.919375814121},{"start_region_id":184,"end_region_id":273,"start_point":[84,394],"end_point":[277,878],"distance":521.0614167255143},{"start_region_id":183,"end_region_id":238,"start_point":[561,498],"end_point":[97,516],"distance":464.3490066749363},{"start_region_id":183,"end_region_id":273,"start_point":[561,498],"end_point":[277,878],"distance":474.4006745357768},{"start_region_id":186,"end_region_id":239,"start_point":[576,900],"end_point":[263,551],"distance":468.7963310436634}],"complexity_score":0.6849762349375585}
{"id":3810,"query_id":"Q00762","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface as quickly as possible. The drone can fly over hard, flat surfaces like asphalt or concrete. It can fly over areas with loose soil or rocks. It can fly over grassy or shrub-covered areas. It can fly over cultivated fields with vegetation. It can fly over liquid surfaces. It can fly near solid vertical structures, but must avoid collisions. It can fly through areas with trees, but must maneuver carefully between branches, which slows it down.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"melbourne_23.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":184,"start_point":[576,900],"end_point":[84,394],"distance":705.7619995437556},{"start_region_id":184,"end_region_id":186,"start_point":[84,394],"end_point":[576,900],"distance":705.7619995437556},{"start_region_id":183,"end_region_id":184,"start_point":[561,498],"end_point":[84,394],"distance":488.2058991859889},{"start_region_id":184,"end_region_id":183,"start_point":[84,394],"end_point":[561,498],"distance":488.2058991859889},{"start_region_id":185,"end_region_id":186,"start_point":[176,549],"end_point":[576,900],"distance":532.1663273827085}],"complexity_score":0.6849762349375585}
{"id":10028,"query_id":"Q02006","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over loose, sandy or rocky ground without vegetation, areas covered with low grass and shrubs, and open water bodies. However, it cannot pass through dense tree canopies or enter any structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"melbourne_23.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":134,"start_point":[116,981],"end_point":[955,184],"distance":1157.2078464994954},{"start_region_id":134,"end_region_id":176,"start_point":[955,184],"end_point":[116,981],"distance":1157.2078464994954},{"start_region_id":107,"end_region_id":176,"start_point":[801,74],"end_point":[116,981],"distance":1136.6063522609752},{"start_region_id":176,"end_region_id":107,"start_point":[116,981],"end_point":[801,74],"distance":1136.6063522609752},{"start_region_id":105,"end_region_id":172,"start_point":[248,120],"end_point":[848,952],"distance":1025.7797034451403}],"complexity_score":0.6849762349375585}
{"id":12859,"query_id":"Q02572","question":"A quadcopter starts from a grassy field and needs to reach another grassy field. You can fly over grassy areas, paved surfaces, vehicle lanes, cultivated fields, and water bodies. You can also fly near buildings and wooded areas, but avoid direct contact with trees and building structures. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_23.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":8,"start_point":[154,878],"end_point":[723,106],"distance":959.0333675112665},{"start_region_id":8,"end_region_id":82,"start_point":[723,106],"end_point":[154,878],"distance":959.0333675112665},{"start_region_id":82,"end_region_id":23,"start_point":[154,878],"end_point":[899,277],"distance":957.1969494309935},{"start_region_id":23,"end_region_id":82,"start_point":[899,277],"end_point":[154,878],"distance":957.1969494309935},{"start_region_id":82,"end_region_id":1,"start_point":[154,878],"end_point":[162,91],"distance":787.0406596866518}],"complexity_score":0.6849762349375585}
{"id":9339,"query_id":"Q01868","question":"A hiker starts from a patch of loose, sandy ground and needs to return to another similar patch of loose, sandy ground. The hiker can traverse areas with hard, paved surfaces like sidewalks and roads, as well as softer, vegetated areas like grassy fields and cultivated plots, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest path for the hiker to return from the starting loose, sandy ground to the destination loose, sandy ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"houston_22.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":1,"start_point":[796,567],"end_point":[330,41],"distance":702.731812286878},{"start_region_id":1,"end_region_id":5,"start_point":[330,41],"end_point":[796,567],"distance":702.731812286878},{"start_region_id":5,"end_region_id":2,"start_point":[796,567],"end_point":[431,42],"distance":639.4137940332536},{"start_region_id":2,"end_region_id":5,"start_point":[431,42],"end_point":[796,567],"distance":639.4137940332536},{"start_region_id":5,"end_region_id":6,"start_point":[796,567],"end_point":[331,143],"distance":629.286103453747}],"complexity_score":0.6850041876389057}
{"id":14419,"query_id":"Q02884","question":"An aerial survey drone starts from a location with tall, vertical structures that provide overhead cover and needs to reach a flat, open area with loose, dry soil and no vegetation. The drone can fly over liquid surfaces and open ground, but must navigate carefully around vertical obstacles. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall, vertical structures that provide overhead cover.","end_land_type":"The destination is a flat, open area with loose, dry soil and no vegetation.","task_description":"What is the fastest path to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"houston_22.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":387,"end_region_id":1,"start_point":[948,987],"end_point":[330,41],"distance":1129.9734510155538},{"start_region_id":387,"end_region_id":2,"start_point":[948,987],"end_point":[431,42],"distance":1077.1787224040402},{"start_region_id":387,"end_region_id":6,"start_point":[948,987],"end_point":[331,143],"distance":1045.4783594125706},{"start_region_id":387,"end_region_id":3,"start_point":[948,987],"end_point":[560,43],"distance":1020.6272581114027},{"start_region_id":340,"end_region_id":1,"start_point":[932,822],"end_point":[330,41],"distance":986.0856960731152}],"complexity_score":0.6850041876389057}
{"id":6959,"query_id":"Q01392","question":"A quadcopter drone is positioned on a cultivated field with rows of crops and needs to reach a flat, paved area such as a parking lot or sports court as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, and over areas with tall, dense vegetation like trees, but must avoid any liquid surfaces and vertical structures like buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a flat, paved area such as a parking lot or sports court","task_description":"What is the fastest path for the quadcopter drone to reach the flat, paved area from the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"muenster_56.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":467,"end_region_id":243,"start_point":[332,81],"end_point":[814,933],"distance":978.8912094814214},{"start_region_id":467,"end_region_id":237,"start_point":[332,81],"end_point":[931,858],"distance":981.0861328140359},{"start_region_id":471,"end_region_id":237,"start_point":[47,714],"end_point":[931,858],"distance":895.6517180243669},{"start_region_id":470,"end_region_id":237,"start_point":[145,461],"end_point":[931,858],"distance":880.5708375820766},{"start_region_id":471,"end_region_id":182,"start_point":[47,714],"end_point":[883,498],"distance":863.4535308862892}],"complexity_score":0.6850971286004076}
{"id":12403,"query_id":"Q02481","question":"An off-road vehicle is positioned on grassy, uneven terrain and must get to a cultivated field. The vehicle can travel on paved surfaces, compacted dirt areas, grassy terrain, and cultivated fields, but cannot go through wooded areas, liquid bodies, or structures. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"cultivated field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_56.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":467,"start_point":[910,902],"end_point":[332,81],"distance":1004.0542814011601},{"start_region_id":20,"end_region_id":471,"start_point":[924,306],"end_point":[47,714],"distance":967.2605646877164},{"start_region_id":126,"end_region_id":468,"start_point":[329,951],"end_point":[683,102],"distance":919.8461827936234},{"start_region_id":121,"end_region_id":471,"start_point":[910,902],"end_point":[47,714],"distance":883.2400579683872},{"start_region_id":121,"end_region_id":470,"start_point":[910,902],"end_point":[145,461],"distance":883.0096262215944}],"complexity_score":0.6850971286004076}
{"id":2191,"query_id":"Q00439","question":"An aerial survey drone starts from a flat, paved surface and needs to reach another flat, paved surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock without vegetation, as well as over liquid bodies, but must avoid any vertical structures or dense vegetation that could obstruct its flight path. Which route allows the drone to reach its destination in the minimum time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"Which route allows the drone to reach its destination in the minimum time?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"san_tome_17.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":119,"start_point":[52,957],"end_point":[978,57],"distance":1291.307864143946},{"start_region_id":119,"end_region_id":214,"start_point":[978,57],"end_point":[52,957],"distance":1291.307864143946},{"start_region_id":212,"end_region_id":119,"start_point":[267,933],"end_point":[978,57],"distance":1128.2273707014913},{"start_region_id":119,"end_region_id":212,"start_point":[978,57],"end_point":[267,933],"distance":1128.2273707014913},{"start_region_id":214,"end_region_id":116,"start_point":[52,957],"end_point":[738,59],"distance":1130.044246921332}],"complexity_score":0.6852725277478967}
{"id":11875,"query_id":"Q02375","question":"A family sedan starts from a paved lane and needs to reach a flat, hard-surfaced area while prioritizing ride comfort. The vehicle can travel on paved lanes, flat hard surfaces, and areas of loose earth and rocks. However, it cannot travel on surfaces covered by vegetation, liquid bodies, or vertical structures. What is the most comfortable path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"san_tome_17.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":119,"start_point":[123,484],"end_point":[978,57],"distance":955.695558219248},{"start_region_id":230,"end_region_id":116,"start_point":[123,484],"end_point":[738,59],"distance":747.5627063999381},{"start_region_id":229,"end_region_id":214,"start_point":[397,490],"end_point":[52,957],"distance":580.6151909828058},{"start_region_id":230,"end_region_id":164,"start_point":[123,484],"end_point":[759,616],"distance":649.5536929307692},{"start_region_id":229,"end_region_id":119,"start_point":[397,490],"end_point":[978,57],"distance":724.6033397659716}],"complexity_score":0.6852725277478967}
{"id":15870,"query_id":"Q03174","question":"An aerial surveillance drone starts from an area of natural, uncultivated grassy terrain and needs to reach another patch of similar natural grassy terrain. The drone must avoid any vertical obstacles that could cause collisions, and it should also steer clear of liquid surfaces and built structures to minimize risks of signal interference or physical damage. The drone can fly over flat, open areas including hard surfaces, cultivated fields, and the grassy terrain itself. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of natural, uncultivated grassy terrain.","end_land_type":"The destination is another patch of similar natural grassy terrain.","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"san_tome_17.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":84,"start_point":[108,202],"end_point":[931,845],"distance":1044.403178853837},{"start_region_id":84,"end_region_id":1,"start_point":[931,845],"end_point":[108,202],"distance":1044.403178853837},{"start_region_id":84,"end_region_id":2,"start_point":[931,845],"end_point":[330,33],"distance":1010.2202730098026},{"start_region_id":2,"end_region_id":84,"start_point":[330,33],"end_point":[931,845],"distance":1010.2202730098026},{"start_region_id":84,"end_region_id":53,"start_point":[931,845],"end_point":[91,527],"distance":898.178156047006}],"complexity_score":0.6852725277478967}
{"id":6812,"query_id":"Q01363","question":"A delivery drone starts from a concrete pad and needs to reach an asphalt lane. The drone can fly over most surfaces, including loose granular areas, grassy expanses, other paved zones, cultivated plots, and even liquid surfaces. However, areas with tall vertical obstacles or permanent structures should be avoided to ensure stable flight and comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a concrete pad","end_land_type":"an asphalt lane","task_description":"What is the most comfortable path from the concrete pad to the asphalt lane?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chiangmai_16.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":188,"start_point":[176,213],"end_point":[981,879],"distance":1044.7875382105206},{"start_region_id":161,"end_region_id":188,"start_point":[359,286],"end_point":[981,879],"distance":859.3794272613233},{"start_region_id":169,"end_region_id":188,"start_point":[236,478],"end_point":[981,879],"distance":846.0650093225697},{"start_region_id":156,"end_region_id":188,"start_point":[933,106],"end_point":[981,879],"distance":774.4888637030232},{"start_region_id":156,"end_region_id":187,"start_point":[933,106],"end_point":[366,631],"distance":772.7315187049121}],"complexity_score":0.6853112862014545}
{"id":15751,"query_id":"Q03151","question":"A quadcopter drone is positioned on a patch of grassy, open ground with scattered low shrubs. It needs to reach a flat, hard, paved area. The drone can fly over expanses of liquid, and the cultivated fields with orderly rows of crops are also accessible for flight. However, the drone cannot fly through dense clusters of tall, vertical obstacles like individual trees or groups of trees. It also cannot land on or pass through solid, enclosed vertical structures. What is the shortest path the drone can take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A patch of grassy, open ground with scattered low shrubs.","end_land_type":"A flat, hard, paved area.","task_description":"What is the shortest path the drone can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chiangmai_16.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":156,"start_point":[325,1007],"end_point":[933,106],"distance":1086.9521608608172},{"start_region_id":15,"end_region_id":177,"start_point":[48,319],"end_point":[947,862],"distance":1050.2618721061904},{"start_region_id":140,"end_region_id":156,"start_point":[272,864],"end_point":[933,106],"distance":1005.7261058558637},{"start_region_id":25,"end_region_id":156,"start_point":[89,564],"end_point":[933,106],"distance":960.2603813549739},{"start_region_id":15,"end_region_id":156,"start_point":[48,319],"end_point":[933,106],"distance":910.27138810357}],"complexity_score":0.6853112862014545}
{"id":4240,"query_id":"Q00848","question":"An aerial survey drone starts from a patch of grassy, uneven ground with scattered shrubs and needs to reach another patch of similar terrain. The drone must avoid any tall, dense vegetation that could entangle its rotors. The drone can fly over open grassy areas, cultivated fields with low crops, and calm water surfaces, but must maintain a safe distance from any tall structures or dense tree canopies. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of grassy, uneven ground with scattered shrubs.","end_land_type":"Another patch of similar grassy, uneven ground with scattered shrubs.","task_description":"What is the safest path for the aerial survey drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"daressalaam_97.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":24,"start_point":[144,927],"end_point":[990,203],"distance":1113.5043780785059},{"start_region_id":24,"end_region_id":110,"start_point":[990,203],"end_point":[144,927],"distance":1113.5043780785059},{"start_region_id":3,"end_region_id":117,"start_point":[253,97],"end_point":[884,981],"distance":1086.1017447734812},{"start_region_id":117,"end_region_id":3,"start_point":[884,981],"end_point":[253,97],"distance":1086.1017447734812},{"start_region_id":24,"end_region_id":118,"start_point":[990,203],"end_point":[253,985],"distance":1074.5664241916365}],"complexity_score":0.685347034250181}
{"id":4803,"query_id":"Q00961","question":"A passenger vehicle starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes only hard, artificial surfaces and cultivated fields with planted crops. The cultivated fields have been recently harvested and the ground is compacted and dry, allowing vehicle passage. What is the shortest path to the vehicle lane?","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"daressalaam_97.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":215,"start_point":[755,721],"end_point":[62,80],"distance":943.996822028549},{"start_region_id":202,"end_region_id":215,"start_point":[432,931],"end_point":[62,80],"distance":927.9552790948495},{"start_region_id":206,"end_region_id":215,"start_point":[180,958],"end_point":[62,80],"distance":885.8938988389073},{"start_region_id":186,"end_region_id":215,"start_point":[567,673],"end_point":[62,80],"distance":778.8928039210531},{"start_region_id":206,"end_region_id":222,"start_point":[180,958],"end_point":[480,313],"distance":711.3543420827626}],"complexity_score":0.685347034250181}
{"id":9605,"query_id":"Q01921","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces suitable for walking, as well as open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The hiker can walk on all these surfaces, but must avoid any liquid bodies and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"daressalaam_97.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":234,"end_region_id":215,"start_point":[890,930],"end_point":[62,80],"distance":1186.6271529001854},{"start_region_id":215,"end_region_id":234,"start_point":[62,80],"end_point":[890,930],"distance":1186.6271529001854},{"start_region_id":233,"end_region_id":215,"start_point":[402,831],"end_point":[62,80],"distance":824.3791603382512},{"start_region_id":215,"end_region_id":233,"start_point":[62,80],"end_point":[402,831],"distance":824.3791603382512},{"start_region_id":222,"end_region_id":234,"start_point":[480,313],"end_point":[890,930],"distance":740.8029427587339}],"complexity_score":0.685347034250181}
{"id":10329,"query_id":"Q02066","question":"A passenger vehicle is parked on a paved parking lot and needs to reach a street. The terrain includes loose, dry soil or rocky patches; natural grassy or shrub-covered areas; and other hard, paved surfaces. The vehicle must avoid any areas with trees, liquid surfaces, or vertical structures. What is the safest route?","agent_category":"Car","specific_agent":"A passenger vehicle","start_land_type":"A paved parking lot","end_land_type":"A street","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"monrovia_60.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":188,"start_point":[947,89],"end_point":[129,884],"distance":1140.6791836445514},{"start_region_id":104,"end_region_id":188,"start_point":[854,170],"end_point":[129,884],"distance":1017.5563866440032},{"start_region_id":102,"end_region_id":188,"start_point":[662,41],"end_point":[129,884],"distance":997.3655297833387},{"start_region_id":135,"end_region_id":188,"start_point":[952,554],"end_point":[129,884],"distance":886.6955509079766},{"start_region_id":129,"end_region_id":188,"start_point":[806,465],"end_point":[129,884],"distance":796.1720919499753}],"complexity_score":0.6853619990882075}
{"id":8506,"query_id":"Q01702","question":"A quadcopter drone is hovering above a vegetated, natural area with shrubs and grass and needs to land on a flat, hard surface. The drone can fly over the soft, uneven ground and the solid, paved area, but must avoid any trees or buildings. What is the most comfortable flight path to the landing spot?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path to the landing spot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"bogota_2.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":82,"start_point":[249,969],"end_point":[945,278],"distance":980.7634781128424},{"start_region_id":38,"end_region_id":77,"start_point":[912,529],"end_point":[91,229],"distance":874.0943884958878},{"start_region_id":38,"end_region_id":93,"start_point":[912,529],"end_point":[82,779],"distance":866.8333173107734},{"start_region_id":73,"end_region_id":79,"start_point":[249,969],"end_point":[714,280],"distance":831.2316163380698},{"start_region_id":58,"end_region_id":77,"start_point":[681,739],"end_point":[91,229],"distance":779.8717843338096}],"complexity_score":0.6856520237503803}
{"id":2746,"query_id":"Q00550","question":"A hiker starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The area includes loose, sandy ground and cultivated fields, but you can walk across the fields if they are dry and firm. You must avoid any liquid areas and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"palu_67.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":57,"start_point":[848,713],"end_point":[44,249],"distance":928.28443916722},{"start_region_id":114,"end_region_id":52,"start_point":[848,713],"end_point":[140,129],"distance":917.7799300485929},{"start_region_id":107,"end_region_id":95,"start_point":[146,462],"end_point":[936,806],"distance":861.6472596138167},{"start_region_id":109,"end_region_id":94,"start_point":[689,247],"end_point":[41,758],"distance":825.2423886349998},{"start_region_id":118,"end_region_id":52,"start_point":[611,841],"end_point":[140,129],"distance":853.6890534615048}],"complexity_score":0.6856546196912643}
{"id":5769,"query_id":"Q01154","question":"A person on foot starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The only traversable surfaces are paved, hard-surfaced areas and vehicle lanes. All other surfaces—including loose soil, vegetation, water bodies, and structures—are impassable.","agent_category":"Pedestrian","specific_agent":"a person on foot","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to reach the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"palu_67.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":107,"start_point":[506,78],"end_point":[146,462],"distance":526.3610927870714},{"start_region_id":94,"end_region_id":107,"start_point":[41,758],"end_point":[146,462],"distance":314.0716478767225},{"start_region_id":81,"end_region_id":109,"start_point":[486,491],"end_point":[689,247],"distance":317.40352865083275},{"start_region_id":52,"end_region_id":107,"start_point":[140,129],"end_point":[146,462],"distance":333.0540496676178}],"complexity_score":0.6856546196912643}
{"id":15436,"query_id":"Q03088","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface area as quickly as possible. The drone can fly over open grassy fields, cultivated crop areas, and water surfaces. However, it must avoid flying through dense vegetation or near vertical structures. Which route allows the drone to complete this journey in the shortest time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"Which route allows the drone to complete this journey in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_67.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":95,"start_point":[44,249],"end_point":[936,806],"distance":1051.6239822293899},{"start_region_id":95,"end_region_id":57,"start_point":[936,806],"end_point":[44,249],"distance":1051.6239822293899},{"start_region_id":95,"end_region_id":52,"start_point":[936,806],"end_point":[140,129],"distance":1044.9617217869752},{"start_region_id":52,"end_region_id":95,"start_point":[140,129],"end_point":[936,806],"distance":1044.9617217869752},{"start_region_id":94,"end_region_id":62,"start_point":[41,758],"end_point":[928,250],"distance":1022.1707293793928}],"complexity_score":0.6856546196912643}
{"id":84,"query_id":"Q00017","question":"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 parking lots; vehicle lanes; cultivated fields; and open water bodies. However, flying through dense vertical structures requires careful navigation to avoid collisions. The drone must avoid all solid, enclosed structures. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"bielefeld_23.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":316,"start_point":[859,52],"end_point":[72,833],"distance":1108.7515501680257},{"start_region_id":316,"end_region_id":197,"start_point":[72,833],"end_point":[859,52],"distance":1108.7515501680257},{"start_region_id":223,"end_region_id":316,"start_point":[930,266],"end_point":[72,833],"distance":1028.4225785152717},{"start_region_id":316,"end_region_id":223,"start_point":[72,833],"end_point":[930,266],"distance":1028.4225785152717},{"start_region_id":196,"end_region_id":316,"start_point":[710,43],"end_point":[72,833],"distance":1015.4526084461057}],"complexity_score":0.685747133485247}
{"id":4450,"query_id":"Q00890","question":"A quadcopter drone is currently on a paved lane and needs to reach a paved area. The drone can fly over all surfaces except vertical obstacles and dense vegetation, which are blocked. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_23.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":131,"start_point":[508,566],"end_point":[966,137],"distance":627.5388434192739},{"start_region_id":184,"end_region_id":177,"start_point":[508,566],"end_point":[911,964],"distance":566.4035663729528},{"start_region_id":184,"end_region_id":141,"start_point":[508,566],"end_point":[955,228],"distance":560.4043183274019},{"start_region_id":184,"end_region_id":117,"start_point":[508,566],"end_point":[608,42],"distance":533.4566524095468},{"start_region_id":184,"end_region_id":115,"start_point":[508,566],"end_point":[372,39],"distance":544.2655601817921}],"complexity_score":0.685747133485247}
{"id":4510,"query_id":"Q00902","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall vegetation with vertical structures as quickly as possible. The hiker can traverse soft, loose ground composed of sand or rocks, and cultivated fields with planted crops, as these surfaces are dry and firm enough for walking. However, the hiker cannot travel across liquid surfaces or enter enclosed structures. The hiker must prioritize surfaces that allow for the highest and most stable walking speed.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,5,4,1,0,3,0],"image_name":"bielefeld_23.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":316,"start_point":[966,137],"end_point":[72,833],"distance":1132.9836715504773},{"start_region_id":141,"end_region_id":316,"start_point":[955,228],"end_point":[72,833],"distance":1070.380306246336},{"start_region_id":153,"end_region_id":197,"start_point":[76,687],"end_point":[859,52],"distance":1008.1240003094857},{"start_region_id":171,"end_region_id":197,"start_point":[372,878],"end_point":[859,52],"distance":958.8769472669577},{"start_region_id":130,"end_region_id":316,"start_point":[763,170],"end_point":[72,833],"distance":957.6272761361803}],"complexity_score":0.685747133485247}
{"id":9054,"query_id":"Q01811","question":"A delivery drone takes off from a vegetated, open area and must land on a hard, paved surface. The drone can fly over solid ground, flat surfaces, and liquid areas, but must avoid dense vertical obstacles. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the fastest flight path for the delivery drone to travel from the vegetated area to the paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"bielefeld_23.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":184,"start_point":[952,55],"end_point":[508,566],"distance":676.9468221359784},{"start_region_id":109,"end_region_id":184,"start_point":[51,965],"end_point":[508,566],"distance":606.6712454039667},{"start_region_id":88,"end_region_id":184,"start_point":[974,774],"end_point":[508,566],"distance":510.31362905570137},{"start_region_id":48,"end_region_id":184,"start_point":[969,389],"end_point":[508,566],"distance":493.81170500505556},{"start_region_id":41,"end_region_id":184,"start_point":[848,272],"end_point":[508,566],"distance":449.4841487750152}],"complexity_score":0.685747133485247}
{"id":8726,"query_id":"Q01746","question":"An aerial survey drone starts from a paved surface and needs to reach a grassy area. The drone can fly over hard surfaces, loose sandy or rocky ground, grassy or shrub-covered terrain, and liquid surfaces, but cannot fly through dense vertical obstacles. Which path should the drone take to reach the destination with the shortest effective route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"Which path should the drone take to reach the destination with the shortest effective route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_1.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":20,"start_point":[917,918],"end_point":[170,235],"distance":1012.1748860745361},{"start_region_id":175,"end_region_id":10,"start_point":[917,918],"end_point":[388,142],"distance":939.1576012576377},{"start_region_id":175,"end_region_id":18,"start_point":[917,918],"end_point":[310,232],"distance":915.9939956135083},{"start_region_id":175,"end_region_id":50,"start_point":[917,918],"end_point":[34,780],"distance":893.7186358133079},{"start_region_id":169,"end_region_id":69,"start_point":[188,286],"end_point":[742,966],"distance":877.1066069754577}],"complexity_score":0.6857601814476538}
{"id":13197,"query_id":"Q02640","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane. The drone can fly over loose soil and rock surfaces, cultivated fields, and liquid surfaces, but must avoid any tall vertical structures or dense vegetation. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface area","end_land_type":"A vehicle lane","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_1.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":175,"start_point":[437,38],"end_point":[917,918],"distance":1002.3971268913334},{"start_region_id":86,"end_region_id":175,"start_point":[269,183],"end_point":[917,918],"distance":979.8617249387793},{"start_region_id":104,"end_region_id":175,"start_point":[110,394],"end_point":[917,918],"distance":962.1980045707847},{"start_region_id":103,"end_region_id":175,"start_point":[179,383],"end_point":[917,918],"distance":911.5201588555242},{"start_region_id":84,"end_region_id":175,"start_point":[936,33],"end_point":[917,918],"distance":885.2039313062273}],"complexity_score":0.6857601814476538}
{"id":1647,"query_id":"Q00330","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface while minimizing risk. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; liquid bodies; and cultivated fields with crops. However, vertical structures and dense vegetation are strictly avoided due to collision hazards, and the drone must maintain stable flight over liquid surfaces to prevent loss. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a hard, paved surface","end_land_type":"a hard, paved surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_39.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":384,"end_region_id":383,"start_point":[347,614],"end_point":[908,351],"distance":619.588573167711},{"start_region_id":383,"end_region_id":384,"start_point":[908,351],"end_point":[347,614],"distance":619.588573167711},{"start_region_id":384,"end_region_id":386,"start_point":[347,614],"end_point":[652,419],"distance":362.008287197959},{"start_region_id":386,"end_region_id":384,"start_point":[652,419],"end_point":[347,614],"distance":362.008287197959},{"start_region_id":383,"end_region_id":391,"start_point":[908,351],"end_point":[628,680],"distance":432.01967547786523}],"complexity_score":0.6858181907468094}
{"id":16425,"query_id":"Q03285","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane as quickly as possible. The drone can fly over most surfaces, but must navigate around tall vertical obstacles that could interfere with its flight path. It can also cross over liquid areas and cultivated vegetation fields. The drone's priority is to maintain maximum flight speed while avoiding any terrain that would force it to slow down significantly. What is the fastest path to the vehicle lane?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A vehicle lane","task_description":"What is the fastest path to the vehicle lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_39.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":356,"end_region_id":383,"start_point":[161,930],"end_point":[908,351],"distance":945.1190401214019},{"start_region_id":356,"end_region_id":386,"start_point":[161,930],"end_point":[652,419],"distance":708.6621197721803},{"start_region_id":165,"end_region_id":384,"start_point":[738,179],"end_point":[347,614],"distance":584.8982817550416},{"start_region_id":191,"end_region_id":384,"start_point":[888,412],"end_point":[347,614],"distance":577.481601438522},{"start_region_id":211,"end_region_id":383,"start_point":[297,490],"end_point":[908,351],"distance":626.6115223964526}],"complexity_score":0.6858181907468094}
{"id":2972,"query_id":"Q00595","question":"A quadcopter drone starts from a patch of grassy, shrub-covered ground and needs to reach another area of similar grassy, shrub-covered ground. The drone can traverse both loose, sandy or rocky surfaces without vegetation and grassy or shrubby terrain that is not cultivated. All other surface types are impassable for this journey. ","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path the quadcopter drone should take?","task_type":"Shortest","input_classes":["Bareland","Rangeland"],"traverse_vector":[1,1,0,0,0,0,0,0],"cost_vector":[1,1,0,0,0,0,0,0],"image_name":"paris_48.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[338,185],"end_point":[404,387],"distance":212.5088233462319},{"start_region_id":2,"end_region_id":1,"start_point":[404,387],"end_point":[338,185],"distance":212.5088233462319}],"complexity_score":0.685862655802285}
{"id":15339,"query_id":"Q03068","question":"A delivery drone starts from an asphalt road surface and needs to reach a tree canopy area while prioritizing stable and smooth flight comfort. The drone can fly over open ground with loose soil, grassy fields, hard paved areas, vehicle lanes, bodies of water, and cultivated fields. It can also navigate around structures and fly close to trees if necessary. However, flying directly through dense tree branches or inside buildings should be avoided for comfort reasons. What is the most comfortable path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"asphalt road surface","end_land_type":"tree canopy area","task_description":"What is the most comfortable path for the delivery drone to take from the asphalt road surface to the tree canopy area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"paris_48.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":27,"start_point":[522,356],"end_point":[78,435],"distance":450.9733916762717},{"start_region_id":14,"end_region_id":23,"start_point":[55,191],"end_point":[434,282],"distance":389.7717280665698},{"start_region_id":14,"end_region_id":35,"start_point":[55,191],"end_point":[279,495],"distance":377.6135590785903},{"start_region_id":14,"end_region_id":31,"start_point":[55,191],"end_point":[345,428],"distance":374.52503254121746},{"start_region_id":16,"end_region_id":23,"start_point":[147,513],"end_point":[434,282],"distance":368.41552627434146}],"complexity_score":0.685862655802285}
{"id":7366,"query_id":"Q01474","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground, liquid bodies, and areas with tall vertical obstacles, but must avoid any contact with the ground or obstacles to maintain speed. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chicago_32.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":10,"start_point":[41,518],"end_point":[966,954],"distance":1022.6050068330392}],"complexity_score":0.6859593882605779}
{"id":10641,"query_id":"Q02129","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a vehicle lane while prioritizing a smooth and stable walking experience. The hiker can traverse loose, sandy or rocky ground without vegetation, as well as areas with natural grass and shrubs, provided the terrain is not overly rough or uneven. However, cultivated crop fields, wooded areas with trees, water bodies, and structures are not accessible. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,4,3,0,0,0,0],"image_name":"chicago_32.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":10,"start_point":[249,898],"end_point":[492,476],"distance":486.96303761168565},{"start_region_id":9,"end_region_id":10,"start_point":[733,925],"end_point":[492,476],"distance":509.59003129967135},{"start_region_id":3,"end_region_id":10,"start_point":[897,190],"end_point":[492,476],"distance":495.80338845151107},{"start_region_id":7,"end_region_id":10,"start_point":[211,758],"end_point":[492,476],"distance":398.1017457886865},{"start_region_id":1,"end_region_id":10,"start_point":[257,195],"end_point":[492,476],"distance":366.31407289373965}],"complexity_score":0.6859593882605779}
{"id":16553,"query_id":"Q03311","question":"An aerial surveillance drone starts from a paved, hard surface and needs to complete a surveillance loop and return to another paved, hard surface. The drone must avoid any areas with tall, dense vegetation that could entangle its rotors. The drone is also prohibited from flying over any vertical structures that could cause collisions. The drone is permitted to fly over open grassy fields, cultivated crop fields, and bodies of water, as these present minimal collision risk. The primary objective is to minimize the risk of damage or loss of control during the flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_32.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":10,"start_point":[777,21],"end_point":[95,889],"distance":1103.878616515421}],"complexity_score":0.6859593882605779}
{"id":6732,"query_id":"Q01347","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil. The hiker can traverse the paved surface and the cultivated field, but must avoid all other terrain types, including loose sand, natural grass or shrub areas, vehicle lanes, individual trees or wooded patches, any water bodies, and any structures. The cultivated field is accessible because it is currently fallow and dry, allowing safe foot travel. What is the safest path for the hiker?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the safest path for the hiker?","task_type":"Safest","input_classes":["Developed space","Agriculture land"],"traverse_vector":[0,0,1,0,0,0,1,0],"cost_vector":[0,0,2,0,0,0,1,0],"image_name":"labuhan_3.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":277,"start_point":[243,924],"end_point":[535,707],"distance":363.8035183996988},{"start_region_id":74,"end_region_id":275,"start_point":[824,308],"end_point":[638,122],"distance":263.0437226013957}],"complexity_score":0.6862081580087083}
{"id":10944,"query_id":"Q02189","question":"An agricultural monitoring drone is hovering above a cultivated field with loose, tilled soil. It needs to fly to another cultivated field with similar loose, tilled soil. The drone can travel over hard, paved surfaces, compacted artificial surfaces, open natural ground with sparse vegetation or bare earth, and liquid bodies. However, it must avoid areas with dense vertical obstacles like trees or structures. What is the shortest possible route for the drone?","agent_category":"Drone","specific_agent":"an agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest possible route for the drone?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"labuhan_3.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":276,"start_point":[535,707],"end_point":[951,161],"distance":686.4196966870925},{"start_region_id":276,"end_region_id":277,"start_point":[951,161],"end_point":[535,707],"distance":686.4196966870925},{"start_region_id":277,"end_region_id":275,"start_point":[535,707],"end_point":[638,122],"distance":593.9983164959308},{"start_region_id":275,"end_region_id":277,"start_point":[638,122],"end_point":[535,707],"distance":593.9983164959308},{"start_region_id":275,"end_region_id":276,"start_point":[638,122],"end_point":[951,161],"distance":315.4203544478384}],"complexity_score":0.6862081580087083}
{"id":15309,"query_id":"Q03062","question":"A quadcopter drone is positioned above a cultivated field and must fly to a wooded area. The environment contains grassy surfaces, hard paved surfaces, and areas with vertical obstacles like trees and structures. The drone can fly over all surfaces including grassy areas, paved areas, cultivated fields, and wooded areas, but must navigate carefully around trees and avoid buildings. The objective is to minimize flight time.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest flight path from the cultivated field to the wooded area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"labuhan_3.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":276,"end_region_id":263,"start_point":[951,161],"end_point":[34,961],"distance":1216.9178279571715},{"start_region_id":275,"end_region_id":263,"start_point":[638,122],"end_point":[34,961],"distance":1033.7973689268124},{"start_region_id":276,"end_region_id":256,"start_point":[951,161],"end_point":[239,864],"distance":1000.5763339196066},{"start_region_id":276,"end_region_id":227,"start_point":[951,161],"end_point":[72,482],"distance":935.778820021056},{"start_region_id":275,"end_region_id":264,"start_point":[638,122],"end_point":[895,974],"distance":889.91741189843}],"complexity_score":0.6862081580087083}
{"id":1016,"query_id":"Q00204","question":"A quadcopter drone starts from a paved lane and needs to reach a grassy field as quickly as possible. The drone can traverse grassy fields, areas with trees, and paved lanes, but must avoid all other surfaces, including loose soil, water, buildings, and hard surfaces like sidewalks or parking lots. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a grassy field","task_description":"What is the fastest path for the quadcopter drone to take from the paved lane to the grassy field?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"paris_66.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":7,"start_point":[568,489],"end_point":[48,293],"distance":555.7121557065312},{"start_region_id":37,"end_region_id":1,"start_point":[568,489],"end_point":[214,88],"distance":534.8990558974656},{"start_region_id":37,"end_region_id":8,"start_point":[568,489],"end_point":[152,393],"distance":426.9332500520427},{"start_region_id":37,"end_region_id":2,"start_point":[568,489],"end_point":[547,152],"distance":337.6536687198882},{"start_region_id":36,"end_region_id":7,"start_point":[339,256],"end_point":[48,293],"distance":293.3428028774526}],"complexity_score":0.6863300566411867}
{"id":17726,"query_id":"Q03546","question":"A quadcopter drone starts from a cultivated field with loose soil and crops and needs to reach a paved lane used by vehicles. The drone can fly over most surfaces, but areas with dense vertical obstacles like tall trees or buildings are blocked due to safety regulations. Additionally, liquid surfaces such as rivers or lakes are avoided for comfort to prevent signal interference and stability issues. The terrain includes open grassy areas, paved lanes, liquid bodies, and cultivated fields. The goal is to find a path that maximizes ride comfort.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"a paved lane used by vehicles","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"adelaide_7.tif","subfolder":"adelaide","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":18,"start_point":[124,23],"end_point":[1016,932],"distance":1273.5560450957782},{"start_region_id":53,"end_region_id":17,"start_point":[124,23],"end_point":[946,771],"distance":1111.3901205247419},{"start_region_id":53,"end_region_id":16,"start_point":[124,23],"end_point":[958,390],"distance":911.1778092117916},{"start_region_id":56,"end_region_id":18,"start_point":[136,741],"end_point":[1016,932],"distance":900.4893114301801},{"start_region_id":56,"end_region_id":16,"start_point":[136,741],"end_point":[958,390],"distance":893.8036697172372}],"complexity_score":0.6863366978748133}
{"id":18028,"query_id":"Q03606","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field with rows of plants. The drone must avoid flying through dense tree canopies or near tall structures to prevent turbulence and maintain stable flight. It can traverse over water bodies, paved lanes, and developed hard surfaces, but these areas may cause slight vibrations or instability. The drone should prioritize smooth, open areas to ensure a comfortable and stable flight path.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with low vegetation.","end_land_type":"The destination is a cultivated crop field with rows of plants.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"adelaide_7.tif","subfolder":"adelaide","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":53,"start_point":[974,874],"end_point":[124,23],"distance":1202.7888426486172},{"start_region_id":5,"end_region_id":53,"start_point":[906,781],"end_point":[124,23],"distance":1089.0766731502424},{"start_region_id":7,"end_region_id":53,"start_point":[44,987],"end_point":[124,23],"distance":967.3138063730921},{"start_region_id":2,"end_region_id":53,"start_point":[740,707],"end_point":[124,23],"distance":920.4955187289072},{"start_region_id":3,"end_region_id":56,"start_point":[932,353],"end_point":[136,741],"distance":885.5280910281729}],"complexity_score":0.6863366978748133}
{"id":11229,"query_id":"Q02246","question":"A delivery drone is currently on a paved, hard surface and needs to reach a paved lane designated for vehicles. The drone must prioritize safety, minimizing the risk of collision or loss of control. While the primary route should use open areas that provide clear airspace and minimal obstacles, the drone may also traverse areas of loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and liquid surfaces if necessary to complete the journey, provided these areas do not contain tall vertical structures or dense overhead obstacles. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved, hard surface","end_land_type":"paved lane designated for vehicles","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"little_rock_45.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":62,"start_point":[979,106],"end_point":[62,882],"distance":1201.2764044964838},{"start_region_id":48,"end_region_id":59,"start_point":[199,822],"end_point":[995,92],"distance":1080.0537023685442},{"start_region_id":36,"end_region_id":62,"start_point":[911,453],"end_point":[62,882],"distance":951.2318329408452},{"start_region_id":55,"end_region_id":59,"start_point":[706,937],"end_point":[995,92],"distance":893.0543096587128},{"start_region_id":49,"end_region_id":59,"start_point":[461,780],"end_point":[995,92],"distance":870.9190547921202}],"complexity_score":0.6864189534201072}
{"id":58,"query_id":"Q00012","question":"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 over solid structures or liquid surfaces. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"lohur_27.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":375,"end_region_id":246,"start_point":[105,925],"end_point":[834,35],"distance":1150.4525196634584},{"start_region_id":381,"end_region_id":246,"start_point":[344,978],"end_point":[834,35],"distance":1062.7083325165},{"start_region_id":375,"end_region_id":254,"start_point":[105,925],"end_point":[795,152],"distance":1036.1607018218747},{"start_region_id":376,"end_region_id":246,"start_point":[216,832],"end_point":[834,35],"distance":1008.5301185388565},{"start_region_id":353,"end_region_id":312,"start_point":[866,70],"end_point":[313,855],"distance":960.2260150610376}],"complexity_score":0.6865186675365219}
{"id":4633,"query_id":"Q00927","question":"An agricultural monitoring drone is on a paved landing pad and needs to reach a cultivated field. The drone can fly over all surfaces except dense vegetation that could obstruct its path. What is the fastest route?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"paved landing pad","end_land_type":"cultivated field","task_description":"What is the fastest route from the paved landing pad to the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"lohur_27.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":349,"start_point":[986,963],"end_point":[161,320],"distance":1045.979923325491},{"start_region_id":215,"end_region_id":349,"start_point":[863,917],"end_point":[161,320],"distance":921.52753621365},{"start_region_id":216,"end_region_id":355,"start_point":[986,963],"end_point":[539,145],"distance":932.1657577920356},{"start_region_id":211,"end_region_id":353,"start_point":[525,918],"end_point":[866,70],"distance":913.9939824747207},{"start_region_id":216,"end_region_id":353,"start_point":[986,963],"end_point":[866,70],"distance":901.0266366761862}],"complexity_score":0.6865186675365219}
{"id":13511,"query_id":"Q02703","question":"An aerial survey drone starts from a cultivated field and needs to reach a paved parking area. The drone can fly over open grassy areas, hard paved surfaces, vehicle lanes, liquid bodies, and cultivated fields. It can also pass between tall vertical structures and buildings if necessary, but must avoid dense clusters of tall vegetation with overhead canopy. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved parking area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"lohur_27.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":349,"end_region_id":216,"start_point":[161,320],"end_point":[986,963],"distance":1045.979923325491},{"start_region_id":349,"end_region_id":215,"start_point":[161,320],"end_point":[863,917],"distance":921.52753621365},{"start_region_id":355,"end_region_id":216,"start_point":[539,145],"end_point":[986,963],"distance":932.1657577920356},{"start_region_id":353,"end_region_id":211,"start_point":[866,70],"end_point":[525,918],"distance":913.9939824747207},{"start_region_id":353,"end_region_id":216,"start_point":[866,70],"end_point":[986,963],"distance":901.0266366761862}],"complexity_score":0.6865186675365219}
{"id":5679,"query_id":"Q01136","question":"A passenger car starts from a paved road surface and needs to reach a paved parking lot or construction site. The terrain includes only hard, flat surfaces made of materials like asphalt or concrete, which provide a smooth ride. Surfaces with vegetation, loose soil, or obstacles are prohibited to avoid vibration and discomfort. What is the most comfortable path?","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved road surface","end_land_type":"a paved parking lot or construction site","task_description":"What is the most comfortable path from the paved road surface to the paved parking lot or construction site?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"abancay_22.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":54,"start_point":[900,884],"end_point":[246,138],"distance":992.0846738056183},{"start_region_id":273,"end_region_id":47,"start_point":[900,884],"end_point":[374,68],"distance":970.8408726459759},{"start_region_id":273,"end_region_id":141,"start_point":[900,884],"end_point":[48,840],"distance":853.13539370958},{"start_region_id":273,"end_region_id":60,"start_point":[900,884],"end_point":[422,235],"distance":806.0303964491662},{"start_region_id":273,"end_region_id":97,"start_point":[900,884],"end_point":[179,565],"distance":788.4174021417842}],"complexity_score":0.6865333222801239}
{"id":7478,"query_id":"Q01496","question":"An aerial surveillance drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The drone can fly over open water surfaces and cultivated fields with low, uniform vegetation, but must navigate carefully around vertical obstacles like tall, leafy structures and built structures, which are present but can be bypassed with caution. The open water surfaces and cultivated fields are accessible, but the tall, leafy structures require careful maneuvering to avoid collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"abancay_22.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":379,"start_point":[635,104],"end_point":[525,988],"distance":890.8176019814606},{"start_region_id":379,"end_region_id":277,"start_point":[525,988],"end_point":[635,104],"distance":890.8176019814606},{"start_region_id":276,"end_region_id":379,"start_point":[487,117],"end_point":[525,988],"distance":871.8285381885592},{"start_region_id":379,"end_region_id":276,"start_point":[525,988],"end_point":[487,117],"distance":871.8285381885592},{"start_region_id":339,"end_region_id":277,"start_point":[363,879],"end_point":[635,104],"distance":821.3458467661476}],"complexity_score":0.6865333222801239}
{"id":10527,"query_id":"Q02106","question":"A quadcopter drone starts from an area covered with grass and shrubs and needs to reach a flat, hard-surfaced lane. The drone must avoid any areas with dense vertical obstacles like trees or buildings that could pose collision risks, and should minimize flight over liquid surfaces or near structures to reduce hazards. The terrain includes open ground with sparse vegetation, stable solid surfaces, and areas with loose or uneven materials. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"abancay_22.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":273,"start_point":[81,70],"end_point":[900,884],"distance":1154.7107863010547},{"start_region_id":18,"end_region_id":273,"start_point":[54,236],"end_point":[900,884],"distance":1065.6547283243292},{"start_region_id":34,"end_region_id":272,"start_point":[381,935],"end_point":[815,139],"distance":906.6267148060441},{"start_region_id":35,"end_region_id":272,"start_point":[313,872],"end_point":[815,139],"distance":888.4216341355044},{"start_region_id":5,"end_region_id":273,"start_point":[980,44],"end_point":[900,884],"distance":843.8009243891595}],"complexity_score":0.6865333222801239}
{"id":12351,"query_id":"Q02471","question":"A quadcopter drone starts from a paved road surface and needs to reach a grassy field with shrubs. The drone can fly over hard surfaces, grassy areas, cultivated fields, and water bodies. However, the drone cannot fly through or near vertical structures like buildings or dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"grassy field with shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"abancay_22.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":1,"start_point":[900,884],"end_point":[81,70],"distance":1154.7107863010547},{"start_region_id":273,"end_region_id":18,"start_point":[900,884],"end_point":[54,236],"distance":1065.6547283243292},{"start_region_id":272,"end_region_id":34,"start_point":[815,139],"end_point":[381,935],"distance":906.6267148060441},{"start_region_id":272,"end_region_id":35,"start_point":[815,139],"end_point":[313,872],"distance":888.4216341355044},{"start_region_id":273,"end_region_id":5,"start_point":[900,884],"end_point":[980,44],"distance":843.8009243891595}],"complexity_score":0.6865333222801239}
{"id":14217,"query_id":"Q02844","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy structures and needs to reach an open area covered with low, natural vegetation. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over low, grassy or shrubby terrain. It can also traverse paved, hard surfaces designed for vehicle movement. However, flying through dense, tall vegetation is challenging and slows it down, so it should be avoided if possible. The drone cannot land on or traverse liquid surfaces or enter solid, enclosed structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"an open area covered with low, natural vegetation","task_description":"What is the fastest path for the quadcopter drone to reach the open area covered with low, natural vegetation from the densely vegetated area with tall, leafy structures?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_11.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":278,"end_region_id":119,"start_point":[43,58],"end_point":[859,966],"distance":1220.7866316437119},{"start_region_id":278,"end_region_id":99,"start_point":[43,58],"end_point":[921,798],"distance":1148.2525854532182},{"start_region_id":512,"end_region_id":10,"start_point":[371,962],"end_point":[917,81],"distance":1036.473347462442},{"start_region_id":278,"end_region_id":109,"start_point":[43,58],"end_point":[580,927],"distance":1021.5331614783731},{"start_region_id":278,"end_region_id":60,"start_point":[43,58],"end_point":[970,484],"distance":1020.1985100949717}],"complexity_score":0.6865922158506508}
{"id":4825,"query_id":"Q00965","question":"A drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft soil. You cannot travel on loose sand, natural grass or shrubs, vertical obstacles like trees, liquid surfaces, or structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"buenos_aires_63.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":420,"end_region_id":282,"start_point":[572,585],"end_point":[124,376],"distance":494.35311266340784},{"start_region_id":420,"end_region_id":230,"start_point":[572,585],"end_point":[855,248],"distance":440.06590415527535},{"start_region_id":420,"end_region_id":242,"start_point":[572,585],"end_point":[554,140],"distance":445.36389615683936},{"start_region_id":420,"end_region_id":369,"start_point":[572,585],"end_point":[626,922],"distance":341.29898915760066},{"start_region_id":420,"end_region_id":312,"start_point":[572,585],"end_point":[261,619],"distance":312.8530006248941}],"complexity_score":0.686613631956065}
{"id":9614,"query_id":"Q01923","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces, open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid any tall vertical structures or dense tree canopies. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_63.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":420,"end_region_id":419,"start_point":[572,585],"end_point":[148,49],"distance":683.4266602935534},{"start_region_id":419,"end_region_id":420,"start_point":[148,49],"end_point":[572,585],"distance":683.4266602935534},{"start_region_id":420,"end_region_id":422,"start_point":[572,585],"end_point":[37,207],"distance":655.0641189990488},{"start_region_id":422,"end_region_id":420,"start_point":[37,207],"end_point":[572,585],"distance":655.0641189990488}],"complexity_score":0.686613631956065}
{"id":14139,"query_id":"Q02828","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a paved lane. The drone can fly over most surfaces, but must navigate around dense clusters of tall vegetation that would require slower, more careful maneuvering. The terrain includes areas of loose, sandy soil and patches of low shrubs. What is the fastest path to the paved lane?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"What is the fastest path to the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_63.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":419,"start_point":[856,759],"end_point":[148,49],"distance":1002.678413051762},{"start_region_id":160,"end_region_id":422,"start_point":[856,759],"end_point":[37,207],"distance":987.6563167418108},{"start_region_id":116,"end_region_id":422,"start_point":[856,573],"end_point":[37,207],"distance":897.0601986488978},{"start_region_id":116,"end_region_id":419,"start_point":[856,573],"end_point":[148,49],"distance":880.8178018182875},{"start_region_id":102,"end_region_id":422,"start_point":[835,476],"end_point":[37,207],"distance":842.1193502111206}],"complexity_score":0.686613631956065}
{"id":10253,"query_id":"Q02051","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a paved roadway. The drone can fly over hard surfaces, loose soil, sparse vegetation, and paved lanes. However. The drone must avoid flying close to tall vertical obstacles. What is the shortest path to the paved roadway?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat, hard surface","end_land_type":"paved roadway","task_description":"What is the shortest path to the paved roadway?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"kitsap_9.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":105,"start_point":[784,104],"end_point":[482,621],"distance":598.7428496441523},{"start_region_id":71,"end_region_id":105,"start_point":[24,275],"end_point":[482,621],"distance":574.0034843099822},{"start_region_id":63,"end_region_id":105,"start_point":[221,130],"end_point":[482,621],"distance":556.0593493504089},{"start_region_id":59,"end_region_id":105,"start_point":[462,67],"end_point":[482,621],"distance":554.3608932816239},{"start_region_id":73,"end_region_id":105,"start_point":[960,370],"end_point":[482,621],"distance":539.8935080180164}],"complexity_score":0.6866722775049791}
{"id":12652,"query_id":"Q02531","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane as quickly as possible. The drone can traverse areas with soft, grassy ground or low vegetation, cultivated fields with loose soil, and any vertical structures or liquid bodies, as it can fly over them. However. The drone must avoid any areas with dense, tall vegetation that could obstruct its flight path. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"kitsap_9.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":105,"start_point":[784,104],"end_point":[482,621],"distance":598.7428496441523},{"start_region_id":71,"end_region_id":105,"start_point":[24,275],"end_point":[482,621],"distance":574.0034843099822},{"start_region_id":63,"end_region_id":105,"start_point":[221,130],"end_point":[482,621],"distance":556.0593493504089},{"start_region_id":59,"end_region_id":105,"start_point":[462,67],"end_point":[482,621],"distance":554.3608932816239},{"start_region_id":73,"end_region_id":105,"start_point":[960,370],"end_point":[482,621],"distance":539.8935080180164}],"complexity_score":0.6866722775049791}
{"id":17040,"query_id":"Q03408","question":"A quadcopter drone is hovering above a paved roadway and needs to reach a vegetated open area as quickly as possible. The drone can fly over paved roadways, hard artificial surfaces, and grassy shrublands. However, the drone must avoid flying through dense tree canopies or inside buildings. What is the fastest flight path for the quadcopter drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a vegetated open area","task_description":"What is the fastest flight path for the quadcopter drone?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"kitsap_9.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":2,"start_point":[482,621],"end_point":[341,40],"distance":597.8645331511144},{"start_region_id":105,"end_region_id":1,"start_point":[482,621],"end_point":[124,171],"distance":575.0339120434551},{"start_region_id":105,"end_region_id":57,"start_point":[482,621],"end_point":[893,979],"distance":545.0550430919799},{"start_region_id":105,"end_region_id":13,"start_point":[482,621],"end_point":[804,230],"distance":506.5224575475405},{"start_region_id":105,"end_region_id":15,"start_point":[482,621],"end_point":[409,197],"distance":430.2383060583983}],"complexity_score":0.6866722775049791}
{"id":3984,"query_id":"Q00797","question":"A hiker is standing on a firm, paved road surface. They need to reach a destination on a soft, grassy field with low shrubs. The hiker wants a route that minimizes physical strain and uneven footing. While they can walk across unpaved terrain, they should avoid any liquid bodies or solid vertical structures. The path should prioritize surfaces that are flat and stable underfoot.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the most comfortable walking path for the hiker from the paved road to the grassy field?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dortmund_54.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":331,"end_region_id":125,"start_point":[960,186],"end_point":[120,912],"distance":1110.2594291425767},{"start_region_id":337,"end_region_id":1,"start_point":[751,845],"end_point":[138,61],"distance":995.2009847262009},{"start_region_id":337,"end_region_id":2,"start_point":[751,845],"end_point":[374,47],"distance":882.5718101095231},{"start_region_id":331,"end_region_id":71,"start_point":[960,186],"end_point":[144,540],"distance":889.478498896966},{"start_region_id":332,"end_region_id":125,"start_point":[473,154],"end_point":[120,912],"distance":836.1656534443399}],"complexity_score":0.6867119434957478}
{"id":5022,"query_id":"Q01005","question":"A car starts from a paved lane used by vehicles and needs to reach a hard, flat surface like a parking lot or sidewalk. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft, even soil. You must avoid all other surfaces, including loose sand or rocks, natural grassy or shrub-covered areas, any vertical obstacles like trees or structures, any liquid bodies, and built-up areas. What is the safest path?","agent_category":"Car","specific_agent":"a car","start_land_type":"a paved lane used by vehicles","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"dortmund_54.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":332,"end_region_id":280,"start_point":[473,154],"end_point":[243,841],"distance":724.4784330813444},{"start_region_id":332,"end_region_id":262,"start_point":[473,154],"end_point":[275,699],"distance":579.8525674686626},{"start_region_id":332,"end_region_id":261,"start_point":[473,154],"end_point":[527,681],"distance":529.7593793412251},{"start_region_id":332,"end_region_id":231,"start_point":[473,154],"end_point":[159,498],"distance":465.7595946408404},{"start_region_id":332,"end_region_id":175,"start_point":[473,154],"end_point":[100,272],"distance":391.2198870200747}],"complexity_score":0.6867119434957478}
{"id":17335,"query_id":"Q03467","question":"A delivery van starts from a paved, hard surface area and needs to reach a vehicle lane as quickly as possible. The van can traverse surfaces that are firm and even, such as compacted ground with low vegetation or structured paved areas, to maintain high speed. However. The van must avoid any terrain with tall, dense vegetation or vertical obstacles, as well as any liquid bodies or built structures that impede movement. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the fastest path for the delivery van to reach the vehicle lane from the paved, hard surface area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,3,4,0,0,0,0],"image_name":"dortmund_54.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":280,"end_region_id":331,"start_point":[243,841],"end_point":[960,186],"distance":971.1405665504866},{"start_region_id":299,"end_region_id":331,"start_point":[382,907],"end_point":[960,186],"distance":924.0806241881711},{"start_region_id":175,"end_region_id":337,"start_point":[100,272],"end_point":[751,845],"distance":867.2542879686441},{"start_region_id":175,"end_region_id":331,"start_point":[100,272],"end_point":[960,186],"distance":864.2893034163966},{"start_region_id":231,"end_region_id":331,"start_point":[159,498],"end_point":[960,186],"distance":859.619101695629}],"complexity_score":0.6867119434957478}
{"id":1195,"query_id":"Q00239","question":"An aerial surveillance drone starts from a location among tall vertical structures with dense foliage and branches and needs to reach another location among similar tall vertical structures with dense foliage and branches. The aerial surveillance drone must avoid any risk of collision or loss of control. The drone can fly over areas with liquid surfaces, but these present a moderate risk if the drone were to experience a failure. The drone can also fly over areas covered with low-growing vegetation and shrubs, which are generally safe for overflight. However, the tall vertical structures themselves are only conditionally traversable - the drone must carefully navigate between them to avoid collisions. The drone cannot use any hard, paved surfaces, bare rocky or sandy ground, cultivated crop fields, or any solid constructed structures for its path. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location among tall vertical structures with dense foliage and branches","end_land_type":"and needing to reach another location among similar tall vertical structures with dense foliage and branches","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Rangeland","Tree","Water"],"traverse_vector":[0,1,0,0,1,1,0,0],"cost_vector":[0,2,0,0,1,1,0,0],"image_name":"accra_28.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":227,"start_point":[71,315],"end_point":[996,579],"distance":961.9360685617314},{"start_region_id":227,"end_region_id":203,"start_point":[996,579],"end_point":[71,315],"distance":961.9360685617314},{"start_region_id":221,"end_region_id":199,"start_point":[838,805],"end_point":[240,111],"distance":916.1004311755344},{"start_region_id":199,"end_region_id":221,"start_point":[240,111],"end_point":[838,805],"distance":916.1004311755344},{"start_region_id":221,"end_region_id":203,"start_point":[838,805],"end_point":[71,315],"distance":910.158777357006}],"complexity_score":0.6869191602178736}
{"id":3673,"query_id":"Q00735","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The drone can fly over various surfaces including loose soil, grassy areas, hard compacted surfaces, paved lanes, cultivated fields, and water bodies. However. The drone must avoid flying through dense vegetation and cannot enter any structures. ","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path the quadcopter drone can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"accra_28.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":170,"start_point":[634,841],"end_point":[682,77],"distance":765.5063683601855},{"start_region_id":170,"end_region_id":184,"start_point":[682,77],"end_point":[634,841],"distance":765.5063683601855},{"start_region_id":181,"end_region_id":170,"start_point":[351,744],"end_point":[682,77],"distance":744.6139939592863},{"start_region_id":170,"end_region_id":181,"start_point":[682,77],"end_point":[351,744],"distance":744.6139939592863},{"start_region_id":171,"end_region_id":184,"start_point":[450,203],"end_point":[634,841],"distance":664.0030120413611}],"complexity_score":0.6869191602178736}
{"id":5493,"query_id":"Q01099","question":"A quadcopter drone is starting from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The drone can fly over soft, vegetated ground with scattered shrubs and bushes, as well as over hard, flat surfaces like paved areas or compacted artificial grounds. The drone must avoid flying through dense tree canopies or close to building structures, which are restricted. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest route for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"accra_28.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":4,"start_point":[118,925],"end_point":[808,81],"distance":1090.1541175448542},{"start_region_id":4,"end_region_id":80,"start_point":[808,81],"end_point":[118,925],"distance":1090.1541175448542},{"start_region_id":4,"end_region_id":84,"start_point":[808,81],"end_point":[315,906],"distance":961.0796012818086},{"start_region_id":84,"end_region_id":4,"start_point":[315,906],"end_point":[808,81],"distance":961.0796012818086},{"start_region_id":4,"end_region_id":78,"start_point":[808,81],"end_point":[192,782],"distance":933.1971924518418}],"complexity_score":0.6869191602178736}
{"id":17047,"query_id":"Q03410","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, grassy or shrub-covered areas, and open ground, but it must avoid flying through dense vertical obstacles or entering enclosed structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"accra_28.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":170,"start_point":[634,841],"end_point":[682,77],"distance":765.5063683601855},{"start_region_id":170,"end_region_id":184,"start_point":[682,77],"end_point":[634,841],"distance":765.5063683601855},{"start_region_id":181,"end_region_id":170,"start_point":[351,744],"end_point":[682,77],"distance":744.6139939592863},{"start_region_id":170,"end_region_id":181,"start_point":[682,77],"end_point":[351,744],"distance":744.6139939592863},{"start_region_id":171,"end_region_id":184,"start_point":[450,203],"end_point":[634,841],"distance":664.0030120413611}],"complexity_score":0.6869191602178736}
{"id":1423,"query_id":"Q00285","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a grassy, open field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, areas with low vegetation and shrubs, the paved surface it starts on, bodies of liquid, and cultivated fields with crops. However, it must avoid flying directly through dense, tall vegetation or near vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_46.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":338,"end_region_id":16,"start_point":[774,737],"end_point":[64,101],"distance":953.2030213968061},{"start_region_id":342,"end_region_id":61,"start_point":[74,870],"end_point":[786,322],"distance":898.4698102885817},{"start_region_id":342,"end_region_id":152,"start_point":[74,870],"end_point":[947,958],"distance":877.4240707890341},{"start_region_id":342,"end_region_id":69,"start_point":[74,870],"end_point":[853,486],"distance":868.5027345955797},{"start_region_id":342,"end_region_id":53,"start_point":[74,870],"end_point":[627,254],"distance":827.8073447366845}],"complexity_score":0.6870477382939739}
{"id":3250,"query_id":"Q00650","question":"An aerial photography drone starts from a paved, hard surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over loose, sandy ground and liquid surfaces, but must avoid vertical obstacles like buildings. The goal is to find a path that maximizes ride comfort by prioritizing smooth, stable surfaces and avoiding rough or turbulent areas.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"koeln_46.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":350,"start_point":[913,895],"end_point":[221,44],"distance":1096.8431975446626},{"start_region_id":296,"end_region_id":350,"start_point":[782,917],"end_point":[221,44],"distance":1037.7138333856785},{"start_region_id":291,"end_region_id":350,"start_point":[878,830],"end_point":[221,44],"distance":1024.4242285303487},{"start_region_id":210,"end_region_id":484,"start_point":[61,191],"end_point":[866,776],"distance":995.1130589033589},{"start_region_id":300,"end_region_id":355,"start_point":[217,895],"end_point":[759,77],"distance":981.2685667033261}],"complexity_score":0.6870477382939739}
{"id":7800,"query_id":"Q01560","question":"A hiker starts from a paved, hard surface and needs to reach a shaded area with tall, vertical obstacles. The terrain includes soft, cultivated ground that is currently dry and firm enough to walk on, but the tall, vertical obstacles are dense and require careful navigation to avoid discomfort. You must avoid any liquid surfaces and solid structures. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a shaded area with tall, vertical obstacles","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"koeln_46.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":342,"end_region_id":355,"start_point":[74,870],"end_point":[759,77],"distance":1047.8902614300794},{"start_region_id":338,"end_region_id":350,"start_point":[774,737],"end_point":[221,44],"distance":886.5991202341676},{"start_region_id":342,"end_region_id":367,"start_point":[74,870],"end_point":[784,366],"distance":870.6985701148245},{"start_region_id":342,"end_region_id":350,"start_point":[74,870],"end_point":[221,44],"distance":838.9785456136527},{"start_region_id":342,"end_region_id":484,"start_point":[74,870],"end_point":[866,776],"distance":797.5587752636166}],"complexity_score":0.6870477382939739}
{"id":10424,"query_id":"Q02085","question":"A quadcopter drone is positioned above a paved, hard-surfaced area and needs to fly to a grassy, vegetated area. The airspace includes loose, sandy ground and compacted vehicle lanes, but the drone must avoid any tall, dense vegetation or vertical structures that could pose collision risks. The grassy area is safe to fly over because the vegetation is low and open. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated area","task_description":"What is the safest path from the paved area to the grassy area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_46.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":16,"start_point":[913,895],"end_point":[64,101],"distance":1162.4272020217009},{"start_region_id":210,"end_region_id":152,"start_point":[61,191],"end_point":[947,958],"distance":1171.8724333305227},{"start_region_id":291,"end_region_id":16,"start_point":[878,830],"end_point":[64,101],"distance":1092.720000732118},{"start_region_id":229,"end_region_id":152,"start_point":[49,350],"end_point":[947,958],"distance":1084.4666892071882},{"start_region_id":296,"end_region_id":16,"start_point":[782,917],"end_point":[64,101],"distance":1086.9130600006608}],"complexity_score":0.6870477382939739}
{"id":8849,"query_id":"Q01770","question":"A quadcopter drone starts from a location among tall trees and needs to reach a grassy, open area. The terrain includes loose, sandy or rocky surfaces without vegetation; grassy or shrubby areas that are not cultivated; paved surfaces like sidewalks, parking lots, and artificial sports fields; vehicle lanes made of asphalt or concrete; wooded areas with individual trees or groups of trees; and water bodies like rivers or lakes. You can traverse all these terrain types, but wooded areas require careful navigation due to obstacles, and water bodies may cause discomfort due to spray or reflection. However, you cannot traverse any buildings because they are solid obstacles. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a location among tall trees","end_land_type":"a grassy, open area","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"mexico_city_8.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":579,"end_region_id":3,"start_point":[974,895],"end_point":[25,73],"distance":1255.5018916751978},{"start_region_id":579,"end_region_id":15,"start_point":[974,895],"end_point":[170,150],"distance":1096.1026411791918},{"start_region_id":458,"end_region_id":83,"start_point":[927,122],"end_point":[129,813],"distance":1055.5969874909647},{"start_region_id":492,"end_region_id":3,"start_point":[950,401],"end_point":[25,73],"distance":981.432116857809},{"start_region_id":579,"end_region_id":37,"start_point":[974,895],"end_point":[104,469],"distance":968.6980953836959}],"complexity_score":0.6870553244086751}
{"id":9540,"query_id":"Q01908","question":"An off-road vehicle starts from a paved road and needs to reach a grassy, shrub-covered area. The accessible terrain includes hard, artificial surfaces like parking lots and compacted soil areas, loose sandy or rocky ground, and cultivated fields. You cannot drive through wooded areas, over water, or into buildings. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mexico_city_8.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":419,"end_region_id":3,"start_point":[509,622],"end_point":[25,73],"distance":731.8859200722474},{"start_region_id":442,"end_region_id":75,"start_point":[101,424],"end_point":[605,653],"distance":553.5855850724439},{"start_region_id":442,"end_region_id":43,"start_point":[101,424],"end_point":[607,426],"distance":506.0039525537325},{"start_region_id":443,"end_region_id":75,"start_point":[153,464],"end_point":[605,653],"distance":489.9234634103576},{"start_region_id":443,"end_region_id":43,"start_point":[153,464],"end_point":[607,426],"distance":455.58753275303746}],"complexity_score":0.6870553244086751}
{"id":6134,"query_id":"Q01227","question":"A quadcopter starts from a paved surface and needs to reach a vegetated open area. The terrain includes hard, flat areas; sandy or rocky ground; and spaces with trees. You must avoid flying through dense tree canopies or near vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"san_tome_10.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":4,"start_point":[437,882],"end_point":[993,257],"distance":836.5171845216331},{"start_region_id":197,"end_region_id":6,"start_point":[437,882],"end_point":[198,328],"distance":603.3547878321676},{"start_region_id":197,"end_region_id":17,"start_point":[437,882],"end_point":[644,346],"distance":574.5824570938448},{"start_region_id":193,"end_region_id":67,"start_point":[583,531],"end_point":[968,908],"distance":538.8450612188999},{"start_region_id":197,"end_region_id":18,"start_point":[437,882],"end_point":[433,336],"distance":546.0146518180625}],"complexity_score":0.6871588872369747}
{"id":1010,"query_id":"Q00202","question":"A quadcopter drone starts from a grassy, vegetated area and needs to fly to another grassy, vegetated area. The drone can fly over liquid surfaces, paved lanes, and grassy areas, but must avoid dense vertical structures like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","end_land_type":"grassy, vegetated area","task_description":"What is the shortest path for the drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"paris_59.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[82,31],"end_point":[557,623],"distance":759.0052700739304},{"start_region_id":13,"end_region_id":1,"start_point":[557,623],"end_point":[82,31],"distance":759.0052700739304},{"start_region_id":13,"end_region_id":3,"start_point":[557,623],"end_point":[486,30],"distance":597.2352970145016},{"start_region_id":3,"end_region_id":13,"start_point":[486,30],"end_point":[557,623],"distance":597.2352970145016},{"start_region_id":10,"end_region_id":1,"start_point":[383,503],"end_point":[82,31],"distance":559.8080028009604}],"complexity_score":0.6873151843049953}
{"id":12948,"query_id":"Q02590","question":"An aerial surveillance drone begins its mission on a paved, hard surface and needs to reach an area with tall, vertical vegetation. The drone must avoid any structures or buildings, and flying over liquid surfaces is considered risky due to potential signal interference and lack of recovery options. The drone can traverse open, solid ground with loose soil or rocks, areas with short vegetation or crops, other paved or hard-packed surfaces, and the vertical vegetation itself, though flying through dense vegetation requires careful navigation to avoid collisions. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"area with tall, vertical vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"paris_59.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":89,"start_point":[485,584],"end_point":[68,163],"distance":592.5622330186088},{"start_region_id":76,"end_region_id":89,"start_point":[337,264],"end_point":[68,163],"distance":287.3360402038004}],"complexity_score":0.6873151843049953}
{"id":4911,"query_id":"Q00983","question":"An office worker is standing on a smooth, paved sidewalk and needs to reach another paved sidewalk. The person prefers walking on even, stable surfaces to avoid tripping or discomfort. They can use hard, paved pedestrian areas, as well as cultivated fields that have been recently harvested and flattened, making them walkable. The goal is to find a route that maximizes walking comfort.","agent_category":"Pedestrian","specific_agent":"office worker","start_land_type":"paved sidewalk","end_land_type":"paved sidewalk","task_description":"What is the most comfortable path for the office worker to take?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"santiago_60.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":235,"end_region_id":131,"start_point":[139,838],"end_point":[942,207],"distance":1021.25902688789},{"start_region_id":131,"end_region_id":235,"start_point":[942,207],"end_point":[139,838],"distance":1021.25902688789},{"start_region_id":235,"end_region_id":148,"start_point":[139,838],"end_point":[755,204],"distance":883.9751127718472},{"start_region_id":148,"end_region_id":235,"start_point":[755,204],"end_point":[139,838],"distance":883.9751127718472},{"start_region_id":241,"end_region_id":131,"start_point":[390,829],"end_point":[942,207],"distance":831.6177006293216}],"complexity_score":0.6873248108093886}
{"id":8687,"query_id":"Q01738","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a cluster of tall vegetation. The drone can fly over loose, sandy or rocky terrain, grassy or shrub-covered areas, paved walkways and parking lots, vehicle lanes, liquid surfaces, cultivated fields, and solid structures. However, flying through dense wooded areas is allowed only if there is sufficient clearance between trees. The operator prioritizes minimizing the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a cluster of tall vegetation","task_description":"What is the safest route for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_60.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":291,"start_point":[1008,900],"end_point":[177,54],"distance":1185.8655067080751},{"start_region_id":131,"end_region_id":485,"start_point":[942,207],"end_point":[46,971],"distance":1177.5024416110566},{"start_region_id":264,"end_region_id":287,"start_point":[164,980],"end_point":[886,85],"distance":1149.9169535231663},{"start_region_id":264,"end_region_id":302,"start_point":[164,980],"end_point":[964,157],"distance":1147.7495371377852},{"start_region_id":255,"end_region_id":357,"start_point":[1008,900],"end_point":[30,441],"distance":1080.3541086143932}],"complexity_score":0.6873248108093886}
{"id":13122,"query_id":"Q02625","question":"A quadcopter drone starts from an area with tall trees and needs to reach a grassy field. The terrain includes hard surfaces, loose soil with vegetation, cultivated fields, and vertical structures. Your drone can fly over all these terrains, but flying through dense tree canopies or near buildings requires careful navigation. You need to find a path that provides the most comfortable flight, avoiding rough air disturbances.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"area with tall trees","end_land_type":"grassy field","task_description":"What is the most comfortable flight path from the treed starting point to the grassy destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"santiago_60.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":485,"end_region_id":1,"start_point":[46,971],"end_point":[982,92],"distance":1284.0315416686617},{"start_region_id":291,"end_region_id":121,"start_point":[177,54],"end_point":[874,964],"distance":1146.2586968045216},{"start_region_id":479,"end_region_id":5,"start_point":[826,900],"end_point":[38,95],"distance":1126.4852418030162},{"start_region_id":291,"end_region_id":100,"start_point":[177,54],"end_point":[907,852],"distance":1081.5285479357444},{"start_region_id":357,"end_region_id":1,"start_point":[30,441],"end_point":[982,92],"distance":1013.955127212245}],"complexity_score":0.6873248108093886}
{"id":3146,"query_id":"Q00630","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a loose, sandy area. The drone can fly over open, flat ground and liquid surfaces, but must avoid dense vegetation and vertical structures. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":5,"start_point":[977,337],"end_point":[291,997],"distance":951.9432756209794},{"start_region_id":188,"end_region_id":2,"start_point":[60,658],"end_point":[888,969],"distance":884.4800732633834},{"start_region_id":120,"end_region_id":5,"start_point":[650,238],"end_point":[291,997],"distance":839.620152211701},{"start_region_id":120,"end_region_id":2,"start_point":[650,238],"end_point":[888,969],"distance":768.7684957124609},{"start_region_id":172,"end_region_id":5,"start_point":[784,423],"end_point":[291,997],"distance":756.6538178057386}],"complexity_score":0.6873449340618092}
{"id":6291,"query_id":"Q01259","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an area of exposed, loose soil or rocky ground. The drone can fly over hard surfaces, soft ground, vegetation, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"exposed, loose soil or rocky ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":5,"start_point":[977,337],"end_point":[291,997],"distance":951.9432756209794},{"start_region_id":188,"end_region_id":2,"start_point":[60,658],"end_point":[888,969],"distance":884.4800732633834},{"start_region_id":120,"end_region_id":5,"start_point":[650,238],"end_point":[291,997],"distance":839.620152211701},{"start_region_id":120,"end_region_id":2,"start_point":[650,238],"end_point":[888,969],"distance":768.7684957124609},{"start_region_id":172,"end_region_id":5,"start_point":[784,423],"end_point":[291,997],"distance":756.6538178057386}],"complexity_score":0.6873449340618092}
{"id":7641,"query_id":"Q01529","question":"An aerial surveillance drone starts from an area of loose, dry soil and scattered rocks and needs to reach a paved lane used by vehicles. The drone must avoid all vertical structures and dense vegetation that could cause collisions. It can fly over flat, open areas including cultivated fields, hard artificial surfaces, and liquid surfaces, but must prioritize terrains that minimize the risk of signal interference, mechanical failure, or unexpected obstacles. What is the safest path to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks","end_land_type":"and needs to reach a paved lane used by vehicles","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":203,"start_point":[291,997],"end_point":[593,532],"distance":554.4628030806034},{"start_region_id":2,"end_region_id":203,"start_point":[888,969],"end_point":[593,532],"distance":527.2513632035483},{"start_region_id":4,"end_region_id":203,"start_point":[599,978],"end_point":[593,532],"distance":446.0403569185192},{"start_region_id":2,"end_region_id":209,"start_point":[888,969],"end_point":[534,640],"distance":483.27735307998864},{"start_region_id":5,"end_region_id":209,"start_point":[291,997],"end_point":[534,640],"distance":431.8541420433524}],"complexity_score":0.6873449340618092}
{"id":8927,"query_id":"Q01786","question":"A quadcopter drone is starting from a sandy, rocky terrain and needs to reach another sandy, rocky terrain as quickly as possible. The drone can fly over hard surfaces, grassy areas, cultivated fields, and open water, but it must avoid flying through dense tree canopies or close to vertical structures. Which path allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky terrain","end_land_type":"sandy, rocky terrain","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":5,"start_point":[888,969],"end_point":[291,997],"distance":597.6562557189542},{"start_region_id":5,"end_region_id":2,"start_point":[291,997],"end_point":[888,969],"distance":597.6562557189542},{"start_region_id":4,"end_region_id":5,"start_point":[599,978],"end_point":[291,997],"distance":308.58548248418947},{"start_region_id":5,"end_region_id":4,"start_point":[291,997],"end_point":[599,978],"distance":308.58548248418947},{"start_region_id":2,"end_region_id":4,"start_point":[888,969],"end_point":[599,978],"distance":289.1401044476535}],"complexity_score":0.6873449340618092}
{"id":11107,"query_id":"Q02222","question":"An aerial drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach another patch of loose, dry soil and scattered rocks as quickly as possible. The drone can fly over areas with sparse, low vegetation and over cultivated fields, but must avoid tall, dense vegetation and any solid vertical structures. Which path allows the drone to travel fastest?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"A patch of loose, dry soil and scattered rocks","end_land_type":"Another patch of loose, dry soil and scattered rocks","task_description":"Which path allows the drone to travel fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":5,"start_point":[888,969],"end_point":[291,997],"distance":597.6562557189542},{"start_region_id":5,"end_region_id":2,"start_point":[291,997],"end_point":[888,969],"distance":597.6562557189542},{"start_region_id":4,"end_region_id":5,"start_point":[599,978],"end_point":[291,997],"distance":308.58548248418947},{"start_region_id":5,"end_region_id":4,"start_point":[291,997],"end_point":[599,978],"distance":308.58548248418947},{"start_region_id":2,"end_region_id":4,"start_point":[888,969],"end_point":[599,978],"distance":289.1401044476535}],"complexity_score":0.6873449340618092}
{"id":11791,"query_id":"Q02359","question":"A quadcopter drone is positioned on a sandy, open area and must reach a flat, hard-surfaced plaza. The airspace is clear of tall vertical obstacles, allowing flight over scattered low vegetation. The drone cannot fly through or over dense clusters of tall trees or solid architectural structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a sandy, open area","end_land_type":"a flat, hard-surfaced plaza","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":142,"start_point":[291,997],"end_point":[977,337],"distance":951.9432756209794},{"start_region_id":2,"end_region_id":188,"start_point":[888,969],"end_point":[60,658],"distance":884.4800732633834},{"start_region_id":5,"end_region_id":120,"start_point":[291,997],"end_point":[650,238],"distance":839.620152211701},{"start_region_id":2,"end_region_id":120,"start_point":[888,969],"end_point":[650,238],"distance":768.7684957124609},{"start_region_id":5,"end_region_id":172,"start_point":[291,997],"end_point":[784,423],"distance":756.6538178057386}],"complexity_score":0.6873449340618092}
{"id":12047,"query_id":"Q02410","question":"A quadcopter drone is on a paved, hard surface and needs to reach a dry, sandy area. The drone can fly over liquid surfaces, but must avoid any areas with tall vertical obstacles or structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dry, sandy area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":5,"start_point":[977,337],"end_point":[291,997],"distance":951.9432756209794},{"start_region_id":188,"end_region_id":2,"start_point":[60,658],"end_point":[888,969],"distance":884.4800732633834},{"start_region_id":120,"end_region_id":5,"start_point":[650,238],"end_point":[291,997],"distance":839.620152211701},{"start_region_id":120,"end_region_id":2,"start_point":[650,238],"end_point":[888,969],"distance":768.7684957124609},{"start_region_id":172,"end_region_id":5,"start_point":[784,423],"end_point":[291,997],"distance":756.6538178057386}],"complexity_score":0.6873449340618092}
{"id":13860,"query_id":"Q02772","question":"A quadcopter takes off from an open area of loose sand and rocks, needing to land on a flat, hard surface like a parking lot or paved yard. It can fly over grassy expanses, cultivated fields, and water bodies, but must avoid tall trees and buildings. What is the shortest flight path to the landing site?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the shortest flight path to the landing site?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":142,"start_point":[291,997],"end_point":[977,337],"distance":951.9432756209794},{"start_region_id":2,"end_region_id":188,"start_point":[888,969],"end_point":[60,658],"distance":884.4800732633834},{"start_region_id":5,"end_region_id":120,"start_point":[291,997],"end_point":[650,238],"distance":839.620152211701},{"start_region_id":2,"end_region_id":120,"start_point":[888,969],"end_point":[650,238],"distance":768.7684957124609},{"start_region_id":5,"end_region_id":172,"start_point":[291,997],"end_point":[784,423],"distance":756.6538178057386}],"complexity_score":0.6873449340618092}
{"id":14670,"query_id":"Q02934","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach another similar area of exposed earth and gravel. The drone can fly over open liquid surfaces, but must avoid densely packed vertical structures like trees and buildings. It can traverse areas with short vegetation, hard paved surfaces, and cultivated fields with low crops. The drone's priority is to complete the survey as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks","end_land_type":"and needs to reach another similar area of exposed earth and gravel","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santiago_27.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":5,"start_point":[888,969],"end_point":[291,997],"distance":597.6562557189542},{"start_region_id":5,"end_region_id":2,"start_point":[291,997],"end_point":[888,969],"distance":597.6562557189542},{"start_region_id":4,"end_region_id":5,"start_point":[599,978],"end_point":[291,997],"distance":308.58548248418947},{"start_region_id":5,"end_region_id":4,"start_point":[291,997],"end_point":[599,978],"distance":308.58548248418947},{"start_region_id":2,"end_region_id":4,"start_point":[888,969],"end_point":[599,978],"distance":289.1401044476535}],"complexity_score":0.6873449340618092}
{"id":4948,"query_id":"Q00990","question":"A passenger vehicle starts from a hard, level surface and needs to reach a paved lane. The available surfaces include smooth, paved areas that provide stable ride quality, as well as cultivated fields with loose, bumpy soil that can cause vibration. You must avoid any areas with tall vegetation, liquid bodies, or vertical structures. What is the most comfortable route?","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a hard, level surface","end_land_type":"a paved lane","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"zanzibar_102.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":239,"start_point":[56,41],"end_point":[422,412],"distance":521.1496905880306},{"start_region_id":123,"end_region_id":239,"start_point":[161,38],"end_point":[422,412],"distance":456.06688106022347},{"start_region_id":135,"end_region_id":239,"start_point":[76,186],"end_point":[422,412],"distance":413.26988760373047},{"start_region_id":203,"end_region_id":239,"start_point":[783,890],"end_point":[422,412],"distance":599.0033388888579},{"start_region_id":127,"end_region_id":239,"start_point":[296,117],"end_point":[422,412],"distance":320.78185734233784}],"complexity_score":0.687349554893358}
{"id":8673,"query_id":"Q01735","question":"An off-road vehicle starts from a hard, paved lane and needs to reach another hard, paved lane. The vehicle can drive on compacted soil and grassy fields, but cannot pass through wooded areas, water, or structures. The vehicle can also use paved areas like parking lots. What is the shortest path?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"hard, paved lane","end_land_type":"hard, paved lane","task_description":"What is the shortest path for the off-road vehicle to reach the destination hard, paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"zanzibar_102.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":241,"start_point":[422,412],"end_point":[808,125],"distance":481.0041579861862},{"start_region_id":241,"end_region_id":239,"start_point":[808,125],"end_point":[422,412],"distance":481.0041579861862}],"complexity_score":0.687349554893358}
{"id":13102,"query_id":"Q02621","question":"An aerial survey drone starts from a paved, flat surface and needs to reach another paved, flat surface while ensuring a smooth and stable flight to protect its sensitive equipment. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; other paved or compacted surfaces; vehicle lanes; open water bodies; and cultivated fields with low vegetation. However, it must avoid dense clusters of tall vegetation or vertical structures that could cause turbulence or collisions, and it should minimize flying directly over large water bodies to reduce the risk of signal interference or splash damage. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, flat surface","end_land_type":"A paved, flat surface","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"zanzibar_102.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":203,"start_point":[56,41],"end_point":[783,890],"distance":1117.7343154793093},{"start_region_id":203,"end_region_id":122,"start_point":[783,890],"end_point":[56,41],"distance":1117.7343154793093},{"start_region_id":203,"end_region_id":123,"start_point":[783,890],"end_point":[161,38],"distance":1054.8876717451958},{"start_region_id":123,"end_region_id":203,"start_point":[161,38],"end_point":[783,890],"distance":1054.8876717451958},{"start_region_id":190,"end_region_id":149,"start_point":[148,874],"end_point":[961,265],"distance":1015.8001772002208}],"complexity_score":0.687349554893358}
{"id":17359,"query_id":"Q03472","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while prioritizing safety. The drone can fly over grassy and shrubby areas, as well as liquid surfaces, but must avoid tall vertical obstacles that could cause collisions. The drone's flight path should minimize risk of damage or loss of control.","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"zanzibar_102.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":241,"start_point":[422,412],"end_point":[808,125],"distance":481.0041579861862},{"start_region_id":241,"end_region_id":239,"start_point":[808,125],"end_point":[422,412],"distance":481.0041579861862}],"complexity_score":0.687349554893358}
{"id":1018,"query_id":"Q00204","question":"A quadcopter drone starts from a paved lane and needs to reach a grassy field as quickly as possible. The drone can traverse grassy fields, areas with trees, and paved lanes, but must avoid all other surfaces, including loose soil, water, buildings, and hard surfaces like sidewalks or parking lots. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a grassy field","task_description":"What is the fastest path for the quadcopter drone to take from the paved lane to the grassy field?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"paris_70.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":25,"start_point":[232,185],"end_point":[444,629],"distance":492.0162598939186},{"start_region_id":64,"end_region_id":19,"start_point":[232,185],"end_point":[196,519],"distance":335.9345174286203},{"start_region_id":64,"end_region_id":4,"start_point":[232,185],"end_point":[87,195],"distance":145.34441853748632},{"start_region_id":64,"end_region_id":10,"start_point":[232,185],"end_point":[565,390],"distance":391.042197211503},{"start_region_id":64,"end_region_id":2,"start_point":[232,185],"end_point":[460,51],"distance":264.4617174564213}],"complexity_score":0.6874377297793368}
{"id":3864,"query_id":"Q00773","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over open, dry ground with loose or rocky soil; paved areas like sidewalks, parking lots, and artificial sports fields; vehicle lanes and runways; and bodies of liquid like rivers or lakes. However, it must avoid any built structures with solid roofs and walls, as well as cultivated fields with crops. The drone can navigate through the initial leafy structures, but this will slow it down compared to open areas. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Water"],"traverse_vector":[1,0,1,1,1,1,0,0],"cost_vector":[2,0,2,2,1,2,0,0],"image_name":"paris_70.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":28,"start_point":[297,549],"end_point":[137,41],"distance":532.6011640993662},{"start_region_id":107,"end_region_id":33,"start_point":[297,549],"end_point":[118,79],"distance":502.93240102423306},{"start_region_id":107,"end_region_id":37,"start_point":[297,549],"end_point":[571,254],"distance":402.61768465878396},{"start_region_id":107,"end_region_id":35,"start_point":[297,549],"end_point":[284,202],"distance":347.24343046341426},{"start_region_id":107,"end_region_id":45,"start_point":[297,549],"end_point":[447,348],"distance":250.80071770232237}],"complexity_score":0.6874377297793368}
{"id":14524,"query_id":"Q02905","question":"A quadcopter drone starts from a flat, artificial surface and needs to reach an area with elevated natural obstacles. The drone can fly over most surfaces including loose soil, grassy patches, and liquid bodies, but must navigate carefully around tall vertical structures and dense overhead obstacles. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"an area with elevated natural obstacles","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"paris_70.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":69,"start_point":[232,185],"end_point":[615,66],"distance":401.06109260310956},{"start_region_id":64,"end_region_id":90,"start_point":[232,185],"end_point":[34,304],"distance":231.00865784641059},{"start_region_id":64,"end_region_id":107,"start_point":[232,185],"end_point":[297,549],"distance":369.7580289865252}],"complexity_score":0.6874377297793368}
{"id":849,"query_id":"Q00170","question":"A quadcopter drone is positioned on a flat, paved surface and needs to reach an area covered with low, natural vegetation. The drone can fly over various surfaces, including loose sandy or rocky ground, grassy or shrubby terrain, all paved or compacted areas, vehicle lanes, open water bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall vegetation or between structures, as these require careful navigation. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, paved surface","end_land_type":"an area covered with low, natural vegetation","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"kyoto_29.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":166,"end_region_id":1,"start_point":[107,951],"end_point":[929,141],"distance":1154.029462362205},{"start_region_id":70,"end_region_id":58,"start_point":[10,97],"end_point":[671,852],"distance":1003.466989990204},{"start_region_id":164,"end_region_id":1,"start_point":[337,945],"end_point":[929,141],"distance":998.4387812980824},{"start_region_id":132,"end_region_id":1,"start_point":[175,680],"end_point":[929,141],"distance":926.8424893152019},{"start_region_id":70,"end_region_id":1,"start_point":[10,97],"end_point":[929,141],"distance":920.0527158809978}],"complexity_score":0.6875368086624292}
{"id":606,"query_id":"Q00122","question":"An aerial photography drone is operating on a paved, flat surface and needs to reach another paved, flat surface used by vehicles. The drone can fly over areas with loose soil used for crop production, as well as over liquid surfaces, but must avoid flying through dense vertical obstacles. The drone's priority is to maintain stable flight and minimize vibrations for clear image capture. Which path should the drone take to reach its destination while maximizing flight comfort?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, flat surface","end_land_type":"paved, flat surface used by vehicles","task_description":"Which path should the drone take to reach its destination while maximizing flight comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mexico_city_56.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":207,"start_point":[994,532],"end_point":[59,254],"distance":975.4532279919935},{"start_region_id":67,"end_region_id":213,"start_point":[994,532],"end_point":[84,883],"distance":975.3466050589401},{"start_region_id":44,"end_region_id":216,"start_point":[283,22],"end_point":[373,973],"distance":955.2491821509192},{"start_region_id":67,"end_region_id":210,"start_point":[994,532],"end_point":[109,776],"distance":918.0201522842514},{"start_region_id":67,"end_region_id":215,"start_point":[994,532],"end_point":[172,940],"distance":917.6862208838052}],"complexity_score":0.6876975028916971}
{"id":8842,"query_id":"Q01769","question":"A hiker starts from a densely wooded area with tall trees and uneven ground and needs to reach a grassy, open field with low vegetation. The terrain includes loose, sandy or rocky surfaces without vegetation; grassy or shrubby areas that are not cultivated; paved surfaces like sidewalks, parking lots, and artificial sports fields; vehicle lanes made of asphalt or concrete; and wooded areas with individual trees or groups of trees. You can traverse the loose, sandy/rocky surfaces because they are dry and compact enough for walking. You can traverse the grassy/shrubby areas because the vegetation is low and sparse. You can traverse the wooded areas because the tree density is low enough to walk through. However, you cannot traverse any water bodies or buildings, as they are completely blocked. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area with tall trees and uneven ground","end_land_type":"a grassy, open field with low vegetation","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"mexico_city_56.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":310,"end_region_id":5,"start_point":[66,759],"end_point":[965,145],"distance":1088.6675341903056},{"start_region_id":310,"end_region_id":2,"start_point":[66,759],"end_point":[704,81],"distance":930.9822769526819},{"start_region_id":328,"end_region_id":2,"start_point":[649,990],"end_point":[704,81],"distance":910.662396280861},{"start_region_id":328,"end_region_id":5,"start_point":[649,990],"end_point":[965,145],"distance":902.1535346048365},{"start_region_id":224,"end_region_id":31,"start_point":[171,112],"end_point":[705,828],"distance":893.2032243560253}],"complexity_score":0.6876975028916971}
{"id":9543,"query_id":"Q01909","question":"A quadcopter starts from a paved road surface and needs to reach a grassy, shrubby area. The flyable terrain includes sandy or rocky ground, vegetated open spaces, hard artificial surfaces, liquid surfaces, and cultivated fields. You must avoid flying through dense tree canopies or close to building structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"mexico_city_56.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":5,"start_point":[84,883],"end_point":[965,145],"distance":1149.2628071942465},{"start_region_id":215,"end_region_id":5,"start_point":[172,940],"end_point":[965,145],"distance":1122.886459086581},{"start_region_id":210,"end_region_id":5,"start_point":[109,776],"end_point":[965,145],"distance":1063.4364108868945},{"start_region_id":215,"end_region_id":2,"start_point":[172,940],"end_point":[704,81],"distance":1010.3984362616561},{"start_region_id":216,"end_region_id":5,"start_point":[373,973],"end_point":[965,145],"distance":1017.8644310516013}],"complexity_score":0.6876975028916971}
{"id":13277,"query_id":"Q02656","question":"A quadcopter drone starts from a paved roadway and needs to reach a tall vegetated area. The drone must avoid any liquid surfaces and vertical structures entirely. The terrain includes open grassy expanses, hard flat surfaces, vehicle lanes, cultivated plots, and wooded zones. The drone can fly over wooded zones only at a safe altitude to avoid collisions. What is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a tall vegetated area","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"mexico_city_56.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":227,"start_point":[84,883],"end_point":[814,49],"distance":1108.357343098335},{"start_region_id":215,"end_region_id":227,"start_point":[172,940],"end_point":[814,49],"distance":1098.2008013109441},{"start_region_id":210,"end_region_id":227,"start_point":[109,776],"end_point":[814,49],"distance":1012.6964007045744},{"start_region_id":216,"end_region_id":227,"start_point":[373,973],"end_point":[814,49],"distance":1023.8442264329082},{"start_region_id":194,"end_region_id":328,"start_point":[292,50],"end_point":[649,990],"distance":1005.5093236763148}],"complexity_score":0.6876975028916971}
{"id":9610,"query_id":"Q01922","question":"An off-road vehicle starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces, as well as open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The vehicle can drive on all these surfaces, but must avoid any areas with tall vegetation or vertical obstacles, and cannot enter liquid bodies. What is the shortest path?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"daressalaam_85.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":178,"start_point":[855,923],"end_point":[376,144],"distance":914.4845542708745},{"start_region_id":178,"end_region_id":184,"start_point":[376,144],"end_point":[855,923],"distance":914.4845542708745},{"start_region_id":184,"end_region_id":183,"start_point":[855,923],"end_point":[192,602],"distance":736.6206622135983},{"start_region_id":183,"end_region_id":184,"start_point":[192,602],"end_point":[855,923],"distance":736.6206622135983},{"start_region_id":179,"end_region_id":178,"start_point":[537,673],"end_point":[376,144],"distance":552.9575028878802}],"complexity_score":0.687815463509279}
{"id":14135,"query_id":"Q02827","question":"An aerial surveillance drone starts from a location with tall vertical structures that provide overhead cover and needs to reach a flat, hard, continuous surface suitable for landing. The drone must avoid any liquid areas entirely. The drone can traverse open areas with loose, dry soil and sparse vegetation, but must carefully navigate around tall vertical structures that could cause collisions. The flat, hard, continuous surface is accessible. The drone's primary concern is minimizing collision risk and maintaining stable flight conditions.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall vertical structures that provide overhead cover.","end_land_type":"The destination is a flat, hard, continuous surface suitable for landing.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"daressalaam_85.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":184,"start_point":[119,158],"end_point":[855,923],"distance":1061.5653536170064},{"start_region_id":195,"end_region_id":183,"start_point":[987,80],"end_point":[192,602],"distance":951.0567806393054},{"start_region_id":187,"end_region_id":184,"start_point":[489,29],"end_point":[855,923],"distance":966.0186333606614},{"start_region_id":207,"end_region_id":183,"start_point":[973,197],"end_point":[192,602],"distance":879.7647412803038},{"start_region_id":239,"end_region_id":184,"start_point":[23,502],"end_point":[855,923],"distance":932.451071102393}],"complexity_score":0.687815463509279}
{"id":1462,"query_id":"Q00293","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, smooth surfaces suitable for walking, open grassy areas with low vegetation, and cultivated fields with loose soil. You must avoid any vertical structures, liquid surfaces, and bare rocky or sandy ground. What is the shortest route to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest route to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"houston_33.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":67,"start_point":[980,167],"end_point":[58,950],"distance":1209.6168814959553},{"start_region_id":122,"end_region_id":56,"start_point":[980,167],"end_point":[164,872],"distance":1078.369602687316},{"start_region_id":122,"end_region_id":68,"start_point":[980,167],"end_point":[475,977],"distance":954.5286795062786},{"start_region_id":122,"end_region_id":12,"start_point":[980,167],"end_point":[37,129],"distance":943.7653310013035},{"start_region_id":122,"end_region_id":36,"start_point":[980,167],"end_point":[125,439],"distance":897.2229377362128}],"complexity_score":0.6878781639612701}
{"id":5636,"query_id":"Q01128","question":"An off-road vehicle starts from a grassy field and needs to reach another grassy field area. The terrain includes both soft, vegetated ground and hard, paved surfaces designed for vehicle traffic. The vehicle has high clearance and all-terrain tires, allowing it to drive on the vegetated ground, and it can also use the paved surfaces. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"houston_33.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":66,"start_point":[37,129],"end_point":[995,915],"distance":1239.177146335422},{"start_region_id":66,"end_region_id":12,"start_point":[995,915],"end_point":[37,129],"distance":1239.177146335422},{"start_region_id":67,"end_region_id":13,"start_point":[58,950],"end_point":[832,52],"distance":1185.5294176021107},{"start_region_id":13,"end_region_id":67,"start_point":[832,52],"end_point":[58,950],"distance":1185.5294176021107},{"start_region_id":12,"end_region_id":73,"start_point":[37,129],"end_point":[738,980],"distance":1102.5434231811462}],"complexity_score":0.6878781639612701}
{"id":7696,"query_id":"Q01540","question":"A quadcopter drone starts from a hard, paved surface and needs to reach another hard, paved surface. The drone can fly over liquid surfaces, cultivated vegetation areas, and hard surfaces. However, flying over tall vertical structures or dense tree canopies is prohibited due to safety regulations. The goal is to find the most comfortable flight path, prioritizing stable airspace with minimal turbulence and avoiding areas that might cause abrupt maneuvers or discomfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the most comfortable route for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_33.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":122,"start_point":[515,715],"end_point":[980,167],"distance":718.699519966446},{"start_region_id":122,"end_region_id":123,"start_point":[980,167],"end_point":[515,715],"distance":718.699519966446},{"start_region_id":121,"end_region_id":122,"start_point":[447,412],"end_point":[980,167],"distance":586.6123080877181},{"start_region_id":122,"end_region_id":121,"start_point":[980,167],"end_point":[447,412],"distance":586.6123080877181},{"start_region_id":123,"end_region_id":121,"start_point":[515,715],"end_point":[447,412],"distance":310.53663229963706}],"complexity_score":0.6878781639612701}
{"id":15293,"query_id":"Q03059","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach an open area covered with low, natural vegetation. The drone can fly over liquid surfaces, but must avoid vertical obstacles that could cause collisions. The drone's flight path must prioritize terrain that minimizes risk of damage or loss of control.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"An open area covered with low, natural vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_33.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":13,"start_point":[104,1005],"end_point":[832,52],"distance":1199.2468469835558},{"start_region_id":113,"end_region_id":12,"start_point":[920,881],"end_point":[37,129],"distance":1159.8245556979728},{"start_region_id":102,"end_region_id":13,"start_point":[13,848],"end_point":[832,52],"distance":1142.0932536356215},{"start_region_id":103,"end_region_id":13,"start_point":[53,848],"end_point":[832,52],"distance":1113.7580527206078},{"start_region_id":83,"end_region_id":66,"start_point":[315,57],"end_point":[995,915],"distance":1094.7894774795745}],"complexity_score":0.6878781639612701}
{"id":5587,"query_id":"Q01118","question":"An off-road vehicle is parked in a grassy, open field and needs to reach another grassy, open field. The terrain includes grassy areas with low vegetation and a paved, hard surface lane. The vehicle must avoid any areas with dense vertical obstacles, standing liquid, or solid structures. The driver's priority is to minimize risk of vehicle damage or loss of control.","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"A grassy, open field","end_land_type":"Another grassy, open field","task_description":"What is the safest path for the off-road vehicle to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"duesseldorf_30.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":9,"start_point":[269,864],"end_point":[751,38],"distance":956.3472172804185},{"start_region_id":9,"end_region_id":71,"start_point":[751,38],"end_point":[269,864],"distance":956.3472172804185},{"start_region_id":14,"end_region_id":71,"start_point":[803,89],"end_point":[269,864],"distance":941.1593913891526},{"start_region_id":71,"end_region_id":14,"start_point":[269,864],"end_point":[803,89],"distance":941.1593913891526},{"start_region_id":70,"end_region_id":9,"start_point":[442,910],"end_point":[751,38],"distance":925.1297206338147}],"complexity_score":0.6879129170181164}
{"id":10400,"query_id":"Q02080","question":"An off-road vehicle starts from a paved lane and needs to reach another paved lane. The terrain includes hard, flat surfaces like parking lots and compacted soil areas, as well as soft, uneven ground with loose soil and rocks, and areas with natural grass and shrubs. The vehicle can traverse all these surfaces due to its high clearance and all-terrain tires, but must avoid trees, water bodies, and buildings. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path for the off-road vehicle to reach the destination paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"duesseldorf_30.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":127,"start_point":[628,446],"end_point":[394,117],"distance":403.7288694160971},{"start_region_id":127,"end_region_id":128,"start_point":[394,117],"end_point":[628,446],"distance":403.7288694160971}],"complexity_score":0.6879129170181164}
{"id":16830,"query_id":"Q03366","question":"A quadcopter drone starts from a grassy, uneven ground and needs to reach a flat, paved area. The drone can fly over open water surfaces, but cannot pass through dense tree canopies or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"a flat, paved area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"duesseldorf_30.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":81,"start_point":[269,864],"end_point":[900,23],"distance":1051.400019022256},{"start_region_id":5,"end_region_id":121,"start_point":[305,103],"end_point":[934,906],"distance":1020.024509509453},{"start_region_id":9,"end_region_id":123,"start_point":[751,38],"end_point":[326,905],"distance":965.564083839079},{"start_region_id":70,"end_region_id":81,"start_point":[442,910],"end_point":[900,23],"distance":998.2649948786144},{"start_region_id":14,"end_region_id":123,"start_point":[803,89],"end_point":[326,905],"distance":945.1904569979534}],"complexity_score":0.6879129170181164}
{"id":10095,"query_id":"Q02019","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, hard paved surface. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over liquid surfaces, but cannot pass through dense vertical obstacles. The drone must avoid any areas with tall, dense vegetation that would require careful navigation. What is the fastest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, hard paved surface","task_description":"What is the fastest path to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_40.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":147,"start_point":[51,822],"end_point":[647,26],"distance":994.4003218020397},{"start_region_id":109,"end_region_id":221,"start_point":[51,822],"end_point":[959,613],"distance":931.7429903143892},{"start_region_id":130,"end_region_id":147,"start_point":[668,968],"end_point":[647,26],"distance":942.2340473576616},{"start_region_id":109,"end_region_id":151,"start_point":[51,822],"end_point":[656,150],"distance":904.2173411298857},{"start_region_id":103,"end_region_id":147,"start_point":[239,828],"end_point":[647,26],"distance":899.8155366518184}],"complexity_score":0.6880769087482225}
{"id":14599,"query_id":"Q02920","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach a flat, hard, artificial surface. You can traverse areas with loose, sandy or rocky soil without vegetation, open grassy or shrubby terrain, flat hard artificial surfaces, densely vegetated areas with tall woody plants, and cultivated fields with crops. However, you cannot travel across liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a flat, hard, artificial surface","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_40.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":326,"end_region_id":221,"start_point":[39,21],"end_point":[959,613],"distance":1094.0127970001083},{"start_region_id":489,"end_region_id":147,"start_point":[86,881],"end_point":[647,26],"distance":1022.6172304435321},{"start_region_id":326,"end_region_id":231,"start_point":[39,21],"end_point":[633,829],"distance":1002.8459502834919},{"start_region_id":347,"end_region_id":221,"start_point":[110,136],"end_point":[959,613],"distance":973.8223657320672},{"start_region_id":382,"end_region_id":221,"start_point":[41,320],"end_point":[959,613],"distance":963.6249270333349}],"complexity_score":0.6880769087482225}
{"id":1667,"query_id":"Q00334","question":"A family sedan is parked on a grassy, uneven field and needs to reach a paved road surface. The vehicle requires smooth, stable surfaces to minimize vibrations and ensure passenger comfort. While the grassy field can be crossed if the vegetation is low and the ground is firm enough to support the vehicle's weight without excessive sinking, the sedan cannot drive through areas with dense trees, water bodies, or buildings. What is the most comfortable path to reach the paved road?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"grassy, uneven field","end_land_type":"paved road surface","task_description":"What is the most comfortable path to reach the paved road?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"santa_rosa_11.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":255,"start_point":[785,193],"end_point":[46,884],"distance":1011.7321779996918},{"start_region_id":91,"end_region_id":248,"start_point":[39,776],"end_point":[905,402],"distance":943.309069181464},{"start_region_id":102,"end_region_id":255,"start_point":[982,871],"end_point":[46,884],"distance":936.090273424524},{"start_region_id":102,"end_region_id":249,"start_point":[982,871],"end_point":[89,728],"distance":904.377133722431},{"start_region_id":13,"end_region_id":249,"start_point":[785,193],"end_point":[89,728],"distance":877.8616064050187}],"complexity_score":0.6881007788802798}
{"id":5829,"query_id":"Q01166","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface. The drone can fly over liquid areas, but cannot pass through dense vertical obstacles like trees or structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_11.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":238,"start_point":[123,97],"end_point":[973,975],"distance":1222.040915845292},{"start_region_id":238,"end_region_id":119,"start_point":[973,975],"end_point":[123,97],"distance":1222.040915845292},{"start_region_id":229,"end_region_id":117,"start_point":[435,885],"end_point":[965,30],"distance":1005.9448295011014},{"start_region_id":117,"end_region_id":229,"start_point":[965,30],"end_point":[435,885],"distance":1005.9448295011014},{"start_region_id":142,"end_region_id":238,"start_point":[236,317],"end_point":[973,975],"distance":987.9944331826977}],"complexity_score":0.6881007788802798}
{"id":15475,"query_id":"Q03095","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface as quickly as possible. The drone can fly over all terrain types except for dense vertical obstacles, which must be avoided due to collision risk. The drone can traverse areas with loose soil and rocks, grassy and shrubby vegetation, all artificial hard surfaces, liquid bodies, and cultivated vegetation fields. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_11.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":248,"start_point":[46,884],"end_point":[905,402],"distance":984.9898476634163},{"start_region_id":248,"end_region_id":255,"start_point":[905,402],"end_point":[46,884],"distance":984.9898476634163},{"start_region_id":249,"end_region_id":248,"start_point":[89,728],"end_point":[905,402],"distance":878.7104187387333},{"start_region_id":248,"end_region_id":249,"start_point":[905,402],"end_point":[89,728],"distance":878.7104187387333},{"start_region_id":241,"end_region_id":255,"start_point":[513,407],"end_point":[46,884],"distance":667.5462530791406}],"complexity_score":0.6881007788802798}
{"id":16383,"query_id":"Q03277","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The drone can fly over sandy or rocky expanses, grassy or shrub-covered terrain, cultivated fields, and paved areas, but must avoid flying through dense tree canopies or close to structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path for the quadcopter drone to travel from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santa_rosa_11.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":248,"start_point":[46,884],"end_point":[905,402],"distance":984.9898476634163},{"start_region_id":248,"end_region_id":255,"start_point":[905,402],"end_point":[46,884],"distance":984.9898476634163},{"start_region_id":249,"end_region_id":248,"start_point":[89,728],"end_point":[905,402],"distance":878.7104187387333},{"start_region_id":248,"end_region_id":249,"start_point":[905,402],"end_point":[89,728],"distance":878.7104187387333},{"start_region_id":241,"end_region_id":255,"start_point":[513,407],"end_point":[46,884],"distance":667.5462530791406}],"complexity_score":0.6881007788802798}
{"id":2528,"query_id":"Q00506","question":"A pedestrian starts from a paved road surface and needs to reach another paved road surface while ensuring a comfortable walk. The pedestrian must stay on hard, even surfaces to avoid uneven or rough terrain, and cannot walk on soft ground, vegetation, liquid areas, or vertical obstacles. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable path for the pedestrian to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"panama_city_26.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":87,"start_point":[1005,117],"end_point":[1,668],"distance":1145.2584861069574}],"complexity_score":0.6882724878096057}
{"id":5924,"query_id":"Q01185","question":"A person walking starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The environment contains only firm, stable surfaces suitable for walking, including smooth paved areas and vehicle lanes. All other terrain types—such as loose soil, vegetation, water bodies, and vertical structures—are impassable due to safety restrictions. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person walking","start_land_type":"A paved, hard-surfaced area","end_land_type":"Another paved, hard-surfaced area","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"panama_city_26.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":65,"start_point":[34,690],"end_point":[961,241],"distance":1030.0145630038442},{"start_region_id":65,"end_region_id":79,"start_point":[961,241],"end_point":[34,690],"distance":1030.0145630038442},{"start_region_id":85,"end_region_id":65,"start_point":[225,960],"end_point":[961,241],"distance":1028.9105889240327},{"start_region_id":65,"end_region_id":85,"start_point":[961,241],"end_point":[225,960],"distance":1028.9105889240327},{"start_region_id":79,"end_region_id":67,"start_point":[34,690],"end_point":[983,374],"distance":1000.2284738998385}],"complexity_score":0.6882724878096057}
{"id":7007,"query_id":"Q01402","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The terrain includes areas with loose, cultivated soil, patches of tall, dense vegetation that can be flown around with caution, and any vertical structures must be avoided. The drone can fly over liquid bodies. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_26.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":86,"start_point":[209,61],"end_point":[944,964],"distance":1164.3169671528453},{"start_region_id":86,"end_region_id":50,"start_point":[944,964],"end_point":[209,61],"distance":1164.3169671528453},{"start_region_id":64,"end_region_id":86,"start_point":[122,187],"end_point":[944,964],"distance":1131.1114003492316},{"start_region_id":86,"end_region_id":64,"start_point":[944,964],"end_point":[122,187],"distance":1131.1114003492316},{"start_region_id":79,"end_region_id":65,"start_point":[34,690],"end_point":[961,241],"distance":1030.0145630038442}],"complexity_score":0.6882724878096057}
{"id":10807,"query_id":"Q02162","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures and needs to reach a flat, hard, paved surface. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered terrain; paved areas like sidewalks or parking lots; lanes used by vehicles; bodies of liquid; and cultivated fields with crops. However, flying through dense, vertical obstacles like tall vegetation is only possible if the drone can navigate carefully between them, and flying near or through solid, man-made vertical structures is only allowed if there is sufficient clearance to avoid collisions. The drone's priority is to maintain a smooth and stable flight to ensure passenger comfort and sensor stability.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a flat, hard, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"panama_city_26.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":87,"start_point":[956,872],"end_point":[431,335],"distance":750.9953395328096},{"start_region_id":153,"end_region_id":87,"start_point":[905,770],"end_point":[431,335],"distance":643.3513814394122},{"start_region_id":133,"end_region_id":87,"start_point":[982,624],"end_point":[431,335],"distance":622.1912889136266},{"start_region_id":125,"end_region_id":87,"start_point":[986,482],"end_point":[431,335],"distance":574.1376141658026},{"start_region_id":102,"end_region_id":87,"start_point":[23,205],"end_point":[431,335],"distance":428.2102287428454}],"complexity_score":0.6882724878096057}
{"id":8202,"query_id":"Q01641","question":"A farmer starts from a cultivated field with loose soil and crops and needs to reach another cultivated field with similar loose soil and crops. You must use the paved footpaths or lanes for safe walking, as they provide a stable, non-slip surface. The cultivated fields are traversable only because the soil is compact and dry, allowing secure footing. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"another cultivated field with similar loose soil and crops","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"daressalaam_118.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":505,"end_region_id":509,"start_point":[81,475],"end_point":[953,731],"distance":908.8014084496128},{"start_region_id":509,"end_region_id":505,"start_point":[953,731],"end_point":[81,475],"distance":908.8014084496128},{"start_region_id":508,"end_region_id":505,"start_point":[906,520],"end_point":[81,475],"distance":826.2263612352247},{"start_region_id":505,"end_region_id":508,"start_point":[81,475],"end_point":[906,520],"distance":826.2263612352247},{"start_region_id":508,"end_region_id":509,"start_point":[906,520],"end_point":[953,731],"distance":216.1712284278368}],"complexity_score":0.6884610210277787}
{"id":2749,"query_id":"Q00550","question":"A hiker starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The area includes loose, sandy ground and cultivated fields, but you can walk across the fields if they are dry and firm. You must avoid any liquid areas and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"palu_33.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":187,"start_point":[901,536],"end_point":[66,856],"distance":894.2175350550893},{"start_region_id":193,"end_region_id":187,"start_point":[546,158],"end_point":[66,856],"distance":847.1151043394281},{"start_region_id":195,"end_region_id":187,"start_point":[216,130],"end_point":[66,856],"distance":741.3339328534746},{"start_region_id":209,"end_region_id":172,"start_point":[374,773],"end_point":[624,182],"distance":641.7016440683318},{"start_region_id":199,"end_region_id":172,"start_point":[223,579],"end_point":[624,182],"distance":564.2783001321245}],"complexity_score":0.6885234855467195}
{"id":5794,"query_id":"Q01159","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area. The terrain includes only surfaces that are open and clear, such as asphalt lanes and areas with low vegetation and loose soil, avoiding any vertical structures, liquid bodies, cultivated fields, and tree clusters to minimize risks like collisions, signal interference, or unstable flight. The drone can fly over passable obstacles due to its aerial capability. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"palu_33.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":152,"start_point":[216,130],"end_point":[864,903],"distance":1008.678838877866},{"start_region_id":195,"end_region_id":128,"start_point":[216,130],"end_point":[973,715],"distance":956.6995348592994},{"start_region_id":205,"end_region_id":72,"start_point":[901,536],"end_point":[33,462],"distance":871.1486669908874},{"start_region_id":205,"end_region_id":5,"start_point":[901,536],"end_point":[278,24],"distance":806.3950644690232},{"start_region_id":193,"end_region_id":152,"start_point":[546,158],"end_point":[864,903],"distance":810.0302463488632}],"complexity_score":0.6885234855467195}
{"id":12255,"query_id":"Q02451","question":"A quadcopter starts from a grassy, open field with scattered shrubs and needs to reach a paved, hard-surfaced area. The terrain includes various ground surfaces and low vegetation that are accessible, but all areas with dense overhead obstacles are to be avoided. What is the shortest route to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field with scattered shrubs","end_land_type":"paved, hard-surfaced area","task_description":"What is the shortest route to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"palu_33.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":187,"start_point":[818,237],"end_point":[66,856],"distance":973.9943531663826},{"start_region_id":32,"end_region_id":187,"start_point":[706,158],"end_point":[66,856],"distance":946.9973600807976},{"start_region_id":128,"end_region_id":187,"start_point":[973,715],"end_point":[66,856],"distance":917.8943294301365},{"start_region_id":5,"end_region_id":187,"start_point":[278,24],"end_point":[66,856],"distance":858.5848822335506},{"start_region_id":142,"end_region_id":172,"start_point":[229,843],"end_point":[624,182],"distance":770.029869550526}],"complexity_score":0.6885234855467195}
{"id":5543,"query_id":"Q01109","question":"A quadcopter drone is hovering over grassy, uneven ground and needs to fly to a paved lane as quickly as possible. The drone can fly over grassy areas and paved surfaces, but must avoid any vertical obstacles like trees or buildings, and cannot traverse water bodies, bare sandy or rocky patches, or cultivated fields. Which flight path allows the drone to reach the paved lane the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"a paved lane","task_description":"Which flight path allows the drone to reach the paved lane the fastest?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"thousand_oaks_17.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":152,"start_point":[944,992],"end_point":[16,134],"distance":1263.8623342753751},{"start_region_id":40,"end_region_id":151,"start_point":[113,844],"end_point":[940,58],"distance":1140.931636865242},{"start_region_id":3,"end_region_id":172,"start_point":[863,126],"end_point":[17,846],"distance":1110.907736943082},{"start_region_id":44,"end_region_id":152,"start_point":[829,891],"end_point":[16,134],"distance":1110.8636279940035},{"start_region_id":47,"end_region_id":151,"start_point":[299,918],"end_point":[940,58],"distance":1072.6047734370754}],"complexity_score":0.6885639589634385}
{"id":10315,"query_id":"Q02063","question":"A hiker starts from a densely vegetated area with tall, upright structures that provide shade and cover and needs to reach a flat, hard, and stable surface suitable for stable footing. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with low bushes and grasses; and paved or compacted surfaces like sidewalks or parking lots. The tall, upright structures are passable only if you can navigate carefully between them without climbing. You must avoid any liquid surfaces and man-made vertical obstacles. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"a flat, hard, and stable surface suitable for stable footing","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"thousand_oaks_17.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":69,"start_point":[210,580],"end_point":[782,157],"distance":711.4161932371234},{"start_region_id":245,"end_region_id":145,"start_point":[210,580],"end_point":[761,959],"distance":668.7615419564735},{"start_region_id":245,"end_region_id":125,"start_point":[210,580],"end_point":[784,781],"distance":608.1751392485556},{"start_region_id":245,"end_region_id":91,"start_point":[210,580],"end_point":[528,203],"distance":493.20685315595523},{"start_region_id":245,"end_region_id":135,"start_point":[210,580],"end_point":[35,876],"distance":343.8618908806267}],"complexity_score":0.6885639589634385}
{"id":16949,"query_id":"Q03390","question":"A quadcopter drone starts from a patch of grassy, open terrain with scattered low shrubs and needs to reach a tall, leafy canopy with dense branches. The drone can fly over loose, sandy ground and cultivated fields with crops, but must avoid any built structures and liquid surfaces. It can navigate through the canopy if necessary, though dense branches may slow it down. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of grassy, open terrain with scattered low shrubs.","end_land_type":"The destination is a tall, leafy canopy with dense branches.","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"thousand_oaks_17.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":245,"start_point":[350,439],"end_point":[210,580],"distance":198.69826370655582}],"complexity_score":0.6885639589634385}
{"id":3933,"query_id":"Q00787","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation while prioritizing safety. The drone can fly over areas with loose soil and rocks, grassy fields, cultivated fields with crops, and water bodies, but must avoid all wooded areas and buildings. The paved surfaces and vehicle lanes are available for use. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dhaka_40.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":97,"start_point":[653,23],"end_point":[87,918],"distance":1058.9527845942896},{"start_region_id":370,"end_region_id":6,"start_point":[269,1007],"end_point":[884,141],"distance":1062.1586510498325},{"start_region_id":183,"end_region_id":63,"start_point":[45,311],"end_point":[931,757],"distance":991.9233841381098},{"start_region_id":143,"end_region_id":117,"start_point":[653,23],"end_point":[450,948],"distance":947.0131994856249},{"start_region_id":142,"end_region_id":97,"start_point":[485,95],"end_point":[87,918],"distance":914.1843358973068}],"complexity_score":0.6885963366374843}
{"id":17318,"query_id":"Q03464","question":"A sedan starts from a paved lane and needs to reach a paved, hard-surfaced area. The sedan can traverse areas with firm, stable, paved surfaces that allow high-speed travel. The sedan can also traverse areas with low, non-cultivated vegetation, as these are dry and compacted enough to drive on without getting stuck, though at reduced speed. The sedan cannot traverse any areas with loose, unstable soil or sand, any cultivated crop fields, any areas with trees or vertical obstacles, any liquid surfaces, or any vertical structures. What is the fastest path?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved lane","end_land_type":"a paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"dhaka_40.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":395,"end_region_id":143,"start_point":[185,936],"end_point":[653,23],"distance":1025.9595508595844},{"start_region_id":386,"end_region_id":143,"start_point":[26,711],"end_point":[653,23],"distance":930.8453147542829},{"start_region_id":395,"end_region_id":142,"start_point":[185,936],"end_point":[485,95],"distance":892.9059300956625},{"start_region_id":391,"end_region_id":143,"start_point":[569,873],"end_point":[653,23],"distance":854.1405036643562},{"start_region_id":381,"end_region_id":370,"start_point":[682,320],"end_point":[269,1007],"distance":801.5846804923358}],"complexity_score":0.6885963366374843}
{"id":6142,"query_id":"Q01229","question":"A quadcopter drone starts from a flat artificial surface and needs to reach a paved thoroughfare. The drone can fly over loose soil, grassy areas, paved surfaces, and wooded regions. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat artificial surface","end_land_type":"paved thoroughfare","task_description":"What is the shortest path from the flat artificial surface to the paved thoroughfare?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"san_tome_40.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":191,"start_point":[783,111],"end_point":[238,707],"distance":807.6143881828754},{"start_region_id":93,"end_region_id":191,"start_point":[805,157],"end_point":[238,707],"distance":789.9297437114266},{"start_region_id":96,"end_region_id":191,"start_point":[905,306],"end_point":[238,707],"distance":778.2608817099829},{"start_region_id":126,"end_region_id":191,"start_point":[987,685],"end_point":[238,707],"distance":749.3230278057655},{"start_region_id":149,"end_region_id":190,"start_point":[231,934],"end_point":[713,299],"distance":797.2132713396084}],"complexity_score":0.68893415615979}
{"id":15883,"query_id":"Q03177","question":"A quadcopter drone is positioned on a paved, hard surface area and needs to reach an area of natural, uncultivated vegetation. The drone can fly over liquid surfaces, cultivated crop fields, and areas with tall vertical obstacles, but must avoid any structures or buildings. What is the shortest possible route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface area","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"san_tome_40.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":64,"start_point":[179,41],"end_point":[522,976],"distance":995.9287123082655},{"start_region_id":74,"end_region_id":64,"start_point":[484,39],"end_point":[522,976],"distance":937.7702277210553},{"start_region_id":83,"end_region_id":53,"start_point":[783,111],"end_point":[189,807],"distance":915.0147539794099},{"start_region_id":91,"end_region_id":64,"start_point":[158,130],"end_point":[522,976],"distance":920.9842561086482},{"start_region_id":83,"end_region_id":64,"start_point":[783,111],"end_point":[522,976],"distance":903.5186771727522}],"complexity_score":0.68893415615979}
{"id":15915,"query_id":"Q03183","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy field as quickly as possible. The drone can fly over liquid surfaces and vertical obstacles, but must avoid areas with dense overhead canopy to maintain speed and stability. Which path allows the drone to reach the grassy field in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy field","task_description":"Which path allows the drone to reach the grassy field in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"san_tome_40.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":64,"start_point":[713,299],"end_point":[522,976],"distance":703.4273238935207},{"start_region_id":190,"end_region_id":53,"start_point":[713,299],"end_point":[189,807],"distance":729.8218960815029},{"start_region_id":190,"end_region_id":45,"start_point":[713,299],"end_point":[164,698],"distance":678.6766534956098},{"start_region_id":190,"end_region_id":55,"start_point":[713,299],"end_point":[366,832],"distance":636.0015723251005},{"start_region_id":190,"end_region_id":36,"start_point":[713,299],"end_point":[102,525],"distance":651.4575964711748}],"complexity_score":0.68893415615979}
{"id":1168,"query_id":"Q00234","question":"An aerial survey drone is positioned on an open grassy area and needs to reach a wooded canopy. The drone must avoid any vertical structures or dense obstacles that could cause collisions, and liquid surfaces are considered hazardous due to potential signal interference or splash damage. The grassy terrain and wooded areas are traversable, but the drone should prioritize stable, open spaces to minimize risk. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Open grassy area","end_land_type":"Wooded canopy","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_18.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":216,"start_point":[25,882],"end_point":[867,22],"distance":1203.563043633361},{"start_region_id":80,"end_region_id":225,"start_point":[25,882],"end_point":[950,188],"distance":1156.4000172950534},{"start_region_id":80,"end_region_id":214,"start_point":[25,882],"end_point":[648,22],"distance":1061.945855493584},{"start_region_id":72,"end_region_id":218,"start_point":[843,818],"end_point":[147,92],"distance":1005.7295859225779},{"start_region_id":72,"end_region_id":213,"start_point":[843,818],"end_point":[300,48],"distance":942.2043302808579}],"complexity_score":0.6889960253062489}
{"id":8266,"query_id":"Q01654","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a patch of low vegetation. The drone can fly over various terrains but must avoid tall, dense obstacles. The area includes open, dry ground with no vertical obstructions. The hard surface is clear for takeoff. The objective is to complete the flight in the shortest duration.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a patch of low vegetation","task_description":"What is the fastest flight path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_18.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":72,"start_point":[200,720],"end_point":[843,818],"distance":650.4252455125031},{"start_region_id":169,"end_region_id":72,"start_point":[289,936],"end_point":[843,818],"distance":566.4274004671737},{"start_region_id":143,"end_region_id":72,"start_point":[315,666],"end_point":[843,818],"distance":549.4433546781688},{"start_region_id":124,"end_region_id":36,"start_point":[36,583],"end_point":[529,372],"distance":536.2555361019595},{"start_region_id":102,"end_region_id":25,"start_point":[696,290],"end_point":[178,307],"distance":518.2788824561541}],"complexity_score":0.6889960253062489}
{"id":2543,"query_id":"Q00509","question":"A quadcopter drone starts from a grassy, open terrain and needs to reach another grassy, open terrain. The drone can fly over grassy areas, but must avoid any vertical obstacles like trees or buildings, and any liquid surfaces. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,1,0],"image_name":"pedrogao_grande_54.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[148,296],"end_point":[32,830],"distance":546.4540236836033},{"start_region_id":41,"end_region_id":1,"start_point":[32,830],"end_point":[148,296],"distance":546.4540236836033},{"start_region_id":40,"end_region_id":34,"start_point":[908,797],"end_point":[495,577],"distance":467.941235626868},{"start_region_id":34,"end_region_id":40,"start_point":[495,577],"end_point":[908,797],"distance":467.941235626868},{"start_region_id":40,"end_region_id":39,"start_point":[908,797],"end_point":[484,694],"distance":436.3312961500699}],"complexity_score":0.6892717264018139}
{"id":6638,"query_id":"Q01328","question":"A quadcopter drone starts from a cultivated field with low vegetation and needs to reach a paved area with a flat, hard surface. The drone can fly over most surfaces, but must avoid dense vertical obstacles like tall structures or thick tree canopies, and liquid surfaces are permissible though less desirable. The goal is to find the path that minimizes risk of collision, signal interference, or unstable flight conditions.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest path for the quadcopter drone to take from the cultivated field to the paved area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"pedrogao_grande_54.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":44,"start_point":[700,929],"end_point":[62,20],"distance":1110.5516647144336},{"start_region_id":232,"end_region_id":44,"start_point":[394,987],"end_point":[62,20],"distance":1022.4054968553328},{"start_region_id":231,"end_region_id":50,"start_point":[700,929],"end_point":[147,144],"distance":960.2260150610376},{"start_region_id":232,"end_region_id":46,"start_point":[394,987],"end_point":[585,54],"distance":952.349725678545},{"start_region_id":229,"end_region_id":44,"start_point":[707,701],"end_point":[62,20],"distance":937.969082646118}],"complexity_score":0.6892717264018139}
{"id":12068,"query_id":"Q02414","question":"An aerial surveillance drone starts from a paved lane and needs to reach a flat, hard artificial surface. The drone can fly over open grassy areas, hard artificial surfaces, paved lanes, and liquid bodies, but must avoid vertical structures and dense vegetation due to collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"flat, hard artificial surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"pedrogao_grande_54.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":44,"start_point":[514,854],"end_point":[62,20],"distance":948.6095087020792},{"start_region_id":101,"end_region_id":44,"start_point":[854,386],"end_point":[62,20],"distance":872.4792261137225},{"start_region_id":106,"end_region_id":46,"start_point":[514,854],"end_point":[585,54],"distance":803.1444452898868},{"start_region_id":106,"end_region_id":50,"start_point":[514,854],"end_point":[147,144],"distance":799.2427666235085},{"start_region_id":106,"end_region_id":48,"start_point":[514,854],"end_point":[736,167],"distance":721.9785315367764}],"complexity_score":0.6892717264018139}
{"id":2239,"query_id":"Q00448","question":"A quadcopter drone starts from a paved roadway and needs to reach a paved courtyard. The terrain includes open, solid surfaces; cultivated fields with low vegetation; and wooded areas with gaps between trees. You must avoid any liquid surfaces and cannot fly through dense vertical structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved roadway","end_land_type":"paved courtyard","task_description":"What is the most comfortable route from the paved roadway to the paved courtyard?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"little_rock_49.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":65,"start_point":[996,499],"end_point":[31,212],"distance":1006.7740560820982},{"start_region_id":84,"end_region_id":65,"start_point":[848,27],"end_point":[31,212],"distance":837.6837111941476},{"start_region_id":101,"end_region_id":51,"start_point":[996,499],"end_point":[343,126],"distance":752.022606043196},{"start_region_id":84,"end_region_id":79,"start_point":[848,27],"end_point":[984,743],"distance":728.8017563096291},{"start_region_id":84,"end_region_id":77,"start_point":[848,27],"end_point":[802,659],"distance":633.6718393616684}],"complexity_score":0.6894522812462711}
{"id":2245,"query_id":"Q00449","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over hard, flat surfaces like parking lots and streets, as well as cultivated fields with low vegetation. It can also cross over liquid areas. However, the drone cannot pass through dense vertical obstacles like trees or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_49.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":101,"start_point":[497,397],"end_point":[996,499],"distance":509.3181716766053},{"start_region_id":101,"end_region_id":83,"start_point":[996,499],"end_point":[497,397],"distance":509.3181716766053},{"start_region_id":83,"end_region_id":84,"start_point":[497,397],"end_point":[848,27],"distance":510.00098039121457},{"start_region_id":84,"end_region_id":83,"start_point":[848,27],"end_point":[497,397],"distance":510.00098039121457},{"start_region_id":84,"end_region_id":101,"start_point":[848,27],"end_point":[996,499],"distance":494.659478833672}],"complexity_score":0.6894522812462711}
{"id":6589,"query_id":"Q01318","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over most surfaces, but areas with tall, dense vertical obstacles require careful navigation to avoid collisions, making them riskier. The paved lane is open and hazard-free. What is the safest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the safest path for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"little_rock_49.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":101,"start_point":[497,397],"end_point":[996,499],"distance":509.3181716766053},{"start_region_id":101,"end_region_id":83,"start_point":[996,499],"end_point":[497,397],"distance":509.3181716766053},{"start_region_id":83,"end_region_id":84,"start_point":[497,397],"end_point":[848,27],"distance":510.00098039121457},{"start_region_id":84,"end_region_id":83,"start_point":[848,27],"end_point":[497,397],"distance":510.00098039121457},{"start_region_id":84,"end_region_id":101,"start_point":[848,27],"end_point":[996,499],"distance":494.659478833672}],"complexity_score":0.6894522812462711}
{"id":15895,"query_id":"Q03179","question":"An aerial survey drone begins its mission on a paved, hard surface. It needs to reach a tall, vertical structure with a canopy as quickly as possible. The drone can fly over open grassy areas, paved lanes, and liquid surfaces. However, it must navigate carefully around the tall vertical structures, as they are only passable under specific conditions. The mission objective is to find the fastest route.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"a tall, vertical structure with a canopy","task_description":"What is the fastest path for the aerial survey drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"little_rock_49.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":228,"start_point":[848,27],"end_point":[334,957],"distance":1062.5892903657555},{"start_region_id":84,"end_region_id":225,"start_point":[848,27],"end_point":[580,936],"distance":947.6840190696475},{"start_region_id":101,"end_region_id":162,"start_point":[996,499],"end_point":[68,485],"distance":928.1055974402913},{"start_region_id":84,"end_region_id":230,"start_point":[848,27],"end_point":[820,948],"distance":921.4255260193305},{"start_region_id":84,"end_region_id":162,"start_point":[848,27],"end_point":[68,485],"distance":904.5241843090764}],"complexity_score":0.6894522812462711}
{"id":3175,"query_id":"Q00635","question":"A delivery drone is starting from a paved road and needs to reach another paved road. The drone must prioritize safety, so it should avoid any areas that could increase the risk of collision or damage. It can only travel over open, stable surfaces like paved roads and parking lots, as well as flat, clear areas such as agricultural fields, but it must avoid any loose or uneven terrain like sandy or rocky ground that is not stabilized. What is the safest path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Road","end_land_type":"Road","task_description":"What is the safest path for the delivery drone to take from the starting paved road to the destination paved road?","task_type":"Safest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"rotterdam_20.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":178,"start_point":[835,500],"end_point":[571,339],"distance":309.2199864174371},{"start_region_id":178,"end_region_id":199,"start_point":[571,339],"end_point":[835,500],"distance":309.2199864174371}],"complexity_score":0.6897135717080121}
{"id":12434,"query_id":"Q02487","question":"A quadcopter drone starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface as quickly as possible. You can traverse grassy areas, cultivated fields, paved areas, vehicle lanes, and open water, but you must avoid any tall vegetation or structures that could obstruct flight. Grassy and cultivated areas are passable because the vegetation is low enough to fly over. Paved areas, vehicle lanes, and open water are clear and accessible. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved, hard surface like a sidewalk or parking lot","task_description":"What is the fastest path from the grassy, uneven starting point to the paved destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rotterdam_20.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":35,"start_point":[607,848],"end_point":[332,207],"distance":697.4998207885075},{"start_region_id":23,"end_region_id":34,"start_point":[607,848],"end_point":[712,167],"distance":689.0471681967788},{"start_region_id":23,"end_region_id":65,"start_point":[607,848],"end_point":[98,622],"distance":556.9174085984384},{"start_region_id":23,"end_region_id":46,"start_point":[607,848],"end_point":[345,380],"distance":536.3469026665484},{"start_region_id":7,"end_region_id":65,"start_point":[631,636],"end_point":[98,622],"distance":533.1838332132736}],"complexity_score":0.6897135717080121}
{"id":16690,"query_id":"Q03338","question":"A delivery drone is hovering above a grassy, open field and needs to reach a paved lane. The drone can fly over areas with loose soil and rocks, cultivated fields with crops, and liquid surfaces, but must avoid dense vegetation and vertical structures due to collision risk. The goal is to find the path that minimizes risk of crashes or damage.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, open field","end_land_type":"a paved lane","task_description":"What is the safest path for the delivery drone to take from the grassy field to the paved lane?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"rotterdam_20.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":178,"start_point":[607,848],"end_point":[571,339],"distance":510.27149636247566},{"start_region_id":23,"end_region_id":175,"start_point":[607,848],"end_point":[371,396],"distance":509.9019513592785},{"start_region_id":23,"end_region_id":199,"start_point":[607,848],"end_point":[835,500],"distance":416.0384597606332},{"start_region_id":7,"end_region_id":175,"start_point":[631,636],"end_point":[371,396],"distance":353.83612025908263},{"start_region_id":7,"end_region_id":178,"start_point":[631,636],"end_point":[571,339],"distance":303.0}],"complexity_score":0.6897135717080121}
{"id":1149,"query_id":"Q00230","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach a hard, paved surface designed for vehicle movement. The hiker can traverse areas with soft, grassy ground and low bushes, as the vegetation is not too dense to walk through. However, the hiker cannot travel across water bodies or enter any structures. The hiker seeks the most comfortable route possible.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"ngaoundere_32.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":424,"end_region_id":306,"start_point":[15,865],"end_point":[845,205],"distance":1060.4244433244644},{"start_region_id":431,"end_region_id":306,"start_point":[235,933],"end_point":[845,205],"distance":949.7810273952623},{"start_region_id":403,"end_region_id":306,"start_point":[33,699],"end_point":[845,205],"distance":950.4630450469919},{"start_region_id":416,"end_region_id":306,"start_point":[220,797],"end_point":[845,205],"distance":860.8652623959222},{"start_region_id":323,"end_region_id":306,"start_point":[39,75],"end_point":[845,205],"distance":816.4165603415943}],"complexity_score":0.6897571638085785}
{"id":7028,"query_id":"Q01406","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a paved area with a hard, flat surface. The terrain includes areas with loose, uneven ground and patches of tall, dense vegetation that can slow movement. The paved area is directly accessible, but you must avoid any structures or water bodies. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved area with a hard, flat surface","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"ngaoundere_32.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":478,"end_region_id":259,"start_point":[152,26],"end_point":[981,945],"distance":1237.659888660855},{"start_region_id":480,"end_region_id":259,"start_point":[330,42],"end_point":[981,945],"distance":1113.19809557868},{"start_region_id":479,"end_region_id":259,"start_point":[183,263],"end_point":[981,945],"distance":1049.727583709221},{"start_region_id":481,"end_region_id":259,"start_point":[497,42],"end_point":[981,945],"distance":1024.5316002935194},{"start_region_id":478,"end_region_id":273,"start_point":[152,26],"end_point":[358,981],"distance":976.9651989707719}],"complexity_score":0.6897571638085785}
{"id":2203,"query_id":"Q00441","question":"An aerial surveillance drone begins its mission on a paved surface and must return to another paved surface. The drone's flight path must prioritize safety by avoiding areas with dense vertical obstacles and unpredictable liquid surfaces. The drone is permitted to fly over cultivated fields with low vegetation, as these present minimal collision risk. However, it must avoid flying directly over areas with tall, dense vegetation that could entangle its rotors. It must also avoid flying over liquid surfaces, as unexpected downdrafts or spray could compromise its electronics. The drone can freely traverse open, hard-packed artificial surfaces and paved lanes, as these offer clear, predictable airspace with no overhead obstructions. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest flight path for the drone?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"san_tome_41.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":251,"start_point":[896,805],"end_point":[25,471],"distance":932.8435024161341},{"start_region_id":251,"end_region_id":254,"start_point":[25,471],"end_point":[896,805],"distance":932.8435024161341},{"start_region_id":241,"end_region_id":251,"start_point":[853,157],"end_point":[25,471],"distance":885.5393836526979},{"start_region_id":251,"end_region_id":241,"start_point":[25,471],"end_point":[853,157],"distance":885.5393836526979},{"start_region_id":240,"end_region_id":254,"start_point":[333,441],"end_point":[896,805],"distance":670.4215092014873}],"complexity_score":0.6900821396274333}
{"id":15889,"query_id":"Q03178","question":"A quadcopter drone begins its flight from a grassy, open field and needs to reach a paved, hard surface area. The drone can fly over various surfaces, including grassy fields, paved areas, vegetated areas with tall plants, liquid surfaces, and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles that could obstruct its path. What is the shortest possible route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"paved, hard surface area","task_description":"What is the shortest possible route for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"san_tome_41.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":130,"start_point":[997,765],"end_point":[14,62],"distance":1208.5106536559783},{"start_region_id":62,"end_region_id":143,"start_point":[997,765],"end_point":[62,76],"distance":1161.4413459146356},{"start_region_id":41,"end_region_id":130,"start_point":[986,577],"end_point":[14,62],"distance":1100.0040909014838},{"start_region_id":60,"end_region_id":130,"start_point":[823,729],"end_point":[14,62],"distance":1048.5084644388905},{"start_region_id":41,"end_region_id":143,"start_point":[986,577],"end_point":[62,76],"distance":1051.0837264461857}],"complexity_score":0.6900821396274333}
{"id":3023,"query_id":"Q00605","question":"A delivery drone is starting from a paved, hard-surfaced area and needs to reach a cultivated field with crops. The drone can fly over most surfaces but must avoid areas with tall, dense vegetation that could entangle it, and cannot fly into any structures. It also cannot fly over surfaces covered by water due to safety protocols. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A cultivated field with crops","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_15.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":583,"start_point":[912,42],"end_point":[28,457],"distance":976.5659219940045},{"start_region_id":191,"end_region_id":583,"start_point":[882,132],"end_point":[28,457],"distance":913.7510601909034},{"start_region_id":187,"end_region_id":582,"start_point":[912,42],"end_point":[85,367],"distance":888.5685117085795},{"start_region_id":236,"end_region_id":583,"start_point":[892,460],"end_point":[28,457],"distance":864.005208317635},{"start_region_id":223,"end_region_id":583,"start_point":[890,406],"end_point":[28,457],"distance":863.5073827130836}],"complexity_score":0.690139687625389}
{"id":5383,"query_id":"Q01077","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field across an area of loose, rocky ground. The walker seeks a path that minimizes discomfort from uneven or abrasive surfaces. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"muenster_15.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":581,"end_region_id":583,"start_point":[106,224],"end_point":[28,457],"distance":245.70917768776974},{"start_region_id":583,"end_region_id":581,"start_point":[28,457],"end_point":[106,224],"distance":245.70917768776974}],"complexity_score":0.690139687625389}
{"id":2148,"query_id":"Q00430","question":"A hiker is starting from a densely vegetated area with tall plants casting shadows and needs to reach a flat, hard-surfaced area. The hiker can traverse areas with hard, paved surfaces and vehicle lanes, as well as cultivated fields with planted crops. The densely vegetated areas are passable since the vegetation is not too thick to walk through. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall plants casting shadows","end_land_type":"a flat, hard-surfaced area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"vienna_57.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":102,"start_point":[862,70],"end_point":[267,827],"distance":962.8468206314024},{"start_region_id":162,"end_region_id":85,"start_point":[29,315],"end_point":[956,296],"distance":927.1946936862829},{"start_region_id":198,"end_region_id":79,"start_point":[838,642],"end_point":[39,197],"distance":914.5632837589753},{"start_region_id":162,"end_region_id":100,"start_point":[29,315],"end_point":[854,731],"distance":923.9485916434961},{"start_region_id":162,"end_region_id":94,"start_point":[29,315],"end_point":[875,620],"distance":899.3002835538306}],"complexity_score":0.6902131081971195}
{"id":6795,"query_id":"Q01359","question":"A quadcopter drone is currently positioned in a vegetated area with tall, upright structures that provide some overhead cover. It needs to reach a flat, hard, open surface as quickly as possible. The drone can fly over most terrain types, but must navigate carefully through areas with dense vertical obstacles. It cannot travel over liquid surfaces. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, upright structures that provide some overhead cover","end_land_type":"a flat, hard, open surface","task_description":"What is the fastest path for the quadcopter drone to travel from the vegetated area to the flat, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"vienna_57.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":109,"start_point":[29,315],"end_point":[924,892],"distance":1064.8727623523855},{"start_region_id":131,"end_region_id":108,"start_point":[862,70],"end_point":[46,697],"distance":1029.0699684666733},{"start_region_id":155,"end_region_id":109,"start_point":[164,250],"end_point":[924,892],"distance":994.8688355758261},{"start_region_id":128,"end_region_id":109,"start_point":[482,29],"end_point":[924,892],"distance":969.604558570142},{"start_region_id":131,"end_region_id":102,"start_point":[862,70],"end_point":[267,827],"distance":962.8468206314024}],"complexity_score":0.6902131081971195}
{"id":8335,"query_id":"Q01667","question":"A hiker starts from a paved surface and needs to reach a grassy or shrub-covered ground. The terrain includes only hard, flat surfaces, loose sandy or rocky ground, and vegetated areas. The hard, flat surfaces are traversable by default. The loose sandy or rocky ground is traversable because it is dry and stable. The grassy or shrub-covered ground is traversable because the vegetation is low and sparse. All other terrain types, such as vertical structures, dense tree canopies, liquid bodies, and cultivated fields, are not allowed due to physical barriers or restrictions.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_1.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":46,"start_point":[889,67],"end_point":[40,692],"distance":1054.24190772327},{"start_region_id":78,"end_region_id":46,"start_point":[980,455],"end_point":[40,692],"distance":969.4168350095845},{"start_region_id":66,"end_region_id":49,"start_point":[889,67],"end_point":[247,741],"distance":930.8275887617427},{"start_region_id":66,"end_region_id":50,"start_point":[889,67],"end_point":[344,748],"distance":872.2304741294012},{"start_region_id":85,"end_region_id":46,"start_point":[872,641],"end_point":[40,692],"distance":833.5616353935683}],"complexity_score":0.6903737470962745}
{"id":10193,"query_id":"Q02039","question":"A quadcopter drone is currently positioned on a paved, hard surface and needs to reach a grassy, open field. The drone can fly over loose, sandy areas and low vegetation patches, but must avoid dense clusters of tall vertical obstacles that could entangle its rotors. The drone cannot travel over liquid surfaces or enter solid structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chisinau_1.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":46,"start_point":[889,67],"end_point":[40,692],"distance":1054.24190772327},{"start_region_id":78,"end_region_id":46,"start_point":[980,455],"end_point":[40,692],"distance":969.4168350095845},{"start_region_id":66,"end_region_id":49,"start_point":[889,67],"end_point":[247,741],"distance":930.8275887617427},{"start_region_id":66,"end_region_id":50,"start_point":[889,67],"end_point":[344,748],"distance":872.2304741294012},{"start_region_id":85,"end_region_id":46,"start_point":[872,641],"end_point":[40,692],"distance":833.5616353935683}],"complexity_score":0.6903737470962745}
{"id":17103,"query_id":"Q03421","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over grassy or shrub-covered ground and other paved or hard surfaces, but must avoid flying over any water bodies, wooded areas, or structures to minimize risk. The drone cannot traverse any loose, sandy, or rocky ground or cultivated fields. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"chisinau_1.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":94,"start_point":[889,67],"end_point":[130,979],"distance":1186.5180150339058},{"start_region_id":94,"end_region_id":66,"start_point":[130,979],"end_point":[889,67],"distance":1186.5180150339058},{"start_region_id":66,"end_region_id":87,"start_point":[889,67],"end_point":[160,734],"distance":988.0941250710886},{"start_region_id":87,"end_region_id":66,"start_point":[160,734],"end_point":[889,67],"distance":988.0941250710886},{"start_region_id":65,"end_region_id":94,"start_point":[463,53],"end_point":[130,979],"distance":984.055384620195}],"complexity_score":0.6903737470962745}
{"id":1527,"query_id":"Q00306","question":"A quadcopter drone starts from a grassy, open field with scattered low shrubs and needs to reach another similar grassy, open area. A quadcopter drone must fly at its maximum stable speed. The drone can traverse open, solid ground; vegetated surfaces; paved lanes; liquid surfaces; and cultivated fields. However, it must avoid dense clusters of tall vertical obstacles and solid vertical structures, as these require careful navigation and slow flight. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a grassy, open field with scattered low shrubs","end_land_type":"and needing to reach another similar grassy, open area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"vegas_7.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":2,"start_point":[463,395],"end_point":[39,133],"distance":498.4174956800774},{"start_region_id":2,"end_region_id":10,"start_point":[39,133],"end_point":[463,395],"distance":498.4174956800774},{"start_region_id":13,"end_region_id":2,"start_point":[224,459],"end_point":[39,133],"distance":374.834630203774},{"start_region_id":2,"end_region_id":13,"start_point":[39,133],"end_point":[224,459],"distance":374.834630203774},{"start_region_id":10,"end_region_id":4,"start_point":[463,395],"end_point":[176,153],"distance":375.41044204976504}],"complexity_score":0.6907027058936182}
{"id":10584,"query_id":"Q02117","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface while prioritizing a stable and vibration-free flight. The drone can fly over loose soil and rocks, grassy or shrub-covered ground, all paved or compacted surfaces, and must avoid dense tree clusters and buildings to ensure safety and comfort. Which flight path should the drone take to maximize comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved surface","end_land_type":"a paved surface","task_description":"Which flight path should the drone take to maximize comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"vegas_7.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":25,"start_point":[32,484],"end_point":[612,182],"distance":653.9143674824709},{"start_region_id":25,"end_region_id":33,"start_point":[612,182],"end_point":[32,484],"distance":653.9143674824709},{"start_region_id":33,"end_region_id":21,"start_point":[32,484],"end_point":[500,31],"distance":651.3317127240159},{"start_region_id":21,"end_region_id":33,"start_point":[500,31],"end_point":[32,484],"distance":651.3317127240159},{"start_region_id":25,"end_region_id":19,"start_point":[612,182],"end_point":[51,90],"distance":568.4936235350402}],"complexity_score":0.6907027058936182}
{"id":12344,"query_id":"Q02469","question":"A hiker starts from a paved road surface and needs to reach a grassy field with shrubs. The hiker can walk on hard, flat surfaces like sidewalks and parking lots, as well as on cultivated crop fields and natural grassy areas with bushes. However, the hiker cannot walk through water bodies, buildings, sandy/rocky bare ground, or wooded areas with trees. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"grassy field with shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"vegas_7.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":5,"start_point":[8,510],"end_point":[387,137],"distance":531.7612246111971},{"start_region_id":41,"end_region_id":10,"start_point":[8,510],"end_point":[463,395],"distance":469.3080012102926},{"start_region_id":41,"end_region_id":4,"start_point":[8,510],"end_point":[176,153],"distance":394.55417878917467},{"start_region_id":41,"end_region_id":2,"start_point":[8,510],"end_point":[39,133],"distance":378.27238863020386},{"start_region_id":38,"end_region_id":2,"start_point":[284,272],"end_point":[39,133],"distance":281.6842203603177}],"complexity_score":0.6907027058936182}
{"id":16574,"query_id":"Q03315","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over grassy and shrubby areas, cultivated fields with crops, and open water bodies. It can also navigate between trees and buildings, but must fly carefully to avoid collisions. The drone cannot land on or pass through solid vertical structures or dense tree canopies. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route for the quadcopter drone to reach the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"vegas_7.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":41,"start_point":[284,272],"end_point":[8,510],"distance":364.44478319767455},{"start_region_id":41,"end_region_id":38,"start_point":[8,510],"end_point":[284,272],"distance":364.44478319767455}],"complexity_score":0.6907027058936182}
{"id":25,"query_id":"Q00005","question":"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 except those with dense vertical obstacles that require careful navigation. Specifically, it can traverse: open areas of loose earth and rocks; grassy and shrub-covered ground; all paved, hard surfaces including sidewalks, parking lots, and vehicle lanes; liquid surfaces; and other cultivated areas. However, areas with tall, dense vertical structures should be avoided if possible, as they require slower, more cautious flight that introduces vibration. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable flight path from the starting cultivated field to the destination cultivated field?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_32.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":145,"start_point":[94,73],"end_point":[879,966],"distance":1188.9802353277366},{"start_region_id":145,"end_region_id":136,"start_point":[879,966],"end_point":[94,73],"distance":1188.9802353277366},{"start_region_id":139,"end_region_id":145,"start_point":[234,209],"end_point":[879,966],"distance":994.5219957346343},{"start_region_id":145,"end_region_id":139,"start_point":[879,966],"end_point":[234,209],"distance":994.5219957346343},{"start_region_id":142,"end_region_id":136,"start_point":[893,661],"end_point":[94,73],"distance":992.0408257728106}],"complexity_score":0.690945147085034}
{"id":7951,"query_id":"Q01591","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach a flat, hard-paved area as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, areas with tall vertical obstacles that require careful navigation, liquid surfaces, and the cultivated field itself, but it must avoid any built structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a flat, hard-paved area","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"bielefeld_32.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":49,"start_point":[879,966],"end_point":[40,256],"distance":1099.100086434352},{"start_region_id":145,"end_region_id":48,"start_point":[879,966],"end_point":[173,179],"distance":1057.2629758011958},{"start_region_id":136,"end_region_id":62,"start_point":[94,73],"end_point":[742,878],"distance":1033.4065027858107},{"start_region_id":136,"end_region_id":54,"start_point":[94,73],"end_point":[835,739],"distance":996.3116982149713},{"start_region_id":145,"end_region_id":51,"start_point":[879,966],"end_point":[114,386],"distance":960.0130207450313}],"complexity_score":0.690945147085034}
{"id":17817,"query_id":"Q03564","question":"An aerial surveillance drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane. The drone can fly over open sandy or rocky areas, grassy or shrub-covered terrain, paved surfaces, cultivated fields, and even water bodies. However, flying near or through dense vertical obstacles like tall vegetation clusters is risky due to potential collisions and signal interference, and flying close to large vertical structures is prohibited due to safety regulations. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_32.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":64,"start_point":[879,966],"end_point":[268,282],"distance":917.1570203623805},{"start_region_id":136,"end_region_id":73,"start_point":[94,73],"end_point":[712,615],"distance":822.0024330864234},{"start_region_id":142,"end_region_id":64,"start_point":[893,661],"end_point":[268,282],"distance":730.9350176315265},{"start_region_id":145,"end_region_id":65,"start_point":[879,966],"end_point":[260,464],"distance":796.9723960087953},{"start_region_id":145,"end_region_id":66,"start_point":[879,966],"end_point":[314,447],"distance":767.1935870430618}],"complexity_score":0.690945147085034}
{"id":588,"query_id":"Q00118","question":"A delivery drone must complete a time-sensitive drop-off. It launches from a paved lane and needs to land on a hard, flat artificial surface. The drone can fly over most surfaces but must avoid areas with dense vertical obstacles that could cause collisions. Permitted surfaces include compacted mineral areas without vegetation, paved lanes, hard flat artificial surfaces, and areas with tall vertical obstacles that require careful navigation. Which aerial route minimizes travel time?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"Which aerial route minimizes travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"mexico_city_4.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":160,"start_point":[59,165],"end_point":[1002,738],"distance":1103.4391691434557},{"start_region_id":171,"end_region_id":161,"start_point":[59,165],"end_point":[914,812],"distance":1072.2098675166164},{"start_region_id":171,"end_region_id":166,"start_point":[59,165],"end_point":[749,916],"distance":1019.8534208404657},{"start_region_id":175,"end_region_id":149,"start_point":[977,186],"end_point":[34,535],"distance":1005.5098209366232},{"start_region_id":185,"end_region_id":160,"start_point":[50,638],"end_point":[1002,738],"distance":957.237692529917}],"complexity_score":0.6912607877445324}
{"id":8854,"query_id":"Q01771","question":"A quadcopter drone starts from a paved concrete area and needs to return to another paved concrete area while prioritizing a stable and smooth flight. The drone can fly over hard, flat surfaces like paved areas and roads, soft ground like loose soil and rocks, grassy or shrub-covered areas, and wooded patches with trees, as these are traversable by default. However, the drone must avoid flying directly through dense tree canopies or close to buildings, as these could pose collision risks unless explicitly permitted; here, they are not allowed. Additionally, the drone should avoid flying over water bodies to prevent moisture damage, and agricultural fields are not accessible in this scenario. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved concrete area","end_land_type":"a paved concrete area","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"mexico_city_4.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":95,"start_point":[1002,738],"end_point":[134,239],"distance":1001.2117658118086},{"start_region_id":95,"end_region_id":160,"start_point":[134,239],"end_point":[1002,738],"distance":1001.2117658118086},{"start_region_id":160,"end_region_id":96,"start_point":[1002,738],"end_point":[168,197],"distance":994.1011014982329},{"start_region_id":96,"end_region_id":160,"start_point":[168,197],"end_point":[1002,738],"distance":994.1011014982329},{"start_region_id":160,"end_region_id":149,"start_point":[1002,738],"end_point":[34,535],"distance":989.0566212305542}],"complexity_score":0.6912607877445324}
{"id":13787,"query_id":"Q02758","question":"A quadcopter drone is taking off from a grassy, open field and needs to land in another grassy, open field. The airspace includes areas of exposed sandy soil, vegetated shrublands, hard artificial surfaces like parking lots and sidewalks, and dry agricultural plots. The drone must avoid flying close to trees or buildings to minimize collision risk, and should stay clear of water bodies to prevent damage from moisture. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mexico_city_4.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":60,"start_point":[903,256],"end_point":[70,571],"distance":890.5694807256759},{"start_region_id":60,"end_region_id":23,"start_point":[70,571],"end_point":[903,256],"distance":890.5694807256759},{"start_region_id":78,"end_region_id":6,"start_point":[387,901],"end_point":[711,65],"distance":896.5890920594562},{"start_region_id":6,"end_region_id":78,"start_point":[711,65],"end_point":[387,901],"distance":896.5890920594562},{"start_region_id":60,"end_region_id":6,"start_point":[70,571],"end_point":[711,65],"distance":816.6498637727187}],"complexity_score":0.6912607877445324}
{"id":17647,"query_id":"Q03530","question":"A quadcopter starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The drone can fly over paved lanes, cultivated fields, and open grassy areas, but must avoid flying too close to vertical structures or dense tree canopies, and should minimize flight over liquid surfaces. What is the safest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the quadcopter to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mexico_city_4.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":60,"start_point":[903,256],"end_point":[70,571],"distance":890.5694807256759},{"start_region_id":60,"end_region_id":23,"start_point":[70,571],"end_point":[903,256],"distance":890.5694807256759},{"start_region_id":78,"end_region_id":6,"start_point":[387,901],"end_point":[711,65],"distance":896.5890920594562},{"start_region_id":6,"end_region_id":78,"start_point":[711,65],"end_point":[387,901],"distance":896.5890920594562},{"start_region_id":60,"end_region_id":6,"start_point":[70,571],"end_point":[711,65],"distance":816.6498637727187}],"complexity_score":0.6912607877445324}
{"id":5596,"query_id":"Q01120","question":"A sedan starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas of soft, uneven ground covered with grass and shrubs, which are passable but may be rough. You must avoid any vertical structures, liquid surfaces, cultivated fields, loose sandy or rocky expanses, and wooded areas. As a sedan driver seeking a smooth and stable ride, what is the most comfortable path?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"koeln_17.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":277,"start_point":[752,11],"end_point":[277,982],"distance":1080.956058311345}],"complexity_score":0.6913255906208624}
{"id":12467,"query_id":"Q02494","question":"A hiker starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The hiker can traverse areas with firm, compacted ground that provides good footing, as well as open, grassy terrain that is dry and stable enough for walking. However. The hiker must avoid any surfaces covered by loose, shifting materials like sand or gravel, any areas with standing or flowing liquid, any vertical structures, and any dense clusters of tall vegetation that would require detouring around individual obstacles. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"koeln_17.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":248,"start_point":[224,121],"end_point":[716,854],"distance":882.8097190221685},{"start_region_id":248,"end_region_id":106,"start_point":[716,854],"end_point":[224,121],"distance":882.8097190221685},{"start_region_id":110,"end_region_id":260,"start_point":[569,214],"end_point":[95,958],"distance":882.1632501980572},{"start_region_id":260,"end_region_id":110,"start_point":[95,958],"end_point":[569,214],"distance":882.1632501980572},{"start_region_id":110,"end_region_id":237,"start_point":[569,214],"end_point":[118,889],"distance":811.8041635764133}],"complexity_score":0.6913255906208624}
{"id":15172,"query_id":"Q03035","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a flat, hard-paved area as quickly as possible. The drone can fly over areas with tall vegetation and liquid surfaces, but must avoid vertical obstacles like structures or dense tree canopies that could obstruct its path. Which route allows the drone to achieve the fastest travel time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a flat, hard-paved area","task_description":"Which route allows the drone to achieve the fastest travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_17.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":110,"start_point":[63,778],"end_point":[569,214],"distance":757.7149859940741},{"start_region_id":75,"end_region_id":189,"start_point":[63,778],"end_point":[768,762],"distance":705.1815369108865},{"start_region_id":75,"end_region_id":108,"start_point":[63,778],"end_point":[534,221],"distance":729.4449944992425},{"start_region_id":75,"end_region_id":248,"start_point":[63,778],"end_point":[716,854],"distance":657.4077882106357},{"start_region_id":75,"end_region_id":184,"start_point":[63,778],"end_point":[760,538],"distance":737.1628042705356}],"complexity_score":0.6913255906208624}
{"id":6373,"query_id":"Q01275","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes only smooth, stable surfaces and cultivated, soft ground with crops. The hiker seeks a path that minimizes discomfort from rough or uneven terrain.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"san_tome_18.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":276,"end_region_id":164,"start_point":[968,948],"end_point":[91,157],"distance":1181.0207449490463},{"start_region_id":164,"end_region_id":276,"start_point":[91,157],"end_point":[968,948],"distance":1181.0207449490463},{"start_region_id":276,"end_region_id":173,"start_point":[968,948],"end_point":[252,128],"distance":1088.6027742018666},{"start_region_id":173,"end_region_id":276,"start_point":[252,128],"end_point":[968,948],"distance":1088.6027742018666},{"start_region_id":276,"end_region_id":150,"start_point":[968,948],"end_point":[452,32],"distance":1051.338194873562}],"complexity_score":0.6913299321361874}
{"id":1270,"query_id":"Q00254","question":"An off-road vehicle starts from a grassy field and needs to reach another grassy field area. The terrain includes paved lanes for vehicles, cultivated crop fields, and open grassy areas with shrubs. The crop fields are currently fallow with dry, packed soil that is firm enough to drive on, and the grassy areas have low vegetation that won't obstruct vehicle clearance. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_26.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":242,"start_point":[179,333],"end_point":[936,976],"distance":993.2260568470805},{"start_region_id":242,"end_region_id":67,"start_point":[936,976],"end_point":[179,333],"distance":993.2260568470805},{"start_region_id":242,"end_region_id":31,"start_point":[936,976],"end_point":[453,150],"distance":956.8516081399456},{"start_region_id":31,"end_region_id":242,"start_point":[453,150],"end_point":[936,976],"distance":956.8516081399456},{"start_region_id":242,"end_region_id":144,"start_point":[936,976],"end_point":[87,622],"distance":919.8461827936234}],"complexity_score":0.6913726292232149}
{"id":8135,"query_id":"Q01627","question":"A hiker is currently positioned in a densely vegetated area with tall, upright structures that provide shade and cover. They need to reach a hard, paved surface designed for vehicle movement. The hiker can traverse the vegetated area because they are on foot and can navigate between the structures. The hard, paved surface is accessible. All other terrain types—such as loose, unconsolidated earth; open grassy or shrubby fields; areas with artificial hard surfaces like sidewalks or parking lots; bodies of liquid; cultivated fields; and man-made vertical structures—are not allowed for this journey.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Road","Tree"],"traverse_vector":[0,0,0,1,1,0,0,0],"cost_vector":[0,0,0,2,1,0,0,0],"image_name":"muenster_26.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":463,"end_region_id":439,"start_point":[840,72],"end_point":[448,463],"distance":553.6650612057799},{"start_region_id":717,"end_region_id":439,"start_point":[242,906],"end_point":[448,463],"distance":488.5539888282563},{"start_region_id":696,"end_region_id":439,"start_point":[760,838],"end_point":[448,463],"distance":487.82066376897154},{"start_region_id":669,"end_region_id":439,"start_point":[881,665],"end_point":[448,463],"distance":477.8001674340435},{"start_region_id":519,"end_region_id":439,"start_point":[52,256],"end_point":[448,463],"distance":446.83889714303075}],"complexity_score":0.6913726292232149}
{"id":8706,"query_id":"Q01742","question":"A delivery drone is hovering over a grassy, uneven field and needs to reach a paved, hard-surfaced lane. The drone must avoid any areas with dense vertical obstacles or liquid surfaces, as these pose collision or stability risks. It can fly over loose, sandy patches and open grassy areas, but these are lower risk compared to obstacles or water. The goal is to minimize the risk of crashing or signal interference.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved, hard-surfaced lane","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santiago_6.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":359,"start_point":[767,940],"end_point":[470,460],"distance":564.4546040205537},{"start_region_id":160,"end_region_id":359,"start_point":[660,958],"end_point":[470,460],"distance":533.0140711088217},{"start_region_id":108,"end_region_id":360,"start_point":[255,660],"end_point":[600,928],"distance":436.8626786531438},{"start_region_id":101,"end_region_id":359,"start_point":[744,660],"end_point":[470,460],"distance":339.22853653547486},{"start_region_id":101,"end_region_id":360,"start_point":[744,660],"end_point":[600,928],"distance":304.2367499169027}],"complexity_score":0.6918396014291563}
{"id":17382,"query_id":"Q03477","question":"An aerial survey drone starts from a grassy, open field and needs to reach a paved lane while minimizing operational risk. The drone can fly over areas of loose soil and rocks, grassy or shrubby vegetation, hard artificial surfaces, individual or clustered tall vertical obstacles, and liquid bodies. However. The drone must prioritize terrains that pose the lowest risk of collision, signal interference, or unpredictable conditions. Which path should the drone take to reach the destination with maximum safety?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"Which path should the drone take to reach the destination with maximum safety?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_6.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":359,"start_point":[767,940],"end_point":[470,460],"distance":564.4546040205537},{"start_region_id":160,"end_region_id":359,"start_point":[660,958],"end_point":[470,460],"distance":533.0140711088217},{"start_region_id":108,"end_region_id":360,"start_point":[255,660],"end_point":[600,928],"distance":436.8626786531438},{"start_region_id":101,"end_region_id":359,"start_point":[744,660],"end_point":[470,460],"distance":339.22853653547486},{"start_region_id":101,"end_region_id":360,"start_point":[744,660],"end_point":[600,928],"distance":304.2367499169027}],"complexity_score":0.6918396014291563}
{"id":976,"query_id":"Q00196","question":"A quadcopter drone is positioned above a paved, hard-surfaced lane and needs to reach a point above a cluster of tall, vertical structures with significant height and canopy. The area includes open spaces with natural vegetation and bushes, which are freely traversable. The paved lane is available. The vertical structures and built-up areas are accessible but require careful navigation to avoid collisions. The objective is to find the path that minimizes risk while moving between these points.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A cluster of tall, vertical structures with significant height and canopy","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"paris_22.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":115,"start_point":[305,219],"end_point":[65,611],"distance":459.6346375111432},{"start_region_id":71,"end_region_id":115,"start_point":[316,548],"end_point":[65,611],"distance":258.7856255668}],"complexity_score":0.6919524641256541}
{"id":5182,"query_id":"Q01037","question":"An aerial surveillance drone starts from a flat, hard, paved surface and needs to return to another flat, hard, paved surface. The drone can fly over areas with loose soil and crops, as well as liquid surfaces, but must avoid tall vertical obstacles and solid structures. Which path minimizes risk?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, paved surface","end_land_type":"A flat, hard, paved surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_22.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":29,"start_point":[369,547],"end_point":[48,143],"distance":516.0009689913383},{"start_region_id":29,"end_region_id":55,"start_point":[48,143],"end_point":[369,547],"distance":516.0009689913383},{"start_region_id":30,"end_region_id":29,"start_point":[487,191],"end_point":[48,143],"distance":441.61634933503086},{"start_region_id":29,"end_region_id":30,"start_point":[48,143],"end_point":[487,191],"distance":441.61634933503086},{"start_region_id":30,"end_region_id":55,"start_point":[487,191],"end_point":[369,547],"distance":375.04666376332426}],"complexity_score":0.6919524641256541}
{"id":8525,"query_id":"Q01705","question":"An aerial surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while minimizing risk. The drone can fly over dry, loose soil and rocky patches, hard paved surfaces, vehicle lanes, and water bodies. However, it must avoid flying through dense vegetation or near vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_22.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":1,"start_point":[248,591],"end_point":[116,74],"distance":533.5850447679358},{"start_region_id":1,"end_region_id":10,"start_point":[116,74],"end_point":[248,591],"distance":533.5850447679358},{"start_region_id":10,"end_region_id":5,"start_point":[248,591],"end_point":[613,214],"distance":524.7418412896002},{"start_region_id":5,"end_region_id":10,"start_point":[613,214],"end_point":[248,591],"distance":524.7418412896002},{"start_region_id":2,"end_region_id":10,"start_point":[418,102],"end_point":[248,591],"distance":517.7074463439752}],"complexity_score":0.6919524641256541}
{"id":9987,"query_id":"Q01998","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane as quickly as possible. The terrain includes grassy and shrubby open areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and wooded patches with tall vegetation. The drone can traverse wooded patches because it can fly between tree branches, but all other surface types, such as loose sandy or rocky ground, cultivated fields, liquid bodies, and vertical structures, are impassable due to physical barriers or safety restrictions. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,2,2,1,0,0,0],"image_name":"paris_22.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":71,"start_point":[48,143],"end_point":[316,548],"distance":485.64287290147684},{"start_region_id":30,"end_region_id":71,"start_point":[487,191],"end_point":[316,548],"distance":395.8408771210977},{"start_region_id":55,"end_region_id":70,"start_point":[369,547],"end_point":[305,219],"distance":334.18557718728675},{"start_region_id":29,"end_region_id":70,"start_point":[48,143],"end_point":[305,219],"distance":268.00186566514793},{"start_region_id":44,"end_region_id":71,"start_point":[194,381],"end_point":[316,548],"distance":206.81634364817495}],"complexity_score":0.6919524641256541}
{"id":2555,"query_id":"Q00511","question":"A quadcopter drone starts from a paved road surface and needs to reach a wooded area with trees while maximizing flight comfort by avoiding turbulence and obstacles. The drone can fly over various surfaces including rough, loose ground; hard, flat areas; paved lanes; and wooded areas. However, flying through densely wooded areas is uncomfortable due to potential collisions with branches and leaves, so these should be avoided if possible. What is the most comfortable path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"wooded area with trees","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"wallace_2.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":369,"end_region_id":381,"start_point":[107,938],"end_point":[989,63],"distance":1242.3964745603555},{"start_region_id":366,"end_region_id":376,"start_point":[925,885],"end_point":[75,32],"distance":1204.2047168152098},{"start_region_id":366,"end_region_id":386,"start_point":[925,885],"end_point":[41,88],"distance":1190.2373712835604},{"start_region_id":369,"end_region_id":378,"start_point":[107,938],"end_point":[856,140],"distance":1094.442780596592},{"start_region_id":366,"end_region_id":404,"start_point":[925,885],"end_point":[53,224],"distance":1094.2143300103503}],"complexity_score":0.6920333898558858}
{"id":12177,"query_id":"Q02436","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface like a parking lot or sidewalk. The drone can fly over areas with loose soil and sparse vegetation, as well as liquid surfaces, but must avoid dense vertical obstacles and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the shortest path for the aerial surveillance drone to travel from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"wallace_2.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":366,"end_region_id":243,"start_point":[925,885],"end_point":[11,634],"distance":947.8380663383382},{"start_region_id":358,"end_region_id":243,"start_point":[822,231],"end_point":[11,634],"distance":905.6102914609572},{"start_region_id":358,"end_region_id":327,"start_point":[822,231],"end_point":[510,934],"distance":769.1248273199872},{"start_region_id":358,"end_region_id":317,"start_point":[822,231],"end_point":[802,989],"distance":758.2638063365546},{"start_region_id":358,"end_region_id":330,"start_point":[822,231],"end_point":[789,944],"distance":713.7632660763651}],"complexity_score":0.6920333898558858}
{"id":14249,"query_id":"Q02850","question":"A search and rescue drone is launched from a paved landing pad and must reach another paved landing pad. The drone can fly over loose sandy areas, paved surfaces, and bodies of water, but must avoid tall vertical obstacles and structures due to safety protocols. The objective is to minimize collision risk while maintaining stable flight.","agent_category":"Drone","specific_agent":"search and rescue drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest path for the search and rescue drone to travel from the starting paved landing pad to the destination paved landing pad?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[2,0,2,2,0,1,0,0],"image_name":"santiago_57.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":277,"start_point":[782,177],"end_point":[16,899],"distance":1052.634789468788},{"start_region_id":277,"end_region_id":221,"start_point":[16,899],"end_point":[782,177],"distance":1052.634789468788},{"start_region_id":220,"end_region_id":277,"start_point":[656,120],"end_point":[16,899],"distance":1008.186986625001},{"start_region_id":277,"end_region_id":220,"start_point":[16,899],"end_point":[656,120],"distance":1008.186986625001},{"start_region_id":277,"end_region_id":227,"start_point":[16,899],"end_point":[978,663],"distance":990.5251132606381}],"complexity_score":0.6920588871480658}
{"id":17367,"query_id":"Q03474","question":"An aerial survey drone starts from a grassy, vegetated area and needs to reach a paved lane while maintaining stable flight. The drone can fly over loose sandy or rocky ground, grassy or shrubby vegetation, paved surfaces, bodies of water, and agricultural fields. However, it must avoid flying through dense tree canopies or close to building structures to prevent turbulence and maintain sensor stability. The drone's flight path should prioritize surfaces that provide the smoothest and most predictable air conditions for comfortable operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, vegetated area","end_land_type":"paved lane","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_57.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":277,"start_point":[1005,60],"end_point":[16,899],"distance":1296.935619065187},{"start_region_id":41,"end_region_id":277,"start_point":[971,417],"end_point":[16,899],"distance":1069.7424923784229},{"start_region_id":107,"end_region_id":221,"start_point":[51,938],"end_point":[782,177],"distance":1055.2165654499554},{"start_region_id":19,"end_region_id":277,"start_point":[751,156],"end_point":[16,899],"distance":1045.1191319653467},{"start_region_id":107,"end_region_id":220,"start_point":[51,938],"end_point":[656,120],"distance":1017.4227243383156}],"complexity_score":0.6920588871480658}
{"id":3699,"query_id":"Q00740","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a dense cluster of tall, vertical obstacles as quickly as possible. The drone can fly over loose, sandy ground; open, flat areas with short vegetation; paved, hard surfaces; vehicle lanes; liquid bodies; and cultivated fields, but must navigate carefully around tall, vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dense cluster of tall, vertical obstacles","task_description":"What is the fastest path for the quadcopter drone to reach the dense cluster of tall, vertical obstacles from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_61.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":209,"start_point":[143,42],"end_point":[970,993],"distance":1260.2896492473467},{"start_region_id":129,"end_region_id":209,"start_point":[137,217],"end_point":[970,993],"distance":1138.4485056426574},{"start_region_id":127,"end_region_id":196,"start_point":[143,42],"end_point":[865,891],"distance":1114.4886719926767},{"start_region_id":127,"end_region_id":211,"start_point":[143,42],"end_point":[561,1001],"distance":1046.13813619426},{"start_region_id":127,"end_region_id":201,"start_point":[143,42],"end_point":[623,921],"distance":1001.5193457941789}],"complexity_score":0.6921733542535933}
{"id":5490,"query_id":"Q01098","question":"An off-road vehicle is starting from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The vehicle can traverse across soft, vegetated ground with scattered shrubs and bushes, as well as across hard, flat surfaces like paved parking lots or compacted artificial areas. The vehicle must avoid all trees, water bodies, and buildings, which are completely impassable. What is the fastest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest route for the off-road vehicle to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"chisinau_61.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":3,"start_point":[509,874],"end_point":[907,77],"distance":890.8495944883176},{"start_region_id":3,"end_region_id":30,"start_point":[907,77],"end_point":[509,874],"distance":890.8495944883176},{"start_region_id":3,"end_region_id":25,"start_point":[907,77],"end_point":[183,591],"distance":887.9031478714331},{"start_region_id":25,"end_region_id":3,"start_point":[183,591],"end_point":[907,77],"distance":887.9031478714331},{"start_region_id":3,"end_region_id":20,"start_point":[907,77],"end_point":[567,512],"distance":552.1095905705678}],"complexity_score":0.6921733542535933}
{"id":8259,"query_id":"Q01652","question":"An off-road vehicle starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface such as a parking lot or construction site. The terrain includes loose, sandy ground and rocky patches that are traversable with off-road capability, while trees, water bodies, and buildings are completely impassable. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface like a parking lot or construction site","task_description":"What is the shortest path from the grassy, uneven starting point to the paved destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_61.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":111,"start_point":[907,77],"end_point":[88,819],"distance":1105.135738269286},{"start_region_id":3,"end_region_id":120,"start_point":[907,77],"end_point":[423,984],"distance":1028.0588504555565},{"start_region_id":3,"end_region_id":114,"start_point":[907,77],"end_point":[637,944],"distance":908.0688299903262},{"start_region_id":25,"end_region_id":59,"start_point":[183,591],"end_point":[902,107],"distance":866.7277542573562},{"start_region_id":30,"end_region_id":59,"start_point":[509,874],"end_point":[902,107],"distance":861.8224875228077}],"complexity_score":0.6921733542535933}
{"id":17074,"query_id":"Q03415","question":"A quadcopter drone starts from a flat paved surface and needs to reach another flat paved surface as quickly as possible. The environment includes open grassy areas, hard artificial surfaces, and vehicle lanes. The drone can fly over all these terrains without restriction, as they are all clear of permanent vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat paved surface","end_land_type":"flat paved surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination flat paved surface?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"chisinau_61.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":59,"start_point":[88,819],"end_point":[902,107],"distance":1081.4527266598388},{"start_region_id":59,"end_region_id":111,"start_point":[902,107],"end_point":[88,819],"distance":1081.4527266598388},{"start_region_id":120,"end_region_id":59,"start_point":[423,984],"end_point":[902,107],"distance":999.2847442045736},{"start_region_id":59,"end_region_id":120,"start_point":[902,107],"end_point":[423,984],"distance":999.2847442045736},{"start_region_id":111,"end_region_id":58,"start_point":[88,819],"end_point":[815,121],"distance":1007.8358001182534}],"complexity_score":0.6921733542535933}
{"id":3884,"query_id":"Q00777","question":"An aerial surveillance drone starts from a paved surface and needs to reach another paved surface. The drone can fly over loose, dry ground; hard, flat surfaces; and liquid areas, but must avoid vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"paris_44.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":42,"start_point":[174,601],"end_point":[427,41],"distance":614.4989829120956}],"complexity_score":0.6922695312661575}
{"id":5160,"query_id":"Q01032","question":"A jogger starts from a paved, hard-surfaced area like a sidewalk or parking lot and needs to reach a vehicle lane or street as quickly as possible. The jogger can traverse paved surfaces and vehicle lanes without restriction, and cultivated fields with crops are accessible because the crops are low and sparse, allowing passage. However, loose sandy or rocky ground, grassy or shrubby areas, wooded areas with trees, liquid bodies, and vertical structures are not traversable due to physical barriers or safety concerns. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved, hard-surfaced area like a sidewalk or parking lot","end_land_type":"a vehicle lane or street","task_description":"What is the fastest path for the jogger to reach the vehicle lane or street?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"paris_44.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":42,"start_point":[446,48],"end_point":[482,447],"distance":400.62076830838413},{"start_region_id":35,"end_region_id":42,"start_point":[144,463],"end_point":[482,447],"distance":338.3784863137726},{"start_region_id":25,"end_region_id":42,"start_point":[327,220],"end_point":[482,447],"distance":274.8708787776544},{"start_region_id":38,"end_region_id":42,"start_point":[478,610],"end_point":[482,447],"distance":163.04907236779974}],"complexity_score":0.6922695312661575}
{"id":9980,"query_id":"Q01996","question":"A hiker starts from a grassy, uneven terrain with scattered low vegetation and needs to reach a paved lane used by vehicles. The area includes hard, flat surfaces like sidewalks and parking lots, as well as individual trees or groups of trees that are passable on foot. However, all other surfaces such as loose sand or rocks, cultivated fields, liquid bodies, and vertical structures are completely impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path from the grassy, uneven terrain to the paved lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"paris_44.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":42,"start_point":[147,77],"end_point":[482,447],"distance":499.1242330322181},{"start_region_id":7,"end_region_id":42,"start_point":[62,259],"end_point":[482,447],"distance":460.15649511878024},{"start_region_id":3,"end_region_id":42,"start_point":[550,82],"end_point":[482,447],"distance":371.28021762544796},{"start_region_id":13,"end_region_id":42,"start_point":[126,369],"end_point":[482,447],"distance":364.44478319767455},{"start_region_id":17,"end_region_id":42,"start_point":[227,526],"end_point":[482,447],"distance":266.9569253643741}],"complexity_score":0.6922695312661575}
{"id":14468,"query_id":"Q02894","question":"A hiker starts from a paved surface and needs to reach a wooded area. The hiker can traverse loose, sandy ground and grassy, uneven terrain, but must avoid any liquid surfaces and vertical structures. The hiker can also cross areas with tall vegetation if necessary. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"wooded area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"paris_44.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":49,"start_point":[482,447],"end_point":[74,120],"distance":522.8699647139813},{"start_region_id":42,"end_region_id":45,"start_point":[482,447],"end_point":[169,66],"distance":493.08214325809854},{"start_region_id":42,"end_region_id":58,"start_point":[482,447],"end_point":[121,231],"distance":420.68634396661844},{"start_region_id":42,"end_region_id":61,"start_point":[482,447],"end_point":[90,320],"distance":412.0594617285229},{"start_region_id":42,"end_region_id":50,"start_point":[482,447],"end_point":[517,114],"distance":334.8342873721268}],"complexity_score":0.6922695312661575}
{"id":4804,"query_id":"Q00961","question":"A passenger vehicle starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes only hard, artificial surfaces and cultivated fields with planted crops. The cultivated fields have been recently harvested and the ground is compacted and dry, allowing vehicle passage. What is the shortest path to the vehicle lane?","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"daressalaam_98.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":227,"start_point":[639,824],"end_point":[474,239],"distance":607.8239876806442},{"start_region_id":133,"end_region_id":235,"start_point":[576,258],"end_point":[746,813],"distance":580.4524097632811},{"start_region_id":182,"end_region_id":235,"start_point":[499,546],"end_point":[746,813],"distance":363.72792029207767},{"start_region_id":182,"end_region_id":227,"start_point":[499,546],"end_point":[474,239],"distance":308.01623333843946}],"complexity_score":0.6923884491121466}
{"id":14119,"query_id":"Q02824","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The terrain includes areas of loose, sandy soil; open grassy or shrubby ground; paved lanes for vehicles; and clusters of tall, vertical obstacles. The quadcopter drone can fly over most surfaces, but tall vertical obstacles require careful navigation to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a grassy, open field","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"daressalaam_98.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":115,"start_point":[69,40],"end_point":[738,953],"distance":1131.8701338934604},{"start_region_id":115,"end_region_id":1,"start_point":[738,953],"end_point":[69,40],"distance":1131.8701338934604},{"start_region_id":12,"end_region_id":115,"start_point":[69,130],"end_point":[738,953],"distance":1060.6083160149178},{"start_region_id":115,"end_region_id":12,"start_point":[738,953],"end_point":[69,130],"distance":1060.6083160149178},{"start_region_id":1,"end_region_id":43,"start_point":[69,40],"end_point":[970,417],"distance":976.6934012268129}],"complexity_score":0.6923884491121466}
{"id":17499,"query_id":"Q03500","question":"A hiker starts from a paved surface and needs to reach a wooded area. The hiker can traverse grassy or shrub-covered ground and cultivated fields, as these are dry and stable enough for walking. However, loose sandy or rocky ground is too unstable and risky, and any built structures or water bodies are completely impassable. What is the safest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"wooded area","task_description":"What is the safest path for the hiker to take from the paved surface to the wooded area?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"daressalaam_98.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":253,"start_point":[212,887],"end_point":[851,25],"distance":1073.0167752649536},{"start_region_id":236,"end_region_id":254,"start_point":[212,887],"end_point":[946,132],"distance":1052.9867045694357},{"start_region_id":236,"end_region_id":261,"start_point":[212,887],"end_point":[837,93],"distance":1010.4756305819552},{"start_region_id":228,"end_region_id":337,"start_point":[918,93],"end_point":[112,697],"distance":1007.2000794281145},{"start_region_id":234,"end_region_id":373,"start_point":[62,515],"end_point":[957,960],"distance":999.5248871338822}],"complexity_score":0.6923884491121466}
{"id":5746,"query_id":"Q01150","question":"A passenger car starts from a paved street and needs to reach another paved street. The terrain consists of hard, smooth surfaces suitable for driving, including parking areas and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved street","end_land_type":"another paved street","task_description":"What is the shortest path from the starting paved street to the destination paved street?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"soriano_3.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":215,"start_point":[544,658],"end_point":[71,984],"distance":574.4606165787172},{"start_region_id":215,"end_region_id":214,"start_point":[71,984],"end_point":[544,658],"distance":574.4606165787172}],"complexity_score":0.6924872140544744}
{"id":10657,"query_id":"Q02132","question":"A hiker starts from a location with tall vertical obstacles that provide overhead cover and needs to reach another location with similar tall vertical obstacles that provide overhead cover. The hiker can walk on hard paved surfaces and vehicle lanes, and is also permitted to traverse open ground with loose soil or rocks, areas with low vegetation and bushes, and cultivated fields, as long as the terrain is dry and stable. However, the hiker cannot enter any structures or cross any liquid surfaces. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a location with tall vertical obstacles that provide overhead cover","end_land_type":"ending at another location with similar tall vertical obstacles that provide overhead cover","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"soriano_3.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":219,"start_point":[908,465],"end_point":[955,227],"distance":242.5963726027246},{"start_region_id":219,"end_region_id":240,"start_point":[955,227],"end_point":[908,465],"distance":242.5963726027246}],"complexity_score":0.6924872140544744}
{"id":12312,"query_id":"Q02463","question":"A hiker starts from a location under the canopy of tall vegetation and needs to reach an area covered by low, natural grasses and shrubs. The hiker can walk on paved surfaces like sidewalks and parking lots, as well as on vehicle lanes and streets. However, the hiker cannot cross any liquid surfaces or enter any solid structures. What is the shortest path to the grassy area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"tree","end_land_type":"rangeland","task_description":"What is the shortest path to the grassy area?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"soriano_3.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":117,"start_point":[955,227],"end_point":[114,867],"distance":1056.8259080851492},{"start_region_id":219,"end_region_id":121,"start_point":[955,227],"end_point":[192,928],"distance":1036.132230943522},{"start_region_id":219,"end_region_id":83,"start_point":[955,227],"end_point":[100,678],"distance":966.6571263897039},{"start_region_id":240,"end_region_id":27,"start_point":[908,465],"end_point":[40,162],"distance":919.3655420995503},{"start_region_id":219,"end_region_id":27,"start_point":[955,227],"end_point":[40,162],"distance":917.3058377662272}],"complexity_score":0.6924872140544744}
{"id":16521,"query_id":"Q03305","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, leafy plants with vertical structures. The drone can fly over loose, sandy areas without vegetation, as well as over liquid surfaces, but must avoid any solid vertical structures that could obstruct its flight path. The drone's primary objective is to complete this survey mission as quickly as possible. What is the fastest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, leafy plants with vertical structures","task_description":"What is the fastest path to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"soriano_3.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":219,"start_point":[114,867],"end_point":[955,227],"distance":1056.8259080851492},{"start_region_id":121,"end_region_id":219,"start_point":[192,928],"end_point":[955,227],"distance":1036.132230943522},{"start_region_id":83,"end_region_id":219,"start_point":[100,678],"end_point":[955,227],"distance":966.6571263897039},{"start_region_id":27,"end_region_id":240,"start_point":[40,162],"end_point":[908,465],"distance":919.3655420995503},{"start_region_id":27,"end_region_id":219,"start_point":[40,162],"end_point":[955,227],"distance":917.3058377662272}],"complexity_score":0.6924872140544744}
{"id":6970,"query_id":"Q01394","question":"A hiker starts from a paved area and needs to reach another paved area. The terrain includes hard, flat surfaces suitable for walking, areas with tall vertical obstacles that can be navigated around if necessary, and soft, cultivated ground that is accessible. All other surfaces are not traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path from the starting paved area to the destination paved area?","task_type":"Shortest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,1,1,1,0,1,0],"image_name":"tyrolw_29.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":141,"start_point":[916,98],"end_point":[138,902],"distance":1118.79399354841},{"start_region_id":141,"end_region_id":75,"start_point":[138,902],"end_point":[916,98],"distance":1118.79399354841},{"start_region_id":75,"end_region_id":138,"start_point":[916,98],"end_point":[116,857],"distance":1102.7606267907827},{"start_region_id":138,"end_region_id":75,"start_point":[116,857],"end_point":[916,98],"distance":1102.7606267907827},{"start_region_id":125,"end_region_id":72,"start_point":[924,713],"end_point":[87,49],"distance":1068.3936540433026}],"complexity_score":0.6925426687459851}
{"id":791,"query_id":"Q00159","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a tall, vertical structure with branches and leaves as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, artificial flat surfaces like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall vertical structures with branches and leaves unless absolutely necessary for the fastest route, as navigating through them requires careful maneuvering that slows it down. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"a tall, vertical structure with branches and leaves","task_description":"What is the fastest path for the aerial surveillance drone to reach the tall vertical structure?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"santiago_61.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":332,"end_region_id":345,"start_point":[116,983],"end_point":[898,165],"distance":1131.6571919092814},{"start_region_id":320,"end_region_id":529,"start_point":[84,39],"end_point":[78,888],"distance":849.021201148711},{"start_region_id":320,"end_region_id":521,"start_point":[84,39],"end_point":[477,790],"distance":847.6142990771215},{"start_region_id":320,"end_region_id":345,"start_point":[84,39],"end_point":[898,165],"distance":823.694117983126},{"start_region_id":328,"end_region_id":345,"start_point":[154,444],"end_point":[898,165],"distance":794.5923483145305}],"complexity_score":0.6926743389570565}
{"id":4056,"query_id":"Q00812","question":"A hiker starts from a densely vegetated area with tall, leafy plants and needs to reach another similar area. The hiker prefers to walk on smooth, firm surfaces whenever possible to minimize fatigue and maintain stable footing. While the hiker can traverse areas with loose soil, sparse grass, or low vegetation, these surfaces are less comfortable due to unevenness and potential tripping hazards. The hiker cannot enter any structures or cross any bodies of water. The hiker seeks the most comfortable route.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, leafy plants","end_land_type":"another densely vegetated area with tall, leafy plants","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"santiago_61.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":345,"end_region_id":529,"start_point":[898,165],"end_point":[78,888],"distance":1093.219557088145},{"start_region_id":529,"end_region_id":345,"start_point":[78,888],"end_point":[898,165],"distance":1093.219557088145},{"start_region_id":345,"end_region_id":491,"start_point":[898,165],"end_point":[41,691],"distance":1005.5471147589257},{"start_region_id":491,"end_region_id":345,"start_point":[41,691],"end_point":[898,165],"distance":1005.5471147589257},{"start_region_id":345,"end_region_id":429,"start_point":[898,165],"end_point":[50,455],"distance":896.2164917027582}],"complexity_score":0.6926743389570565}
{"id":4912,"query_id":"Q00983","question":"An office worker is standing on a smooth, paved sidewalk and needs to reach another paved sidewalk. The person prefers walking on even, stable surfaces to avoid tripping or discomfort. They can use hard, paved pedestrian areas, as well as cultivated fields that have been recently harvested and flattened, making them walkable. The goal is to find a route that maximizes walking comfort.","agent_category":"Pedestrian","specific_agent":"office worker","start_land_type":"paved sidewalk","end_land_type":"paved sidewalk","task_description":"What is the most comfortable path for the office worker to take?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"santiago_61.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":278,"end_region_id":216,"start_point":[20,927],"end_point":[780,344],"distance":957.8564610629298},{"start_region_id":216,"end_region_id":278,"start_point":[780,344],"end_point":[20,927],"distance":957.8564610629298},{"start_region_id":278,"end_region_id":209,"start_point":[20,927],"end_point":[669,234],"distance":949.4472075897638},{"start_region_id":209,"end_region_id":278,"start_point":[669,234],"end_point":[20,927],"distance":949.4472075897638},{"start_region_id":241,"end_region_id":278,"start_point":[706,517],"end_point":[20,927],"distance":799.1845844359111}],"complexity_score":0.6926743389570565}
{"id":8688,"query_id":"Q01738","question":"A quadcopter drone starts from a hard, artificial surface and needs to reach a cluster of tall vegetation. The drone can fly over loose, sandy or rocky terrain, grassy or shrub-covered areas, paved walkways and parking lots, vehicle lanes, liquid surfaces, cultivated fields, and solid structures. However, flying through dense wooded areas is allowed only if there is sufficient clearance between trees. The operator prioritizes minimizing the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a cluster of tall vegetation","task_description":"What is the safest route for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"santiago_61.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":278,"end_region_id":345,"start_point":[20,927],"end_point":[898,165],"distance":1162.5523644120294},{"start_region_id":314,"end_region_id":345,"start_point":[217,981],"end_point":[898,165],"distance":1062.834417959825},{"start_region_id":275,"end_region_id":345,"start_point":[161,798],"end_point":[898,165],"distance":971.5235457774556},{"start_region_id":247,"end_region_id":345,"start_point":[59,563],"end_point":[898,165],"distance":928.6145594378758},{"start_region_id":289,"end_region_id":345,"start_point":[387,925],"end_point":[898,165],"distance":915.8171214822313}],"complexity_score":0.6926743389570565}
{"id":13123,"query_id":"Q02625","question":"A quadcopter drone starts from an area with tall trees and needs to reach a grassy field. The terrain includes hard surfaces, loose soil with vegetation, cultivated fields, and vertical structures. Your drone can fly over all these terrains, but flying through dense tree canopies or near buildings requires careful navigation. You need to find a path that provides the most comfortable flight, avoiding rough air disturbances.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"area with tall trees","end_land_type":"grassy field","task_description":"What is the most comfortable flight path from the treed starting point to the grassy destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"santiago_61.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":529,"end_region_id":4,"start_point":[78,888],"end_point":[994,128],"distance":1190.2335905191048},{"start_region_id":529,"end_region_id":3,"start_point":[78,888],"end_point":[835,81],"distance":1106.480004338081},{"start_region_id":491,"end_region_id":4,"start_point":[41,691],"end_point":[994,128],"distance":1106.877590341407},{"start_region_id":345,"end_region_id":152,"start_point":[898,165],"end_point":[172,920],"distance":1047.425892366615},{"start_region_id":491,"end_region_id":3,"start_point":[41,691],"end_point":[835,81],"distance":1001.2671971057476}],"complexity_score":0.6926743389570565}
{"id":5109,"query_id":"Q01022","question":"A commuter is standing on a paved street and wants to walk to a smooth, hard-surfaced area like a sidewalk. The person can only use surfaces that are even and firm to ensure a comfortable walk. It is not permitted to walk on soft or irregular ground, such as farm fields, because those surfaces are too bumpy and could cause discomfort. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"commuter","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable path for the commuter to walk from the paved street to the smooth, hard-surfaced area?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"paris_11.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":56,"start_point":[300,335],"end_point":[451,561],"distance":271.8032376554775},{"start_region_id":61,"end_region_id":37,"start_point":[300,335],"end_point":[232,126],"distance":219.78398485785993},{"start_region_id":61,"end_region_id":46,"start_point":[300,335],"end_point":[503,274],"distance":211.96697856034086},{"start_region_id":61,"end_region_id":54,"start_point":[300,335],"end_point":[281,541],"distance":206.87435800504613},{"start_region_id":61,"end_region_id":53,"start_point":[300,335],"end_point":[147,476],"distance":208.06249061279644}],"complexity_score":0.692791516248546}
{"id":8564,"query_id":"Q01713","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over loose, sandy or rocky ground without vegetation, areas with natural grass and shrubs, all paved and compacted surfaces including parking lots and roads, and bodies of water. However, the drone cannot pass through dense vegetation or man-made structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"paris_11.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":44,"start_point":[147,476],"end_point":[631,227],"distance":544.2949568019163},{"start_region_id":44,"end_region_id":53,"start_point":[631,227],"end_point":[147,476],"distance":544.2949568019163},{"start_region_id":37,"end_region_id":56,"start_point":[232,126],"end_point":[451,561],"distance":487.01745348601213},{"start_region_id":56,"end_region_id":37,"start_point":[451,561],"end_point":[232,126],"distance":487.01745348601213},{"start_region_id":54,"end_region_id":44,"start_point":[281,541],"end_point":[631,227],"distance":470.2084644070117}],"complexity_score":0.692791516248546}
{"id":13007,"query_id":"Q02602","question":"A delivery drone is on a paved, hard surface and needs to reach a grassy, open field. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles like trees and buildings. The drone can also traverse cultivated fields with low vegetation. What is the fastest path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"paris_11.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":25,"start_point":[631,227],"end_point":[58,506],"distance":637.3146789459662},{"start_region_id":44,"end_region_id":14,"start_point":[631,227],"end_point":[65,303],"distance":571.0796792042245},{"start_region_id":37,"end_region_id":23,"start_point":[232,126],"end_point":[543,559],"distance":533.1134963588898},{"start_region_id":56,"end_region_id":7,"start_point":[451,561],"end_point":[179,75],"distance":556.9380575970724},{"start_region_id":44,"end_region_id":20,"start_point":[631,227],"end_point":[144,404],"distance":518.1679264485597}],"complexity_score":0.692791516248546}
{"id":2173,"query_id":"Q00435","question":"An aerial drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes open, flat surfaces that allow clear flight paths, cultivated fields with low vegetation, and areas with tall vegetation that could pose collision risks. You must avoid any vertical structures that could obstruct flight. What is the safest path to your destination?","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tuscaloosa_15.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":152,"start_point":[873,1006],"end_point":[29,260],"distance":1126.4333091665924},{"start_region_id":148,"end_region_id":154,"start_point":[873,1006],"end_point":[539,41],"distance":1021.1664898536379},{"start_region_id":134,"end_region_id":152,"start_point":[936,743],"end_point":[29,260],"distance":1027.5884390163214},{"start_region_id":140,"end_region_id":152,"start_point":[857,835],"end_point":[29,260],"distance":1008.0719220373118},{"start_region_id":148,"end_region_id":153,"start_point":[873,1006],"end_point":[361,148],"distance":999.1536418389315}],"complexity_score":0.6929370603097269}
{"id":6746,"query_id":"Q01350","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, areas with tall vertical obstacles that require careful navigation, and cultivated fields with low, uniform vegetation. However, it cannot traverse liquid surfaces or enter enclosed structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,2,2,1,0,2,0],"image_name":"tuscaloosa_15.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":148,"start_point":[226,248],"end_point":[873,1006],"distance":996.5806540365912},{"start_region_id":148,"end_region_id":92,"start_point":[873,1006],"end_point":[226,248],"distance":996.5806540365912},{"start_region_id":92,"end_region_id":134,"start_point":[226,248],"end_point":[936,743],"distance":865.520074868284},{"start_region_id":134,"end_region_id":92,"start_point":[936,743],"end_point":[226,248],"distance":865.520074868284},{"start_region_id":101,"end_region_id":148,"start_point":[647,172],"end_point":[873,1006],"distance":864.0787001193814}],"complexity_score":0.6929370603097269}
{"id":4369,"query_id":"Q00874","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over liquid surfaces and hard, flat areas, but cannot pass through dense vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Developed space","Road","Water"],"traverse_vector":[0,0,1,1,0,1,0,0],"cost_vector":[0,0,1,1,0,1,0,0],"image_name":"duesseldorf_24.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":387,"end_region_id":201,"start_point":[835,894],"end_point":[202,46],"distance":1058.2027215992218},{"start_region_id":201,"end_region_id":387,"start_point":[202,46],"end_point":[835,894],"distance":1058.2027215992218},{"start_region_id":387,"end_region_id":229,"start_point":[835,894],"end_point":[46,283],"distance":997.9188343748203},{"start_region_id":229,"end_region_id":387,"start_point":[46,283],"end_point":[835,894],"distance":997.9188343748203},{"start_region_id":387,"end_region_id":224,"start_point":[835,894],"end_point":[162,224],"distance":949.6467764384819}],"complexity_score":0.6929797750943955}
{"id":4689,"query_id":"Q00938","question":"A quadcopter starts from a densely vegetated area with tall vertical obstacles and needs to reach a hard, paved surface designed for vehicle movement. The terrain includes loose, sandy or rocky ground without vegetation; smooth, artificial surfaces like sidewalks and parking lots; and cultivated fields with planted crops. The tall vertical obstacles can be flown around with careful navigation. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall vertical obstacles","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"duesseldorf_24.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":593,"end_region_id":417,"start_point":[892,836],"end_point":[244,227],"distance":889.2609290866208},{"start_region_id":451,"end_region_id":433,"start_point":[881,109],"end_point":[126,549],"distance":873.8563955250313},{"start_region_id":519,"end_region_id":433,"start_point":[952,497],"end_point":[126,549],"distance":827.6351853322815},{"start_region_id":593,"end_region_id":433,"start_point":[892,836],"end_point":[126,549],"distance":818.0006112467154},{"start_region_id":559,"end_region_id":433,"start_point":[930,629],"end_point":[126,549],"distance":807.970296483726}],"complexity_score":0.6929797750943955}
{"id":13344,"query_id":"Q02669","question":"An aerial survey drone starts from a position above a cluster of tall, leafy vegetation with vertical structure and needs to reach another location above similar tall, leafy vegetation with vertical structure. The drone's flight must prioritize passenger comfort, meaning it should avoid surfaces that cause excessive vibration or unpredictable movement. The drone cannot fly through any solid vertical structures or enclosed spaces. It can fly over open liquid surfaces, but these may cause some instability. It can traverse open areas of loose, dry soil or sand; flat, hard artificial surfaces; paved vehicle lanes; cultivated fields with low, uniform vegetation; and areas with tall, leafy vegetation, though these require careful navigation to avoid branches.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a position above a cluster of tall, leafy vegetation with vertical structure.","end_land_type":"The destination is another location above similar tall, leafy vegetation with vertical structure.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,0,1,1,1,1,1,0],"cost_vector":[3,0,3,3,1,2,3,0],"image_name":"duesseldorf_24.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":581,"end_region_id":451,"start_point":[242,915],"end_point":[881,109],"distance":1028.5703670629443},{"start_region_id":451,"end_region_id":581,"start_point":[881,109],"end_point":[242,915],"distance":1028.5703670629443},{"start_region_id":567,"end_region_id":451,"start_point":[57,721],"end_point":[881,109],"distance":1026.4112236331011},{"start_region_id":451,"end_region_id":567,"start_point":[881,109],"end_point":[57,721],"distance":1026.4112236331011},{"start_region_id":593,"end_region_id":497,"start_point":[892,836],"end_point":[89,286],"distance":973.2980016418404}],"complexity_score":0.6929797750943955}
{"id":13766,"query_id":"Q02754","question":"A hiker starts from an area of natural, uncultivated grassy terrain and needs to reach a destination on a flat, hard artificial surface. The only surfaces available for travel are: natural, uncultivated grassy terrain; natural, loose, sandy or rocky ground without vegetation; flat, hard artificial surfaces like sidewalks or parking lots; and cultivated fields with crops or grazing vegetation. All other surfaces, including water bodies, vertical structures, and tree-covered areas, are completely impassable. What is the shortest possible route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest possible route from the grassy terrain to the hard artificial surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,1,1,0,0,0,1,0],"image_name":"duesseldorf_24.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":340,"start_point":[397,209],"end_point":[455,710],"distance":504.34611131642527},{"start_region_id":58,"end_region_id":340,"start_point":[382,310],"end_point":[455,710],"distance":406.60668956621953},{"start_region_id":44,"end_region_id":340,"start_point":[437,322],"end_point":[455,710],"distance":388.41730136542577},{"start_region_id":63,"end_region_id":327,"start_point":[591,351],"end_point":[651,654],"distance":308.8834731739463},{"start_region_id":93,"end_region_id":294,"start_point":[527,586],"end_point":[290,456],"distance":270.31278179176064}],"complexity_score":0.6929797750943955}
{"id":5547,"query_id":"Q01110","question":"A quadcopter starts from a paved vehicle lane and needs to reach a vegetated open area. The paved surface provides stable air currents below, while the vegetated area has turbulent air flow that may cause vibration. You must avoid all wooded areas, structures, and water bodies due to increased risk factors. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved vehicle lane","end_land_type":"vegetated open area","task_description":"What is the most comfortable flight path from the paved vehicle lane to the vegetated open area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"thousand_oaks_34.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":9,"start_point":[142,979],"end_point":[993,269],"distance":1108.2874175952734},{"start_region_id":154,"end_region_id":9,"start_point":[50,267],"end_point":[993,269],"distance":943.0021208883891},{"start_region_id":160,"end_region_id":9,"start_point":[370,930],"end_point":[993,269],"distance":908.3226299063566},{"start_region_id":158,"end_region_id":13,"start_point":[959,563],"end_point":[145,446],"distance":822.3654905210943},{"start_region_id":158,"end_region_id":45,"start_point":[959,563],"end_point":[250,980],"distance":822.5387528864521}],"complexity_score":0.693197922824174}
{"id":12582,"query_id":"Q02517","question":"A quadcopter drone starts from a densely vegetated area with tall plants casting shadows and needs to reach another similar vegetated area. The terrain includes areas with loose, uneven ground covered by natural grasses and shrubs, hard-packed artificial surfaces like sidewalks and parking lots, smooth paved lanes designed for vehicles, and additional densely vegetated areas with tall plants. You must avoid all water bodies, buildings, bare sandy/rocky ground, and cultivated crop fields. Vertical obstacles like trees are passable only with careful navigation to avoid collisions. Given that you're prioritizing safety and minimizing risk of drone crash or damage, what is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall plants casting shadows","end_land_type":"another densely vegetated area with tall plants casting shadows","task_description":"What is the safest path from the starting vegetated area to the destination vegetated area?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,2,2,1,0,0,0],"image_name":"thousand_oaks_34.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":204,"end_region_id":190,"start_point":[69,442],"end_point":[929,241],"distance":883.1766527711203},{"start_region_id":190,"end_region_id":204,"start_point":[929,241],"end_point":[69,442],"distance":883.1766527711203},{"start_region_id":204,"end_region_id":165,"start_point":[69,442],"end_point":[832,44],"distance":860.5655117421335},{"start_region_id":165,"end_region_id":204,"start_point":[832,44],"end_point":[69,442],"distance":860.5655117421335},{"start_region_id":204,"end_region_id":200,"start_point":[69,442],"end_point":[915,378],"distance":848.4173501290505}],"complexity_score":0.693197922824174}
{"id":15017,"query_id":"Q03004","question":"A delivery drone is on a flat, hard artificial surface and needs to reach a location among tall, vertical natural structures with overhead cover. The environment includes loose, sandy or rocky terrain; open areas with low vegetation; hard, paved artificial surfaces; tall, vertical natural structures with overhead cover; and cultivated fields with crops. The drone can fly over all these terrain types, but must minimize risk by avoiding proximity to tall vertical structures and liquid areas when possible. The drone is permitted to fly over cultivated fields, open grassy/shrubby areas, and loose sandy/rocky ground. The goal is to minimize risk during flight.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A flat, hard artificial surface","end_land_type":"A location among tall, vertical natural structures with overhead cover","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"thousand_oaks_34.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":165,"start_point":[253,963],"end_point":[832,44],"distance":1086.1869084094137},{"start_region_id":149,"end_region_id":168,"start_point":[253,963],"end_point":[627,39],"distance":996.8209468104088},{"start_region_id":149,"end_region_id":190,"start_point":[253,963],"end_point":[929,241],"distance":989.0702705066005},{"start_region_id":141,"end_region_id":204,"start_point":[947,838],"end_point":[69,442],"distance":963.1718434422801},{"start_region_id":142,"end_region_id":165,"start_point":[484,906],"end_point":[832,44],"distance":929.5956110051295}],"complexity_score":0.693197922824174}
{"id":4621,"query_id":"Q00925","question":"A delivery van is currently parked on a paved parking lot and needs to reach a cultivated field. The vehicle requires hard, stable surfaces to maintain high speeds, but can also traverse firm, level agricultural terrain if necessary. What is the fastest route?","agent_category":"Car","specific_agent":"Delivery van","start_land_type":"paved parking lot","end_land_type":"cultivated field","task_description":"What is the fastest route from the paved parking lot to the cultivated field?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"lohur_21.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":166,"end_region_id":479,"start_point":[151,279],"end_point":[855,695],"distance":817.7236697075608},{"start_region_id":288,"end_region_id":450,"start_point":[855,914],"end_point":[527,242],"distance":747.7753673396844},{"start_region_id":283,"end_region_id":450,"start_point":[768,858],"end_point":[527,242],"distance":661.465796545823},{"start_region_id":288,"end_region_id":466,"start_point":[855,914],"end_point":[614,463],"distance":511.3531069623025},{"start_region_id":136,"end_region_id":479,"start_point":[498,429],"end_point":[855,695],"distance":445.2022012524197}],"complexity_score":0.6934205313433597}
{"id":7982,"query_id":"Q01597","question":"An agricultural monitoring drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over open sandy or rocky areas, paved surfaces like parking lots and tennis courts, bodies of water such as rivers and ponds, and other cultivated fields. It can also pass through areas with tall vertical obstacles like individual trees or tree clusters, but these slow it down due to navigation complexity. The drone cannot access areas with permanent solid structures that block its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the agricultural monitoring drone to reach the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"lohur_21.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":465,"end_region_id":453,"start_point":[130,752],"end_point":[895,236],"distance":922.7572811958734},{"start_region_id":453,"end_region_id":465,"start_point":[895,236],"end_point":[130,752],"distance":922.7572811958734},{"start_region_id":484,"end_region_id":453,"start_point":[334,930],"end_point":[895,236],"distance":892.3883683688397},{"start_region_id":453,"end_region_id":484,"start_point":[895,236],"end_point":[334,930],"distance":892.3883683688397},{"start_region_id":453,"end_region_id":492,"start_point":[895,236],"end_point":[691,981],"distance":772.4254009287887}],"complexity_score":0.6934205313433597}
{"id":1289,"query_id":"Q00258","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane used by vehicles. The terrain includes areas of wild grass and shrubs that are not cultivated or grazed, which can be traversed. You must avoid all water bodies, buildings, bare sand or rock surfaces, and wooded areas with trees. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"koeln_15.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":385,"end_region_id":212,"start_point":[15,155],"end_point":[987,646],"distance":1088.974288034387},{"start_region_id":386,"end_region_id":198,"start_point":[308,973],"end_point":[989,116],"distance":1094.627790621086},{"start_region_id":385,"end_region_id":198,"start_point":[15,155],"end_point":[989,116],"distance":974.7804881100154},{"start_region_id":386,"end_region_id":202,"start_point":[308,973],"end_point":[796,283],"distance":845.1295758639618},{"start_region_id":385,"end_region_id":211,"start_point":[15,155],"end_point":[621,638],"distance":774.9354811853694}],"complexity_score":0.6934330449351137}
{"id":10957,"query_id":"Q02192","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow with natural vegetation. The terrain includes areas of loose earth and rocks without vegetation, patches of natural grass and shrubs, hard paved surfaces like sidewalks and parking lots, vehicle lanes with asphalt or concrete surfaces, and cultivated areas used for crop production. You must avoid any liquid surfaces and vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_15.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":386,"end_region_id":6,"start_point":[308,973],"end_point":[987,258],"distance":986.0354963184642},{"start_region_id":385,"end_region_id":6,"start_point":[15,155],"end_point":[987,258],"distance":977.4420698946818},{"start_region_id":385,"end_region_id":51,"start_point":[15,155],"end_point":[670,800],"distance":919.2660115548708},{"start_region_id":385,"end_region_id":9,"start_point":[15,155],"end_point":[885,353],"distance":892.2466026833613},{"start_region_id":385,"end_region_id":84,"start_point":[15,155],"end_point":[468,920],"distance":889.0635522840873}],"complexity_score":0.6934330449351137}
{"id":12084,"query_id":"Q02417","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The drone can fly over most surfaces, but must avoid dense vertical obstacles like trees and structures. Smooth, stable surfaces are preferred for stable flight and sensor operation, while liquid surfaces may cause turbulence and should be avoided if possible. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open area with low vegetation","task_description":"What is the most comfortable route from the paved starting point to the grassy destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_15.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":87,"start_point":[989,116],"end_point":[288,923],"distance":1068.9480810591317},{"start_region_id":195,"end_region_id":6,"start_point":[54,478],"end_point":[987,258],"distance":958.5869809255705},{"start_region_id":198,"end_region_id":84,"start_point":[989,116],"end_point":[468,920],"distance":958.0485373925478},{"start_region_id":198,"end_region_id":37,"start_point":[989,116],"end_point":[167,590],"distance":948.8730157402517},{"start_region_id":198,"end_region_id":55,"start_point":[989,116],"end_point":[380,775],"distance":897.3081967752217}],"complexity_score":0.6934330449351137}
{"id":1841,"query_id":"Q00369","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy area with scattered shrubs. The drone can fly over loose sandy or rocky ground, grassy or shrub-covered terrain, paved surfaces, liquid bodies, and cultivated fields with crops. However, it must avoid densely packed vertical obstacles like tall vegetation clusters and man-made structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_19.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":60,"start_point":[1003,121],"end_point":[225,976],"distance":1155.9883217403194},{"start_region_id":103,"end_region_id":45,"start_point":[1003,121],"end_point":[157,865],"distance":1126.6108467434528},{"start_region_id":103,"end_region_id":51,"start_point":[1003,121],"end_point":[235,862],"distance":1067.1949212772706},{"start_region_id":111,"end_region_id":7,"start_point":[370,885],"end_point":[965,215],"distance":896.0608238283828},{"start_region_id":103,"end_region_id":13,"start_point":[1003,121],"end_point":[200,351],"distance":835.2897700798209}],"complexity_score":0.6937183814037884}
{"id":10835,"query_id":"Q02167","question":"An aerial survey drone starts from a position within a dense cluster of tall, vertical structures with complex branching patterns and significant height above ground and needs to reach an open area covered with low, natural vegetation and scattered bushes. The drone must maintain stable flight and minimize vibrations for its sensitive imaging equipment. The drone can fly over liquid surfaces, but these may cause turbulence and affect stability. The drone can navigate around tall vertical structures and artificial obstacles, though these require careful maneuvering that may introduce slight instability. The drone prefers open, flat surfaces that provide smooth airflow and minimal interference. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with complex branching patterns and significant height above ground","end_land_type":"An open area covered with low, natural vegetation and scattered bushes","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"panama_city_19.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":7,"start_point":[34,940],"end_point":[965,215],"distance":1179.9940677816987},{"start_region_id":168,"end_region_id":1,"start_point":[983,941],"end_point":[203,87],"distance":1156.5967317954862},{"start_region_id":172,"end_region_id":14,"start_point":[34,940],"end_point":[983,389],"distance":1097.3613807675208},{"start_region_id":163,"end_region_id":7,"start_point":[112,896],"end_point":[965,215],"distance":1091.4989693078046},{"start_region_id":164,"end_region_id":1,"start_point":[990,768],"end_point":[203,87],"distance":1040.7353169754547}],"complexity_score":0.6937183814037884}
{"id":16229,"query_id":"Q03246","question":"A hiker is on a paved surface and needs to reach a grassy area with shrubs. The hiker can traverse loose, dry soil and rocky patches, as well as cultivated fields with crops, but cannot go through water or buildings. The paved surface is available for travel. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy area with shrubs","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"panama_city_19.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":60,"start_point":[1003,121],"end_point":[225,976],"distance":1155.9883217403194},{"start_region_id":103,"end_region_id":45,"start_point":[1003,121],"end_point":[157,865],"distance":1126.6108467434528},{"start_region_id":103,"end_region_id":51,"start_point":[1003,121],"end_point":[235,862],"distance":1067.1949212772706},{"start_region_id":111,"end_region_id":7,"start_point":[370,885],"end_point":[965,215],"distance":896.0608238283828},{"start_region_id":103,"end_region_id":13,"start_point":[1003,121],"end_point":[200,351],"distance":835.2897700798209}],"complexity_score":0.6937183814037884}
{"id":9967,"query_id":"Q01994","question":"A delivery drone starts from a flat, hard surface and needs to reach another flat, hard surface as quickly as possible. The terrain includes open areas with low vegetation, hard surfaces, and scattered trees that can be flown over or around. The drone can fly over any liquid bodies but must avoid colliding with any structures or dense tree canopies. What is the fastest route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"flat, hard surface","end_land_type":"flat, hard surface","task_description":"What is the fastest route for the delivery drone to reach the destination flat, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"paris_12.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":37,"start_point":[539,539],"end_point":[80,173],"distance":587.0579187780368},{"start_region_id":37,"end_region_id":45,"start_point":[80,173],"end_point":[539,539],"distance":587.0579187780368},{"start_region_id":34,"end_region_id":45,"start_point":[174,76],"end_point":[539,539],"distance":589.5710304959022},{"start_region_id":45,"end_region_id":34,"start_point":[539,539],"end_point":[174,76],"distance":589.5710304959022},{"start_region_id":34,"end_region_id":47,"start_point":[174,76],"end_point":[401,517],"distance":495.99395157602476}],"complexity_score":0.6938025638077833}
{"id":3953,"query_id":"Q00791","question":"A hiker is standing in a wooded area with tall vegetation and needs to reach an open grassy field. The terrain includes areas with cultivated crops, but these are currently accessible for crossing. The hiker must find the most direct route to the destination.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a wooded area with tall vegetation","end_land_type":"an open grassy field","task_description":"What is the shortest path from the wooded area to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"dortmund_68.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":483,"end_region_id":33,"start_point":[771,846],"end_point":[94,112],"distance":998.5414362959606},{"start_region_id":486,"end_region_id":33,"start_point":[881,690],"end_point":[94,112],"distance":976.4491794251251},{"start_region_id":384,"end_region_id":33,"start_point":[960,551],"end_point":[94,112],"distance":970.9155473057376},{"start_region_id":506,"end_region_id":83,"start_point":[55,820],"end_point":[982,520],"distance":974.3351579410445},{"start_region_id":506,"end_region_id":37,"start_point":[55,820],"end_point":[881,332],"distance":959.3852198152731}],"complexity_score":0.6938090655365051}
{"id":6159,"query_id":"Q01232","question":"A quadcopter drone is starting from a paved lane and needs to reach another paved lane as quickly as possible. The area contains both open airspace above hard surfaces and tall vertical structures that can be flown around but not through. The drone can fly over most terrain types but must avoid direct contact with dense vertical obstacles. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest route for the quadcopter drone to travel from the starting paved lane to the destination paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_34.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":156,"start_point":[97,848],"end_point":[947,896],"distance":851.354215353398},{"start_region_id":156,"end_region_id":142,"start_point":[947,896],"end_point":[97,848],"distance":851.354215353398},{"start_region_id":128,"end_region_id":156,"start_point":[532,438],"end_point":[947,896],"distance":618.0525867594116},{"start_region_id":156,"end_region_id":128,"start_point":[947,896],"end_point":[532,438],"distance":618.0525867594116},{"start_region_id":128,"end_region_id":142,"start_point":[532,438],"end_point":[97,848],"distance":597.7666768899049}],"complexity_score":0.6938920213004892}
{"id":6610,"query_id":"Q01322","question":"A delivery van is currently on a paved surface and needs to reach another paved surface as quickly as possible. The area contains only two types of terrain: smooth, hard surfaces suitable for vehicles, and cultivated fields with soft, plowed soil. The van can only travel on the hard surfaces because the soft soil in the fields would significantly slow it down and risk getting stuck. What is the fastest path?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest path for the delivery van to travel from its current paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"little_rock_34.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":73,"start_point":[942,804],"end_point":[92,83],"distance":1114.6035169512072},{"start_region_id":73,"end_region_id":103,"start_point":[92,83],"end_point":[942,804],"distance":1114.6035169512072},{"start_region_id":71,"end_region_id":103,"start_point":[119,134],"end_point":[942,804],"distance":1061.239369793639},{"start_region_id":103,"end_region_id":71,"start_point":[942,804],"end_point":[119,134],"distance":1061.239369793639},{"start_region_id":75,"end_region_id":103,"start_point":[174,127],"end_point":[942,804],"distance":1023.7934361969703}],"complexity_score":0.6938920213004892}
{"id":15888,"query_id":"Q03178","question":"A quadcopter drone begins its flight from a grassy, open field and needs to reach a paved, hard surface area. The drone can fly over various surfaces, including grassy fields, paved areas, vegetated areas with tall plants, liquid surfaces, and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles that could obstruct its path. What is the shortest possible route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"paved, hard surface area","task_description":"What is the shortest possible route for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_34.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":73,"start_point":[859,841],"end_point":[92,83],"distance":1078.3566200473756},{"start_region_id":53,"end_region_id":71,"start_point":[859,841],"end_point":[119,134],"distance":1023.4495590892597},{"start_region_id":1,"end_region_id":103,"start_point":[55,273],"end_point":[942,804],"distance":1033.7939833448443},{"start_region_id":56,"end_region_id":73,"start_point":[650,921],"end_point":[92,83],"distance":1006.7810089587507},{"start_region_id":26,"end_region_id":103,"start_point":[24,403],"end_point":[942,804],"distance":1001.7609495283792}],"complexity_score":0.6938920213004892}
{"id":15910,"query_id":"Q03182","question":"An aerial survey drone is positioned on a grassy, open field and needs to reach a paved, hard surface as quickly as possible. The drone can fly over loose, sandy ground and liquid areas, but must avoid dense vegetation and vertical structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"paved, hard surface","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"little_rock_34.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":142,"start_point":[940,24],"end_point":[97,848],"distance":1178.8235661030874},{"start_region_id":5,"end_region_id":142,"start_point":[832,21],"end_point":[97,848],"distance":1106.4149312079985},{"start_region_id":1,"end_region_id":156,"start_point":[55,273],"end_point":[947,896],"distance":1088.0225181493258},{"start_region_id":26,"end_region_id":156,"start_point":[24,403],"end_point":[947,896],"distance":1046.4119647634004},{"start_region_id":9,"end_region_id":156,"start_point":[219,159],"end_point":[947,896],"distance":1035.9309822570228}],"complexity_score":0.6938920213004892}
{"id":9429,"query_id":"Q01886","question":"A hiker is standing in a cluster of tall, woody vegetation and aims to reach a paved, hard-surfaced lane. The hiker can traverse loose, sandy or rocky ground without vegetation, as well as cultivated fields with low crops, provided the ground is firm enough to walk on. However, walking through dense vegetation is challenging and should be minimized. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cluster of tall, woody vegetation","end_land_type":"a paved, hard-surfaced lane","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"kinshasa_2.tif","subfolder":"kinshasa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":368,"end_region_id":266,"start_point":[662,827],"end_point":[368,159],"distance":729.8355979259986},{"start_region_id":368,"end_region_id":267,"start_point":[662,827],"end_point":[265,709],"distance":414.16542588680676},{"start_region_id":368,"end_region_id":269,"start_point":[662,827],"end_point":[269,946],"distance":410.62148019800424}],"complexity_score":0.6939410884519408}
{"id":883,"query_id":"Q00177","question":"A hiker is standing in a grassy field covered with low vegetation and needs to reach a paved road. The hiker can traverse grassy areas, paved surfaces, and wooded patches. What is the shortest path to the road?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy field","end_land_type":"paved road","task_description":"What is the shortest path to the road?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"dortmund_13.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":340,"start_point":[74,86],"end_point":[744,621],"distance":857.3943083552631},{"start_region_id":13,"end_region_id":347,"start_point":[927,100],"end_point":[184,534],"distance":860.4678959728828},{"start_region_id":23,"end_region_id":347,"start_point":[979,203],"end_point":[184,534],"distance":861.1538770742427},{"start_region_id":3,"end_region_id":340,"start_point":[213,55],"end_point":[744,621],"distance":776.090845197906},{"start_region_id":19,"end_region_id":340,"start_point":[116,182],"end_point":[744,621],"distance":766.2277729239524}],"complexity_score":0.6939978027278386}
{"id":5025,"query_id":"Q01005","question":"A car starts from a paved lane used by vehicles and needs to reach a hard, flat surface like a parking lot or sidewalk. The terrain includes only hard, flat surfaces, paved lanes, and cultivated fields with soft, even soil. You must avoid all other surfaces, including loose sand or rocks, natural grassy or shrub-covered areas, any vertical obstacles like trees or structures, any liquid bodies, and built-up areas. What is the safest path?","agent_category":"Car","specific_agent":"a car","start_land_type":"a paved lane used by vehicles","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"dortmund_13.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":347,"end_region_id":205,"start_point":[184,534],"end_point":[782,38],"distance":776.9298552636525},{"start_region_id":340,"end_region_id":229,"start_point":[744,621],"end_point":[42,310],"distance":767.8053138654356},{"start_region_id":347,"end_region_id":263,"start_point":[184,534],"end_point":[936,589],"distance":754.0086206403744},{"start_region_id":347,"end_region_id":215,"start_point":[184,534],"end_point":[836,204],"distance":730.7557731554367},{"start_region_id":340,"end_region_id":278,"start_point":[744,621],"end_point":[78,658],"distance":667.026985960838}],"complexity_score":0.6939978027278386}
{"id":8118,"query_id":"Q01624","question":"An aerial survey drone starts from a tall, leafy structure with branches and foliage and needs to reach another similar tall, leafy structure with branches and foliage. The drone can only fly over areas with cultivated vegetation that has been planted in organized rows or patches, and over other tall, leafy structures with branches and foliage. The cultivated vegetation areas are accessible because they have been recently harvested, leaving low stubble that won't interfere with flight. The tall, leafy structures are accessible because they have wide gaps between their canopies that allow safe passage. All other surface types are prohibited due to safety regulations or physical barriers.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A tall, leafy structure with branches and foliage","end_land_type":"Another tall, leafy structure with branches and foliage","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Tree","Agriculture land"],"traverse_vector":[0,0,0,0,1,0,1,0],"cost_vector":[0,0,0,0,1,0,2,0],"image_name":"dortmund_13.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":413,"end_region_id":449,"start_point":[275,180],"end_point":[71,266],"distance":221.38653978957257},{"start_region_id":449,"end_region_id":413,"start_point":[71,266],"end_point":[275,180],"distance":221.38653978957257}],"complexity_score":0.6939978027278386}
{"id":6669,"query_id":"Q01334","question":"An aerial survey drone starts from a paved, flat, and stable surface and needs to reach another paved, flat, and stable surface. The drone's flight path must prioritize smooth, stable, and predictable surfaces to ensure stable camera footage and minimize vibrations. The drone can fly over hard paved areas, loose sandy or rocky ground, grassy or shrub-covered terrain, cultivated fields, and open water surfaces. However, it must avoid flying directly through dense tree canopies or close to vertical structures like buildings, as these could cause turbulence or collisions. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, flat, and stable surface","end_land_type":"A paved, flat, and stable surface","task_description":"What is the most comfortable route for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_14.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":205,"start_point":[115,137],"end_point":[949,977],"distance":1183.7043549805837},{"start_region_id":205,"end_region_id":115,"start_point":[949,977],"end_point":[115,137],"distance":1183.7043549805837},{"start_region_id":107,"end_region_id":186,"start_point":[982,60],"end_point":[59,768],"distance":1163.268240776821},{"start_region_id":186,"end_region_id":107,"start_point":[59,768],"end_point":[982,60],"distance":1163.268240776821},{"start_region_id":107,"end_region_id":199,"start_point":[982,60],"end_point":[234,874],"distance":1105.4863183232978}],"complexity_score":0.694140377348122}
{"id":12768,"query_id":"Q02554","question":"A quadcopter drone is launched from a grassy field and needs to land on a paved street. The drone can fly over most surfaces including soft ground, hard pavement, cultivated areas, and even liquid, but it must avoid colliding with tall vertical structures like trees and buildings. The operator wants the most direct flight path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the shortest path from the grassy field to the paved street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_25.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":153,"start_point":[996,58],"end_point":[55,610],"distance":1090.9560027792138},{"start_region_id":69,"end_region_id":130,"start_point":[584,970],"end_point":[169,105],"distance":959.400854700474},{"start_region_id":65,"end_region_id":130,"start_point":[504,893],"end_point":[169,105],"distance":856.2528832068245},{"start_region_id":66,"end_region_id":130,"start_point":[403,920],"end_point":[169,105],"distance":847.9274733136084},{"start_region_id":6,"end_region_id":130,"start_point":[996,58],"end_point":[169,105],"distance":828.3344735069282}],"complexity_score":0.6941946636372748}
{"id":13224,"query_id":"Q02645","question":"A quadcopter drone starts from a cultivated field and needs to reach a paved lane. The airspace includes areas with low-lying vegetation, hard artificial surfaces, tall vertical obstacles with trunks and foliage, and cultivated plots. The drone must avoid areas with liquid surfaces and prioritize stable, predictable flight conditions to minimize turbulence and ensure smooth operation. ","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"lohur_33.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":390,"end_region_id":241,"start_point":[977,35],"end_point":[630,879],"distance":912.5486288412251},{"start_region_id":387,"end_region_id":241,"start_point":[327,45],"end_point":[630,879],"distance":887.3359003218567},{"start_region_id":386,"end_region_id":241,"start_point":[91,227],"end_point":[630,879],"distance":845.9462157844315},{"start_region_id":388,"end_region_id":241,"start_point":[739,53],"end_point":[630,879],"distance":833.1608488161214},{"start_region_id":392,"end_region_id":241,"start_point":[283,140],"end_point":[630,879],"distance":816.4128857385826}],"complexity_score":0.69432252706485}
{"id":17966,"query_id":"Q03594","question":"A delivery drone has taken off from a grassy, uneven field and must land on a paved road. The drone needs to ensure a stable flight to protect its payload and provide a smooth experience for any onboard sensors. The drone can fly over grassy fields, loose sandy or rocky ground, hard-packed dirt or gravel areas, paved roads, cultivated crop fields, and forested areas with trees, but must avoid flying directly over water bodies or buildings due to safety regulations. The drone prefers airspace over surfaces that minimize turbulence and vibration. What is the most comfortable flight path to the paved road?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved road","task_description":"What is the most comfortable flight path to the paved road?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"lohur_33.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":241,"start_point":[739,82],"end_point":[630,879],"distance":804.4190450256632},{"start_region_id":73,"end_region_id":238,"start_point":[920,887],"end_point":[425,422],"distance":679.1538853603063},{"start_region_id":28,"end_region_id":241,"start_point":[345,271],"end_point":[630,879],"distance":671.4826877887471},{"start_region_id":38,"end_region_id":238,"start_point":[997,469],"end_point":[425,422],"distance":573.9276957945139},{"start_region_id":56,"end_region_id":241,"start_point":[114,618],"end_point":[630,879],"distance":578.2534046592376}],"complexity_score":0.69432252706485}
{"id":1400,"query_id":"Q00280","question":"An aerial survey 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 hard, paved surfaces, liquid surfaces, and vertical obstacles, but must maintain a safe altitude above the vertical obstacles. Which path should the drone take?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a vegetated area with tall vertical structures","end_land_type":"another vegetated area with tall vertical structures","task_description":"What is the shortest path for the aerial survey drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"austin_41.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":147,"start_point":[447,790],"end_point":[506,39],"distance":753.3140115516238},{"start_region_id":147,"end_region_id":185,"start_point":[506,39],"end_point":[447,790],"distance":753.3140115516238},{"start_region_id":185,"end_region_id":158,"start_point":[447,790],"end_point":[257,167],"distance":651.3286420847774},{"start_region_id":158,"end_region_id":185,"start_point":[257,167],"end_point":[447,790],"distance":651.3286420847774},{"start_region_id":174,"end_region_id":147,"start_point":[648,670],"end_point":[506,39],"distance":646.7804882647589}],"complexity_score":0.6944321175741179}
{"id":3422,"query_id":"Q00685","question":"A family sedan is parked on a smooth, hard, paved surface. It needs to reach a nearby paved street that is also smooth and hard. The sedan can only travel on surfaces that are firm and stable enough to support its weight without sinking or causing excessive vibration. It cannot drive on soft, loose ground like sand or soil, nor on surfaces covered by tall vegetation or obstacles. It must avoid any liquid areas or vertical structures. What is the most comfortable path for the sedan to take?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved parking lot","end_land_type":"a paved street","task_description":"What is the most comfortable path for the sedan to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"austin_41.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":138,"start_point":[56,918],"end_point":[828,466],"distance":894.5881734071829},{"start_region_id":73,"end_region_id":138,"start_point":[91,157],"end_point":[828,466],"distance":799.155804583812},{"start_region_id":64,"end_region_id":138,"start_point":[199,86],"end_point":[828,466],"distance":734.8748192719628},{"start_region_id":81,"end_region_id":138,"start_point":[161,618],"end_point":[828,466],"distance":684.1001388685723},{"start_region_id":64,"end_region_id":99,"start_point":[199,86],"end_point":[461,585],"distance":563.6000354861593}],"complexity_score":0.6944321175741179}
{"id":15074,"query_id":"Q03015","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while prioritizing a comfortable flight with minimal turbulence. The drone can fly over areas with loose, sandy soil or rocky ground, grassy or shrub-covered terrain, cultivated fields with crops, and areas with trees or structures, but must avoid flying directly over bodies of water to prevent downdraft effects. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"austin_41.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":94,"start_point":[935,126],"end_point":[56,918],"distance":1183.1758111117722},{"start_region_id":94,"end_region_id":75,"start_point":[56,918],"end_point":[935,126],"distance":1183.1758111117722},{"start_region_id":73,"end_region_id":96,"start_point":[91,157],"end_point":[883,971],"distance":1135.720035924347},{"start_region_id":96,"end_region_id":73,"start_point":[883,971],"end_point":[91,157],"distance":1135.720035924347},{"start_region_id":64,"end_region_id":96,"start_point":[199,86],"end_point":[883,971],"distance":1118.5173221725267}],"complexity_score":0.6944321175741179}
{"id":9769,"query_id":"Q01954","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, paved or compacted surfaces, liquid bodies, cultivated fields, and vertical structures, but must avoid dense vegetation due to collision risk. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"santiago_15.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":8,"start_point":[983,846],"end_point":[59,70],"distance":1206.628360349615},{"start_region_id":201,"end_region_id":17,"start_point":[983,846],"end_point":[86,168],"distance":1124.407844156203},{"start_region_id":201,"end_region_id":16,"start_point":[983,846],"end_point":[421,192],"distance":862.2992520001394},{"start_region_id":201,"end_region_id":35,"start_point":[983,846],"end_point":[253,415],"distance":847.7387569292795},{"start_region_id":201,"end_region_id":84,"start_point":[983,846],"end_point":[203,783],"distance":782.5400948194284}],"complexity_score":0.6944512568544068}
{"id":14219,"query_id":"Q02844","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy structures and needs to reach an open area covered with low, natural vegetation. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over low, grassy or shrubby terrain. It can also traverse paved, hard surfaces designed for vehicle movement. However, flying through dense, tall vegetation is challenging and slows it down, so it should be avoided if possible. The drone cannot land on or traverse liquid surfaces or enter solid, enclosed structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"an open area covered with low, natural vegetation","task_description":"What is the fastest path for the quadcopter drone to reach the open area covered with low, natural vegetation from the densely vegetated area with tall, leafy structures?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_15.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":330,"end_region_id":8,"start_point":[875,843],"end_point":[59,70],"distance":1124.0040035515888},{"start_region_id":339,"end_region_id":8,"start_point":[682,958],"end_point":[59,70],"distance":1084.745592293419},{"start_region_id":217,"end_region_id":84,"start_point":[964,41],"end_point":[203,783],"distance":1062.866407409699},{"start_region_id":330,"end_region_id":17,"start_point":[875,843],"end_point":[86,168],"distance":1038.338095227176},{"start_region_id":279,"end_region_id":5,"start_point":[44,583],"end_point":[958,120],"distance":1024.5804019207083}],"complexity_score":0.6944512568544068}
{"id":17386,"query_id":"Q03478","question":"An aerial survey drone starts from a paved, hard surface, an aerial survey drone must reach a grassy, open field. The drone can fly over loose, sandy or rocky ground; grassy or shrubby areas; paved surfaces; liquid bodies; and wooded areas with tall vertical obstacles, but it must avoid any solid, vertical structures. The drone's priority is to minimize risk of collision or instability.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard surface","end_land_type":"A grassy, open field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"santiago_15.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":8,"start_point":[983,846],"end_point":[59,70],"distance":1206.628360349615},{"start_region_id":201,"end_region_id":17,"start_point":[983,846],"end_point":[86,168],"distance":1124.407844156203},{"start_region_id":201,"end_region_id":16,"start_point":[983,846],"end_point":[421,192],"distance":862.2992520001394},{"start_region_id":201,"end_region_id":35,"start_point":[983,846],"end_point":[253,415],"distance":847.7387569292795},{"start_region_id":201,"end_region_id":84,"start_point":[983,846],"end_point":[203,783],"distance":782.5400948194284}],"complexity_score":0.6944512568544068}
{"id":3632,"query_id":"Q00727","question":"A hiker starts from a paved surface and needs to reach a wooded area with tall vegetation. The hiker can traverse hard surfaces like sidewalks and roads, as well as open ground with loose soil or rocks, grassy fields, cultivated fields, and areas with scattered bushes. However, the hiker cannot cross any water bodies or enter any structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved surface","end_land_type":"wooded area with tall vegetation","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_10.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":305,"end_region_id":806,"start_point":[69,171],"end_point":[935,977],"distance":1183.0435325887208},{"start_region_id":470,"end_region_id":541,"start_point":[145,901],"end_point":[963,130],"distance":1124.0840715889537},{"start_region_id":470,"end_region_id":526,"start_point":[145,901],"end_point":[802,38],"distance":1084.6280468437094},{"start_region_id":305,"end_region_id":722,"start_point":[69,171],"end_point":[846,872],"distance":1046.4845913820232},{"start_region_id":470,"end_region_id":551,"start_point":[145,901],"end_point":[866,189],"distance":1013.3040017684723}],"complexity_score":0.6944584148398903}
{"id":10273,"query_id":"Q02055","question":"An off-road vehicle starts from a grassy or shrub-covered ground and needs to reach another grassy or shrub-covered ground area. The terrain includes loose, sandy, or rocky surfaces without vegetation; grassy or shrub-covered ground; hard, flat surfaces like sidewalks, parking lots, or artificial turf; and paved lanes or streets used by vehicles. All these surfaces are traversable. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy or shrub-covered ground","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"muenster_10.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":71,"start_point":[266,263],"end_point":[43,300],"distance":226.0486673263083},{"start_region_id":71,"end_region_id":50,"start_point":[43,300],"end_point":[266,263],"distance":226.0486673263083}],"complexity_score":0.6944584148398903}
{"id":2172,"query_id":"Q00435","question":"An aerial drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes open, flat surfaces that allow clear flight paths, cultivated fields with low vegetation, and areas with tall vegetation that could pose collision risks. You must avoid any vertical structures that could obstruct flight. What is the safest path to your destination?","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tuscaloosa_13.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":111,"start_point":[914,245],"end_point":[123,904],"distance":1029.5445595019187},{"start_region_id":48,"end_region_id":111,"start_point":[700,208],"end_point":[123,904],"distance":904.0713467420588},{"start_region_id":51,"end_region_id":111,"start_point":[788,330],"end_point":[123,904],"distance":878.4651387505369},{"start_region_id":58,"end_region_id":111,"start_point":[930,530],"end_point":[123,904],"distance":889.4520785292483},{"start_region_id":105,"end_region_id":111,"start_point":[960,948],"end_point":[123,904],"distance":838.1557134566345}],"complexity_score":0.6945341029149895}
{"id":11927,"query_id":"Q02386","question":"A delivery van starts from a paved road surface and needs to reach a flat, hard-surfaced area. The vehicle requires firm, stable ground to maintain high speed, so only surfaces that provide solid traction and minimal rolling resistance are allowed. Loose, uneven terrain composed of sand or rocks is also permitted but offers less ideal conditions. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road surface","end_land_type":"a flat, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,2,3,0,0,0,0],"image_name":"tuscaloosa_13.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":46,"start_point":[634,569],"end_point":[60,151],"distance":710.0704190430693},{"start_region_id":109,"end_region_id":56,"start_point":[634,569],"end_point":[91,470],"distance":551.9510847892229},{"start_region_id":109,"end_region_id":63,"start_point":[634,569],"end_point":[116,591],"distance":518.4669709827233},{"start_region_id":109,"end_region_id":105,"start_point":[634,569],"end_point":[960,948],"distance":499.9169931098562},{"start_region_id":109,"end_region_id":47,"start_point":[634,569],"end_point":[914,245],"distance":428.22424032275427}],"complexity_score":0.6945341029149895}
{"id":3469,"query_id":"Q00694","question":"A family sedan is starting from a paved parking lot and needs to reach another paved parking area. The vehicle requires smooth, stable surfaces to ensure a comfortable ride for passengers. While paved surfaces like roads and parking lots are naturally suitable, the sedan can also traverse cultivated fields if they are dry and firm enough to provide stable ground. However, loose, sandy, or rocky terrain without vegetation is too rough and uneven for comfortable travel and must be avoided. What is the most comfortable route?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved parking lot","end_land_type":"another paved parking area","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"austin_18.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":122,"start_point":[830,200],"end_point":[74,961],"distance":1072.6868135667557},{"start_region_id":122,"end_region_id":59,"start_point":[74,961],"end_point":[830,200],"distance":1072.6868135667557},{"start_region_id":114,"end_region_id":59,"start_point":[192,898],"end_point":[830,200],"distance":945.6468685508349},{"start_region_id":59,"end_region_id":114,"start_point":[830,200],"end_point":[192,898],"distance":945.6468685508349},{"start_region_id":92,"end_region_id":115,"start_point":[81,614],"end_point":[972,944],"distance":950.1478832266059}],"complexity_score":0.694555851330693}
{"id":5563,"query_id":"Q01113","question":"A hiker starts from a grassy field with soft, uneven ground covered in natural vegetation and needs to reach a wooded area with tall vegetation and potential root systems. The terrain must provide a smooth, stable walking surface to minimize discomfort and vibration. Hard surfaces like paved areas or roads are unavailable due to the remote location. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy field","end_land_type":"wooded area","task_description":"What is the most comfortable path from the grassy field to the wooded area?","task_type":"Comfort","input_classes":["Rangeland","Tree"],"traverse_vector":[0,1,0,0,1,0,0,0],"cost_vector":[0,2,0,0,1,0,0,0],"image_name":"austin_18.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":144,"start_point":[120,702],"end_point":[481,52],"distance":743.5193339786128},{"start_region_id":2,"end_region_id":179,"start_point":[401,49],"end_point":[184,670],"distance":657.8221644183176},{"start_region_id":2,"end_region_id":180,"start_point":[401,49],"end_point":[381,689],"distance":640.3124237432849},{"start_region_id":2,"end_region_id":171,"start_point":[401,49],"end_point":[261,591],"distance":559.7892460560493},{"start_region_id":17,"end_region_id":144,"start_point":[393,543],"end_point":[481,52],"distance":498.8236161209692}],"complexity_score":0.694555851330693}
{"id":15084,"query_id":"Q03017","question":"A delivery drone is launched from a tree canopy, needing to land on a paved rooftop landing pad. The environment below includes exposed soil and rocks; shrub-covered fields; flat, hard surfaces; areas with dense tree cover; and planted crop fields. The drone can fly over all these terrain types, but should avoid areas that might cause turbulence or unstable flight conditions. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a tree canopy","end_land_type":"a paved rooftop landing pad","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"austin_18.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":115,"start_point":[121,293],"end_point":[972,944],"distance":1071.4485521946447},{"start_region_id":145,"end_region_id":122,"start_point":[721,138],"end_point":[74,961],"distance":1046.8705746175121},{"start_region_id":144,"end_region_id":115,"start_point":[481,52],"end_point":[972,944],"distance":1018.2067569997755},{"start_region_id":144,"end_region_id":122,"start_point":[481,52],"end_point":[74,961],"distance":995.9568263735131},{"start_region_id":142,"end_region_id":119,"start_point":[121,293],"end_point":[864,953],"distance":993.8053129260278}],"complexity_score":0.694555851330693}
{"id":12087,"query_id":"Q02418","question":"An aerial surveillance drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over open grassy or shrub-covered terrain, other paved or compacted surfaces, vehicle lanes, and liquid bodies, but must avoid tall vertical obstacles and structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard surface area","end_land_type":"Another paved, hard surface area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_17.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":158,"start_point":[894,78],"end_point":[27,921],"distance":1209.2716816332052},{"start_region_id":158,"end_region_id":89,"start_point":[27,921],"end_point":[894,78],"distance":1209.2716816332052},{"start_region_id":91,"end_region_id":160,"start_point":[134,312],"end_point":[948,942],"distance":1029.318220959874},{"start_region_id":160,"end_region_id":91,"start_point":[948,942],"end_point":[134,312],"distance":1029.318220959874},{"start_region_id":153,"end_region_id":89,"start_point":[399,934],"end_point":[894,78],"distance":988.8179812280923}],"complexity_score":0.6946413593274038}
{"id":16561,"query_id":"Q03313","question":"A quadcopter drone is currently positioned over a cultivated field with soft, uneven soil and low vegetation. It needs to reach a flat, hard-surfaced area such as a paved lot or artificial turf. The drone can fly over liquid surfaces like rivers or ponds, and it is permitted to pass through areas with tall vertical obstacles like trees or buildings only if it can navigate around them safely. However, it must avoid any terrain with loose, sandy soil or dense shrubbery without clear paths. Given these constraints, what is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[0,0,1,1,1,1,1,1],"cost_vector":[0,0,2,2,1,2,2,2],"image_name":"monrovia_17.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":359,"end_region_id":160,"start_point":[140,158],"end_point":[948,942],"distance":1125.8419071965654},{"start_region_id":361,"end_region_id":89,"start_point":[174,648],"end_point":[894,78],"distance":918.313671900838},{"start_region_id":363,"end_region_id":158,"start_point":[884,669],"end_point":[27,921],"distance":893.2821502750405},{"start_region_id":368,"end_region_id":89,"start_point":[624,903],"end_point":[894,78],"distance":868.0581777738172},{"start_region_id":361,"end_region_id":160,"start_point":[174,648],"end_point":[948,942],"distance":827.9565205975492}],"complexity_score":0.6946413593274038}
{"id":1304,"query_id":"Q00261","question":"A delivery drone starts from an open grassy area and needs to reach a paved thoroughfare. The drone can fly over cultivated agricultural plots with low vegetation. However, areas with tall, dense tree canopies must be avoided as they require careful navigation, and solid vertical structures cannot be traversed. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"open grassy area","end_land_type":"paved thoroughfare","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"muenster_55.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":367,"start_point":[659,66],"end_point":[268,966],"distance":981.264999885352},{"start_region_id":34,"end_region_id":367,"start_point":[823,178],"end_point":[268,966],"distance":963.8303792680535},{"start_region_id":65,"end_region_id":367,"start_point":[893,340],"end_point":[268,966],"distance":884.590865880945},{"start_region_id":17,"end_region_id":367,"start_point":[522,121],"end_point":[268,966],"distance":882.34970391563},{"start_region_id":57,"end_region_id":367,"start_point":[806,289],"end_point":[268,966],"distance":864.7386888534594}],"complexity_score":0.6949003045815771}
{"id":3529,"query_id":"Q00706","question":"A quadcopter is hovering above a grassy, uneven field and needs to reach a paved lane. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, hard artificial surfaces like parking lots or courts, paved lanes, cultivated fields with crops, and areas with tall vertical obstacles. The drone cannot travel through solid structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"muenster_55.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":367,"start_point":[659,66],"end_point":[268,966],"distance":981.264999885352},{"start_region_id":34,"end_region_id":367,"start_point":[823,178],"end_point":[268,966],"distance":963.8303792680535},{"start_region_id":45,"end_region_id":359,"start_point":[203,235],"end_point":[788,933],"distance":910.7299270365502},{"start_region_id":104,"end_region_id":352,"start_point":[805,597],"end_point":[46,200],"distance":856.5570617302737},{"start_region_id":65,"end_region_id":352,"start_point":[893,340],"end_point":[46,200],"distance":858.492283017151}],"complexity_score":0.6949003045815771}
{"id":5539,"query_id":"Q01108","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation with a solid trunk and branches and needs to reach another similar cluster of tall, leafy vegetation with a solid trunk and branches. The drone can fly over open, hard surfaces like paved areas and compacted ground, but must navigate carefully around vertical obstacles such as trees and buildings, which are passable only if there is sufficient clearance to avoid collisions. The objective is to find the fastest route.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation with a solid trunk and branches.","end_land_type":"Another dense cluster of tall, leafy vegetation with a solid trunk and branches.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"muenster_55.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":389,"end_region_id":482,"start_point":[853,136],"end_point":[30,695],"distance":994.8919539326871},{"start_region_id":482,"end_region_id":389,"start_point":[30,695],"end_point":[853,136],"distance":994.8919539326871},{"start_region_id":433,"end_region_id":482,"start_point":[814,362],"end_point":[30,695],"distance":851.7892931940387},{"start_region_id":482,"end_region_id":433,"start_point":[30,695],"end_point":[814,362],"distance":851.7892931940387},{"start_region_id":398,"end_region_id":482,"start_point":[672,209],"end_point":[30,695],"distance":805.2080476497983}],"complexity_score":0.6949003045815771}
{"id":8131,"query_id":"Q01627","question":"A hiker is currently positioned in a densely vegetated area with tall, upright structures that provide shade and cover. They need to reach a hard, paved surface designed for vehicle movement. The hiker can traverse the vegetated area because they are on foot and can navigate between the structures. The hard, paved surface is accessible. All other terrain types—such as loose, unconsolidated earth; open grassy or shrubby fields; areas with artificial hard surfaces like sidewalks or parking lots; bodies of liquid; cultivated fields; and man-made vertical structures—are not allowed for this journey.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, upright structures that provide shade and cover","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Road","Tree"],"traverse_vector":[0,0,0,1,1,0,0,0],"cost_vector":[0,0,0,2,1,0,0,0],"image_name":"muenster_55.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":389,"end_region_id":367,"start_point":[853,136],"end_point":[268,966],"distance":1015.4432529688697},{"start_region_id":374,"end_region_id":359,"start_point":[104,271],"end_point":[788,933],"distance":951.8928511129811},{"start_region_id":469,"end_region_id":352,"start_point":[657,764],"end_point":[46,200],"distance":831.5148826088442},{"start_region_id":398,"end_region_id":367,"start_point":[672,209],"end_point":[268,966],"distance":858.0588557902074},{"start_region_id":389,"end_region_id":352,"start_point":[853,136],"end_point":[46,200],"distance":809.5338164647602}],"complexity_score":0.6949003045815771}
{"id":956,"query_id":"Q00192","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The liquid body is traversable, but you must avoid any vertical structures or dense overhead obstacles. All other surfaces are accessible. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, vegetated area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_6.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":8,"start_point":[200,408],"end_point":[948,22],"distance":841.7244204607587},{"start_region_id":193,"end_region_id":8,"start_point":[466,631],"end_point":[948,22],"distance":776.6627324649999},{"start_region_id":196,"end_region_id":8,"start_point":[220,70],"end_point":[948,22],"distance":729.5807014991556},{"start_region_id":195,"end_region_id":60,"start_point":[666,76],"end_point":[101,525],"distance":721.6827557867792},{"start_region_id":196,"end_region_id":52,"start_point":[220,70],"end_point":[820,422],"distance":695.6320866665079}],"complexity_score":0.6950075410802031}
{"id":9968,"query_id":"Q01994","question":"A delivery drone starts from a flat, hard surface and needs to reach another flat, hard surface as quickly as possible. The terrain includes open areas with low vegetation, hard surfaces, and scattered trees that can be flown over or around. The drone can fly over any liquid bodies but must avoid colliding with any structures or dense tree canopies. What is the fastest route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"flat, hard surface","end_land_type":"flat, hard surface","task_description":"What is the fastest route for the delivery drone to reach the destination flat, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_6.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":158,"start_point":[957,161],"end_point":[80,572],"distance":968.5298136867032},{"start_region_id":158,"end_region_id":97,"start_point":[80,572],"end_point":[957,161],"distance":968.5298136867032},{"start_region_id":166,"end_region_id":97,"start_point":[165,716],"end_point":[957,161],"distance":967.1034070873703},{"start_region_id":97,"end_region_id":166,"start_point":[957,161],"end_point":[165,716],"distance":967.1034070873703},{"start_region_id":97,"end_region_id":183,"start_point":[957,161],"end_point":[283,816],"distance":939.8409439899924}],"complexity_score":0.6950075410802031}
{"id":12994,"query_id":"Q02599","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over loose, dry earth surfaces, grassy or shrubby areas, all hard artificial surfaces including paved lanes, liquid bodies, and cultivated fields with crops. It can also fly near vertical structures if necessary, but must avoid dense clusters of tall vegetation that could pose entanglement risks. The priority is to minimize any risk of collision, signal interference, or loss of control.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"dhaka_6.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":180,"start_point":[220,70],"end_point":[699,804],"distance":876.4684820345796},{"start_region_id":195,"end_region_id":183,"start_point":[666,76],"end_point":[283,816],"distance":833.2400614468797},{"start_region_id":195,"end_region_id":166,"start_point":[666,76],"end_point":[165,716],"distance":812.7736462263033},{"start_region_id":196,"end_region_id":117,"start_point":[220,70],"end_point":[974,314],"distance":792.4973186074512},{"start_region_id":199,"end_region_id":97,"start_point":[200,408],"end_point":[957,161],"distance":796.2775897888877}],"complexity_score":0.6950075410802031}
{"id":14448,"query_id":"Q02890","question":"An aerial survey drone starts from a location with tall vertical obstacles and overhead canopy and needs to reach another location with similar tall vertical obstacles and overhead canopy. The drone can fly over open, loose soil and rock surfaces, as well as liquid surfaces, but must navigate carefully around tall vertical obstacles and overhead canopy structures. The drone's flight path must prioritize reaching the destination as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall vertical obstacles and overhead canopy.","end_land_type":"The destination is another location with similar tall vertical obstacles and overhead canopy.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dhaka_6.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":293,"start_point":[969,84],"end_point":[77,784],"distance":1133.871244895116},{"start_region_id":293,"end_region_id":208,"start_point":[77,784],"end_point":[969,84],"distance":1133.871244895116},{"start_region_id":279,"end_region_id":208,"start_point":[155,667],"end_point":[969,84],"distance":1001.2417290544777},{"start_region_id":208,"end_region_id":279,"start_point":[969,84],"end_point":[155,667],"distance":1001.2417290544777},{"start_region_id":208,"end_region_id":295,"start_point":[969,84],"end_point":[399,814],"distance":926.1749294814668}],"complexity_score":0.6950075410802031}
{"id":1081,"query_id":"Q00217","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open area covered with low vegetation. The drone can fly over all types of terrain except for areas with tall, dense vertical obstacles and solid, enclosed structures. The mission requires minimizing risk to the drone's operation. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open area covered with low vegetation","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"melbourne_3.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":23,"start_point":[951,893],"end_point":[103,249],"distance":1064.8192334851958},{"start_region_id":152,"end_region_id":1,"start_point":[951,893],"end_point":[344,89],"distance":1007.4050823774913},{"start_region_id":154,"end_region_id":4,"start_point":[160,899],"end_point":[887,286],"distance":950.9458449354516},{"start_region_id":154,"end_region_id":40,"start_point":[160,899],"end_point":[978,416],"distance":949.9542094227489},{"start_region_id":152,"end_region_id":22,"start_point":[951,893],"end_point":[321,252],"distance":898.7663767631719}],"complexity_score":0.695041427187884}
{"id":3801,"query_id":"Q00761","question":"A hiker starts from a paved road surface and needs to reach another paved road surface as quickly as possible. The person can walk on hard, flat surfaces like sidewalks or parking lots. They can also use vehicle lanes and streets. They can cross areas with loose soil or rocks, but footing is unstable and slows movement. They can traverse grassy or shrub-covered areas, but these are uneven and hinder speed. They can walk through cultivated fields, though the vegetation may be dense. They can pass through wooded areas with trees, but must navigate around trunks and roots, which is slow. The person cannot travel on liquid surfaces or through solid vertical structures.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the fastest path for the hiker to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"melbourne_3.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":152,"start_point":[283,208],"end_point":[951,893],"distance":956.79099076026},{"start_region_id":152,"end_region_id":147,"start_point":[951,893],"end_point":[283,208],"distance":956.79099076026},{"start_region_id":154,"end_region_id":152,"start_point":[160,899],"end_point":[951,893],"distance":791.0227556777365},{"start_region_id":152,"end_region_id":154,"start_point":[951,893],"end_point":[160,899],"distance":791.0227556777365},{"start_region_id":147,"end_region_id":154,"start_point":[283,208],"end_point":[160,899],"distance":701.8618097602974}],"complexity_score":0.695041427187884}
{"id":5361,"query_id":"Q01073","question":"A quadcopter drone is hovering above a grassy, uneven field and needs to reach a paved, hard-surfaced area. The drone can fly over grassy terrain and paved surfaces, but cannot pass through any wooded areas or buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a paved, hard-surfaced area","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"melbourne_3.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":145,"start_point":[103,249],"end_point":[961,999],"distance":1139.5893997400995},{"start_region_id":1,"end_region_id":145,"start_point":[344,89],"end_point":[961,999],"distance":1099.449407658215},{"start_region_id":23,"end_region_id":129,"start_point":[103,249],"end_point":[986,876],"distance":1082.967220187204},{"start_region_id":23,"end_region_id":125,"start_point":[103,249],"end_point":[937,861],"distance":1034.456378974},{"start_region_id":40,"end_region_id":137,"start_point":[978,416],"end_point":[89,940],"distance":1031.938467157805}],"complexity_score":0.695041427187884}
{"id":8382,"query_id":"Q01677","question":"A quadcopter drone is positioned on a grassy, open field with low vegetation and needs to reach a flat, hard-surfaced area like a parking lot or paved courtyard as quickly as possible. The drone can fly over various surfaces, but must avoid tall trees and buildings due to potential collision risks. It can traverse over loose, sandy or rocky ground, low shrubbery, paved roads, and water bodies, but flying through dense tree canopies or close to structures is prohibited. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a flat, hard-surfaced area like a parking lot or paved courtyard","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_3.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":145,"start_point":[103,249],"end_point":[961,999],"distance":1139.5893997400995},{"start_region_id":1,"end_region_id":145,"start_point":[344,89],"end_point":[961,999],"distance":1099.449407658215},{"start_region_id":23,"end_region_id":129,"start_point":[103,249],"end_point":[986,876],"distance":1082.967220187204},{"start_region_id":23,"end_region_id":125,"start_point":[103,249],"end_point":[937,861],"distance":1034.456378974},{"start_region_id":40,"end_region_id":137,"start_point":[978,416],"end_point":[89,940],"distance":1031.938467157805}],"complexity_score":0.695041427187884}
{"id":17201,"query_id":"Q03441","question":"A quadcopter starts from a paved lane and needs to reach a grassy field. The drone can fly over hard surfaces, grassy areas, and liquid bodies, but must avoid vertical obstacles like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved lane","end_land_type":"a grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_3.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":23,"start_point":[951,893],"end_point":[103,249],"distance":1064.8192334851958},{"start_region_id":152,"end_region_id":1,"start_point":[951,893],"end_point":[344,89],"distance":1007.4050823774913},{"start_region_id":154,"end_region_id":4,"start_point":[160,899],"end_point":[887,286],"distance":950.9458449354516},{"start_region_id":154,"end_region_id":40,"start_point":[160,899],"end_point":[978,416],"distance":949.9542094227489},{"start_region_id":152,"end_region_id":22,"start_point":[951,893],"end_point":[321,252],"distance":898.7663767631719}],"complexity_score":0.695041427187884}
{"id":7572,"query_id":"Q01515","question":"A delivery drone is on a paved landing pad and needs to reach a cultivated field. The drone operator wants to minimize vibrations and ensure stable flight for the safety of the package. The area contains hard paved surfaces, loose sandy or rocky ground, cultivated soil with crops, and areas with tall vertical obstacles. The hard paved surfaces, loose sandy or rocky ground, and cultivated soil with crops are all available for overflight. Areas with tall vertical obstacles can be flown around but not through, as passing through them would cause turbulence and discomfort. What is the most comfortable route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved landing pad","end_land_type":"cultivated field","task_description":"What is the most comfortable route for the delivery drone to travel from the paved landing pad to the cultivated field?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"svaneti_36.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":357,"start_point":[353,918],"end_point":[864,70],"distance":990.0631293003493},{"start_region_id":200,"end_region_id":356,"start_point":[911,892],"end_point":[573,24],"distance":931.4869832692242},{"start_region_id":211,"end_region_id":356,"start_point":[353,918],"end_point":[573,24],"distance":920.6714940737548},{"start_region_id":211,"end_region_id":358,"start_point":[353,918],"end_point":[709,108],"distance":884.7801986934383},{"start_region_id":200,"end_region_id":361,"start_point":[911,892],"end_point":[410,179],"distance":871.4183840153936}],"complexity_score":0.6950566882238072}
{"id":9056,"query_id":"Q01812","question":"A delivery van is currently parked on a paved parking lot and needs to reach a cultivated field as quickly as possible. The vehicle can travel on paved surfaces, compacted dirt tracks, and open ground with low vegetation. However, it cannot drive through wooded areas, across bodies of water, or through buildings. What is the fastest route for the van to take?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a cultivated field","task_description":"What is the fastest route for the van to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"svaneti_36.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":357,"start_point":[353,918],"end_point":[864,70],"distance":990.0631293003493},{"start_region_id":200,"end_region_id":356,"start_point":[911,892],"end_point":[573,24],"distance":931.4869832692242},{"start_region_id":211,"end_region_id":356,"start_point":[353,918],"end_point":[573,24],"distance":920.6714940737548},{"start_region_id":211,"end_region_id":358,"start_point":[353,918],"end_point":[709,108],"distance":884.7801986934383},{"start_region_id":200,"end_region_id":361,"start_point":[911,892],"end_point":[410,179],"distance":871.4183840153936}],"complexity_score":0.6950566882238072}
{"id":13905,"query_id":"Q02781","question":"An off-road vehicle needs to travel from a cultivated field to a grassy meadow. The vehicle can traverse areas with loose soil and rocks, open grassy terrain, paved hard surfaces, and cultivated fields. However, it cannot travel through dense vegetation, water bodies, or solid structures. The vehicle must reach the grassy meadow as quickly as possible.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path for the off-road vehicle to travel from the cultivated field to the grassy meadow?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"svaneti_36.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":76,"start_point":[864,70],"end_point":[27,800],"distance":1110.616495465469},{"start_region_id":357,"end_region_id":73,"start_point":[864,70],"end_point":[93,811],"distance":1069.3558808927924},{"start_region_id":357,"end_region_id":89,"start_point":[864,70],"end_point":[361,980],"distance":1039.7639155115935},{"start_region_id":367,"end_region_id":76,"start_point":[972,449],"end_point":[27,800],"distance":1008.0803539401013},{"start_region_id":356,"end_region_id":89,"start_point":[573,24],"end_point":[361,980],"distance":979.2241827079231}],"complexity_score":0.6950566882238072}
{"id":1320,"query_id":"Q00264","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy plants and a canopy overhead and needs to reach another densely vegetated area with tall, leafy plants and a canopy overhead. The terrain includes open grassy fields with low, soft vegetation and a hard, flat, paved surface designed for vehicle movement. The tall, leafy plants are passable because the vegetation is sparse enough to fly through without obstruction. You must avoid any liquid surfaces and solid vertical structures unless they are widely spaced. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy plants and a canopy overhead","end_land_type":"another densely vegetated area with tall, leafy plants and a canopy overhead","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"thousand_oaks_47.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":348,"end_region_id":198,"start_point":[193,785],"end_point":[619,51],"distance":848.6648337241269},{"start_region_id":198,"end_region_id":348,"start_point":[619,51],"end_point":[193,785],"distance":848.6648337241269},{"start_region_id":212,"end_region_id":348,"start_point":[802,237],"end_point":[193,785],"distance":819.2588113654928},{"start_region_id":348,"end_region_id":212,"start_point":[193,785],"end_point":[802,237],"distance":819.2588113654928},{"start_region_id":273,"end_region_id":348,"start_point":[831,515],"end_point":[193,785],"distance":692.7799073298821}],"complexity_score":0.6950734741380703}
{"id":12602,"query_id":"Q02521","question":"A delivery drone starts from a paved lane and needs to reach a grassy area with shrubs while prioritizing safety. The drone can fly over hard surfaces like sidewalks and parking areas, the paved lane itself, and the grassy area with shrubs. Passage near trees or buildings is permitted only if maintaining a safe altitude to avoid collisions. All other terrain types—including loose sandy or rocky ground, cultivated fields, and liquid surfaces—are impassable due to safety risks such as signal interference or unpredictable wind conditions.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"a grassy area with shrubs","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Building"],"traverse_vector":[0,1,1,1,1,0,0,1],"cost_vector":[0,2,2,2,1,0,0,1],"image_name":"thousand_oaks_47.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":2,"start_point":[876,446],"end_point":[199,16],"distance":802.0155858834664},{"start_region_id":180,"end_region_id":25,"start_point":[876,446],"end_point":[156,712],"distance":767.5649809625241},{"start_region_id":180,"end_region_id":55,"start_point":[876,446],"end_point":[456,991],"distance":688.058863760943},{"start_region_id":180,"end_region_id":16,"start_point":[876,446],"end_point":[212,300],"distance":679.8617506522926},{"start_region_id":180,"end_region_id":52,"start_point":[876,446],"end_point":[434,924],"distance":651.0360973095117}],"complexity_score":0.6950734741380703}
{"id":8522,"query_id":"Q01705","question":"An aerial surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while minimizing risk. The drone can fly over dry, loose soil and rocky patches, hard paved surfaces, vehicle lanes, and water bodies. However, it must avoid flying through dense vegetation or near vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_61.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":19,"start_point":[563,51],"end_point":[46,603],"distance":756.3021882819063},{"start_region_id":19,"end_region_id":4,"start_point":[46,603],"end_point":[563,51],"distance":756.3021882819063},{"start_region_id":4,"end_region_id":17,"start_point":[563,51],"end_point":[131,509],"distance":629.5935196616941},{"start_region_id":17,"end_region_id":4,"start_point":[131,509],"end_point":[563,51],"distance":629.5935196616941},{"start_region_id":6,"end_region_id":19,"start_point":[566,227],"end_point":[46,603],"distance":641.6977481649752}],"complexity_score":0.6952678637664623}
{"id":12961,"query_id":"Q02593","question":"An aerial surveillance drone starts from a vegetated area with tall, vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open, dry ground with loose soil or rocks, flat artificial surfaces like parking lots or sports fields, paved lanes used by vehicles, vegetated areas with tall structures, liquid surfaces, and cultivated fields with crops. However, the drone must avoid any built structures with solid roofs and walls. The mission requires minimizing risk to the drone's operation.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"paris_61.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":26,"start_point":[47,546],"end_point":[621,283],"distance":631.3834017457222},{"start_region_id":64,"end_region_id":29,"start_point":[47,546],"end_point":[591,380],"distance":568.7635712666556},{"start_region_id":64,"end_region_id":24,"start_point":[47,546],"end_point":[363,124],"distance":527.2001517450465},{"start_region_id":41,"end_region_id":26,"start_point":[111,203],"end_point":[621,283],"distance":516.2363799656123},{"start_region_id":41,"end_region_id":29,"start_point":[111,203],"end_point":[591,380],"distance":511.59456603838163}],"complexity_score":0.6952678637664623}
{"id":1183,"query_id":"Q00237","question":"An aerial survey drone starts from a hard, flat, paved surface and needs to reach an area of natural, uncultivated vegetation. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. While the drone can fly over most surfaces, it must avoid dense vertical obstacles like trees, as navigating through them would cause turbulence and jostling. It can safely fly over open water, but the drone's sensors are susceptible to moisture interference, making water crossings less desirable. The drone can traverse bare, rocky ground and open grassy areas, but these offer less predictable airflow than paved or developed surfaces. The drone cannot enter solid structures. Given these constraints, what is the most comfortable route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the most comfortable route for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chisinau_57.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":72,"start_point":[354,318],"end_point":[245,989],"distance":679.7955575024008},{"start_region_id":133,"end_region_id":54,"start_point":[849,793],"end_point":[180,833],"distance":670.1947478158867},{"start_region_id":133,"end_region_id":72,"start_point":[849,793],"end_point":[245,989],"distance":635.0055117871025},{"start_region_id":133,"end_region_id":41,"start_point":[849,793],"end_point":[289,706],"distance":566.7177427961824},{"start_region_id":131,"end_region_id":54,"start_point":[354,318],"end_point":[180,833],"distance":543.6000367917574}],"complexity_score":0.695397718593273}
{"id":10229,"query_id":"Q02046","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area. The terrain includes loose, sandy or rocky surfaces without vegetation, and vehicle lanes with hard surfaces like asphalt or concrete. However, areas with tall vegetation or trees are blocked due to dense growth, and water bodies or buildings are strictly impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, hard-paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_57.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":75,"start_point":[245,989],"end_point":[374,102],"distance":896.3314119230677},{"start_region_id":72,"end_region_id":97,"start_point":[245,989],"end_point":[663,302],"distance":804.1722452310823},{"start_region_id":54,"end_region_id":122,"start_point":[180,833],"end_point":[964,779],"distance":785.8574934426724},{"start_region_id":54,"end_region_id":75,"start_point":[180,833],"end_point":[374,102],"distance":756.3048327228909},{"start_region_id":72,"end_region_id":99,"start_point":[245,989],"end_point":[859,494],"distance":788.683079569988}],"complexity_score":0.695397718593273}
{"id":14864,"query_id":"Q02973","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved, hard-surfaced area. The terrain includes loose, sandy or rocky ground without vegetation; areas with grass and shrubs that are not cultivated; smooth, artificial surfaces like sidewalks and parking lots; individual trees or groups of trees; and cultivated crop fields. You cannot travel over liquid surfaces or enter any structures. As a hiker, you can walk on the paved surfaces and roads by default. You can also traverse the loose ground, grassy areas, crop fields, and wooded areas because you have appropriate footwear for varied terrain. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"paved, hard-surfaced area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_57.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":129,"start_point":[981,199],"end_point":[117,947],"distance":1142.8035701729323},{"start_region_id":72,"end_region_id":77,"start_point":[245,989],"end_point":[701,26],"distance":1065.5069216105544},{"start_region_id":14,"end_region_id":113,"start_point":[981,199],"end_point":[129,672],"distance":974.4911492671445},{"start_region_id":54,"end_region_id":77,"start_point":[180,833],"end_point":[701,26],"distance":960.5675405717185},{"start_region_id":72,"end_region_id":89,"start_point":[245,989],"end_point":[622,115],"distance":951.8429492305966}],"complexity_score":0.695397718593273}
{"id":13019,"query_id":"Q02604","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of low, natural vegetation. The drone can fly over open liquid surfaces and cultivated fields with short crops, but must avoid tall, dense vertical obstacles and solid structures. The drone's priority is to minimize travel time by selecting surfaces that allow stable, high-speed flight while maintaining safety. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"an area of low, natural vegetation","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dhaka_19.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":179,"end_region_id":3,"start_point":[73,761],"end_point":[1003,103],"distance":1139.23834205139},{"start_region_id":179,"end_region_id":1,"start_point":[73,761],"end_point":[674,82],"distance":906.7756062003433},{"start_region_id":178,"end_region_id":64,"start_point":[232,265],"end_point":[835,935],"distance":901.3928111539386},{"start_region_id":179,"end_region_id":41,"start_point":[73,761],"end_point":[931,498],"distance":897.4034767037623},{"start_region_id":178,"end_region_id":3,"start_point":[232,265],"end_point":[1003,103],"distance":787.8356427580565}],"complexity_score":0.6954201045335762}
{"id":17829,"query_id":"Q03566","question":"A quadcopter drone is positioned on a flat, paved surface and must navigate to an area with elevated vertical structures. The available terrain includes loose, granular surfaces; grassy, vegetated areas; cultivated fields; and the paved surface. The drone can fly over the vertical structures because it has sufficient altitude clearance. The objective is to find the safest flight path that minimizes collision risk and ensures stable operation.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat, paved surface","end_land_type":"area with elevated vertical structures","task_description":"What is the safest route for the drone to fly?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"bielefeld_60.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":317,"start_point":[448,527],"end_point":[766,150],"distance":493.20685315595523},{"start_region_id":277,"end_region_id":355,"start_point":[448,527],"end_point":[726,307],"distance":354.5193929815406}],"complexity_score":0.6954497888131121}
{"id":13323,"query_id":"Q02665","question":"A quadcopter drone is starting from a densely vegetated area with tall, woody plants and needs to reach another such area. The terrain includes open grassy fields, hard paved surfaces, vehicle lanes, cultivated crop fields, and densely vegetated areas with tall, woody plants. The densely vegetated areas are passable as the drone can fly above the tree canopy. Solid vertical structures are passable as the drone can fly around them. Liquid surfaces are passable as the drone can fly over them. ","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"another densely vegetated area with tall, woody plants","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"duesseldorf_38.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":248,"end_region_id":314,"start_point":[903,106],"end_point":[252,768],"distance":928.4637849695592},{"start_region_id":314,"end_region_id":248,"start_point":[252,768],"end_point":[903,106],"distance":928.4637849695592},{"start_region_id":308,"end_region_id":248,"start_point":[403,789],"end_point":[903,106],"distance":846.4567325032036},{"start_region_id":248,"end_region_id":308,"start_point":[903,106],"end_point":[403,789],"distance":846.4567325032036},{"start_region_id":248,"end_region_id":286,"start_point":[903,106],"end_point":[235,496],"distance":773.5140593421686}],"complexity_score":0.695599716551183}
{"id":13771,"query_id":"Q02755","question":"An off-road vehicle starts from a region of natural, uncultivated grassy terrain and needs to reach a destination on a flat, hard artificial surface. The only surfaces available for travel are: natural, uncultivated grassy terrain; natural, loose, sandy or rocky ground without vegetation; flat, hard artificial surfaces like parking lots or construction sites; and cultivated fields with crops or grazing vegetation. All other surfaces, including water bodies, vertical structures, and areas with trees, are completely impassable. What is the shortest possible route?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest possible route from the grassy terrain to the hard artificial surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,1,1,0,0,0,1,0],"image_name":"duesseldorf_38.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":146,"start_point":[409,491],"end_point":[891,486],"distance":482.02593291232785},{"start_region_id":18,"end_region_id":147,"start_point":[409,491],"end_point":[704,559],"distance":302.7358584641073},{"start_region_id":18,"end_region_id":144,"start_point":[409,491],"end_point":[616,483],"distance":207.15453169071634}],"complexity_score":0.695599716551183}
{"id":1461,"query_id":"Q00293","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, smooth surfaces suitable for walking, open grassy areas with low vegetation, and cultivated fields with loose soil. You must avoid any vertical structures, liquid surfaces, and bare rocky or sandy ground. What is the shortest route to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest route to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"houston_32.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":3,"start_point":[474,844],"end_point":[800,35],"distance":872.2138499244322},{"start_region_id":79,"end_region_id":2,"start_point":[474,844],"end_point":[465,8],"distance":836.0484435725002},{"start_region_id":79,"end_region_id":4,"start_point":[474,844],"end_point":[983,196],"distance":824.0054611469513},{"start_region_id":78,"end_region_id":3,"start_point":[525,624],"end_point":[800,35],"distance":650.0353836523055},{"start_region_id":77,"end_region_id":35,"start_point":[555,466],"end_point":[854,947],"distance":566.3585436805911}],"complexity_score":0.6956504632914843}
{"id":12435,"query_id":"Q02487","question":"A quadcopter drone starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface as quickly as possible. You can traverse grassy areas, cultivated fields, paved areas, vehicle lanes, and open water, but you must avoid any tall vegetation or structures that could obstruct flight. Grassy and cultivated areas are passable because the vegetation is low enough to fly over. Paved areas, vehicle lanes, and open water are clear and accessible. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved, hard surface like a sidewalk or parking lot","task_description":"What is the fastest path from the grassy, uneven starting point to the paved destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_32.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":54,"start_point":[854,947],"end_point":[99,91],"distance":1141.3855614997065},{"start_region_id":3,"end_region_id":76,"start_point":[800,35],"end_point":[244,1001],"distance":1114.5815358240957},{"start_region_id":4,"end_region_id":76,"start_point":[983,196],"end_point":[244,1001],"distance":1092.769875133827},{"start_region_id":2,"end_region_id":76,"start_point":[465,8],"end_point":[244,1001],"distance":1017.2954339816924},{"start_region_id":13,"end_region_id":69,"start_point":[105,355],"end_point":[950,866],"distance":987.4948101129444}],"complexity_score":0.6956504632914843}
{"id":15291,"query_id":"Q03059","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach an open area covered with low, natural vegetation. The drone can fly over liquid surfaces, but must avoid vertical obstacles that could cause collisions. The drone's flight path must prioritize terrain that minimizes risk of damage or loss of control.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"An open area covered with low, natural vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_32.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":35,"start_point":[99,91],"end_point":[854,947],"distance":1141.3855614997065},{"start_region_id":76,"end_region_id":3,"start_point":[244,1001],"end_point":[800,35],"distance":1114.5815358240957},{"start_region_id":76,"end_region_id":4,"start_point":[244,1001],"end_point":[983,196],"distance":1092.769875133827},{"start_region_id":76,"end_region_id":2,"start_point":[244,1001],"end_point":[465,8],"distance":1017.2954339816924},{"start_region_id":69,"end_region_id":13,"start_point":[950,866],"end_point":[105,355],"distance":987.4948101129444}],"complexity_score":0.6956504632914843}
{"id":5859,"query_id":"Q01172","question":"A quadcopter drone starts from a flat artificial surface and needs to reach an area with vertical obstacles like tall vegetation. The flat surfaces allow stable flight, while areas with vertical obstacles require careful maneuvering to avoid collisions. Water surfaces may cause signal interference and are to be avoided. All other terrain types are inaccessible. What is the most comfortable route to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat artificial surface","end_land_type":"area with vertical obstacles like tall vegetation","task_description":"What is the most comfortable route to take?","task_type":"Comfort","input_classes":["Developed space","Road","Tree"],"traverse_vector":[0,0,1,1,1,0,0,0],"cost_vector":[0,0,2,2,1,0,0,0],"image_name":"christchurch_37.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":575,"start_point":[893,271],"end_point":[79,935],"distance":1050.4722747412231},{"start_region_id":196,"end_region_id":575,"start_point":[600,53],"end_point":[79,935],"distance":1024.38518146252},{"start_region_id":220,"end_region_id":561,"start_point":[893,271],"end_point":[50,818],"distance":1004.9169119882499},{"start_region_id":244,"end_region_id":575,"start_point":[928,405],"end_point":[79,935],"distance":1000.8501386321531},{"start_region_id":196,"end_region_id":588,"start_point":[600,53],"end_point":[256,988],"distance":996.273556810578}],"complexity_score":0.6959032786057586}
{"id":15543,"query_id":"Q03109","question":"A quadcopter drone is on a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over solid ground, loose soil, vegetated fields, hard artificial surfaces, liquid surfaces, and vertical structures, but must avoid dense clusters of tall vegetation that could entangle its rotors. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, vegetated area","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"christchurch_37.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":12,"start_point":[608,507],"end_point":[145,69],"distance":637.3484133501863},{"start_region_id":357,"end_region_id":25,"start_point":[608,507],"end_point":[936,123],"distance":505.01485126677215},{"start_region_id":357,"end_region_id":134,"start_point":[608,507],"end_point":[61,737],"distance":593.3877315887142},{"start_region_id":357,"end_region_id":98,"start_point":[608,507],"end_point":[51,527],"distance":557.3589507669183},{"start_region_id":357,"end_region_id":182,"start_point":[608,507],"end_point":[598,986],"distance":479.10437276234495}],"complexity_score":0.6959032786057586}
{"id":16306,"query_id":"Q03262","question":"A quadcopter drone starts from a paved roadway and needs to reach a grassy meadow. The environment contains sandy expanses and cultivated crop fields. The drone can fly over all these surfaces, including sandy ground and crop fields, but must avoid flying through dense tree canopies or close to buildings. What is the shortest aerial path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved roadway","end_land_type":"grassy meadow","task_description":"What is the shortest aerial path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"christchurch_37.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":12,"start_point":[608,507],"end_point":[145,69],"distance":637.3484133501863},{"start_region_id":357,"end_region_id":25,"start_point":[608,507],"end_point":[936,123],"distance":505.01485126677215},{"start_region_id":357,"end_region_id":134,"start_point":[608,507],"end_point":[61,737],"distance":593.3877315887142},{"start_region_id":357,"end_region_id":98,"start_point":[608,507],"end_point":[51,527],"distance":557.3589507669183},{"start_region_id":357,"end_region_id":182,"start_point":[608,507],"end_point":[598,986],"distance":479.10437276234495}],"complexity_score":0.6959032786057586}
{"id":2275,"query_id":"Q00455","question":"An aerial surveillance drone starts from a paved lane, an aerial surveillance drone must reach a hard, flat artificial surface. The drone can fly over bare, loose soil and open water, but must avoid areas with dense vertical obstacles like trees or buildings to minimize collision risk. Which path should the drone take to reach the destination as safely as possible?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"Which path should the drone take to reach the destination as safely as possible?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_38.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":361,"end_region_id":209,"start_point":[881,944],"end_point":[83,26],"distance":1216.3584997853222},{"start_region_id":361,"end_region_id":234,"start_point":[881,944],"end_point":[349,174],"distance":935.9081151480631},{"start_region_id":361,"end_region_id":211,"start_point":[881,944],"end_point":[588,62],"distance":929.3938885101408},{"start_region_id":361,"end_region_id":228,"start_point":[881,944],"end_point":[529,161],"distance":858.4829643038935},{"start_region_id":361,"end_region_id":212,"start_point":[881,944],"end_point":[697,169],"distance":796.5431563951825}],"complexity_score":0.6959493850967852}
{"id":11898,"query_id":"Q02380","question":"A hiker starts from a paved, hard surface area and needs to reach a vehicle lane. The hiker can traverse hard, compacted surfaces like sidewalks and parking lots, as well as loose, sandy or rocky ground without vegetation, and vehicle lanes. The hiker cannot traverse areas with standing liquid, vertical structures, cultivated crops, dense vegetation, or grassy fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"san_tome_38.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":324,"end_region_id":354,"start_point":[594,866],"end_point":[494,375],"distance":501.0798339586218},{"start_region_id":259,"end_region_id":354,"start_point":[982,321],"end_point":[494,375],"distance":490.9786146055651},{"start_region_id":211,"end_region_id":354,"start_point":[588,62],"end_point":[494,375],"distance":326.8103425535979},{"start_region_id":234,"end_region_id":354,"start_point":[349,174],"end_point":[494,375],"distance":247.84269204477263},{"start_region_id":212,"end_region_id":354,"start_point":[697,169],"end_point":[494,375],"distance":289.21445330411825}],"complexity_score":0.6959493850967852}
{"id":15863,"query_id":"Q03173","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open grassy area. The drone can fly over areas with loose soil and vegetation, as well as liquid surfaces, but must avoid tall vertical obstacles that could cause collisions. The paved areas and grassy fields are generally safe for flight, while liquid surfaces and vertical structures pose higher risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open grassy area","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_38.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":345,"end_region_id":15,"start_point":[855,986],"end_point":[61,91],"distance":1196.436793148723},{"start_region_id":333,"end_region_id":15,"start_point":[969,860],"end_point":[61,91],"distance":1189.884448171334},{"start_region_id":343,"end_region_id":9,"start_point":[190,964],"end_point":[969,82],"distance":1176.760383425615},{"start_region_id":209,"end_region_id":176,"start_point":[83,26],"end_point":[895,828],"distance":1141.2922500394016},{"start_region_id":259,"end_region_id":198,"start_point":[982,321],"end_point":[38,955],"distance":1137.1420315862042}],"complexity_score":0.6959493850967852}
{"id":15950,"query_id":"Q03190","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach another location with similar tall, vertical obstacles. The drone must maintain stable flight and minimize vibrations for its sensitive sensors. The available surfaces include: soft, grassy areas; hard, flat paved surfaces; tall, vertical obstacles; liquid surfaces; and cultivated, vegetated fields. The drone cannot fly through solid, enclosed structures. The drone is permitted to fly over tall, vertical obstacles only if it maintains a safe altitude to avoid collisions. The liquid surfaces are traversable but may cause sensor interference due to reflections. The hard, flat paved surfaces and soft, grassy areas provide the most stable flight conditions. The cultivated fields offer moderate stability but may have uneven vegetation. The tall, vertical obstacles require careful maneuvering and are less comfortable due to turbulence and collision risk.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall, vertical obstacles that require careful navigation.","end_land_type":"The destination is another location with similar tall, vertical obstacles.","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"san_tome_38.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":389,"end_region_id":514,"start_point":[951,189],"end_point":[119,948],"distance":1126.1904812242021},{"start_region_id":514,"end_region_id":389,"start_point":[119,948],"end_point":[951,189],"distance":1126.1904812242021},{"start_region_id":512,"end_region_id":369,"start_point":[977,930],"end_point":[352,45],"distance":1083.4435841334794},{"start_region_id":369,"end_region_id":512,"start_point":[352,45],"end_point":[977,930],"distance":1083.4435841334794},{"start_region_id":374,"end_region_id":514,"start_point":[809,112],"end_point":[119,948],"distance":1083.9723243699536}],"complexity_score":0.6959493850967852}
{"id":8762,"query_id":"Q01753","question":"A surveillance drone starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain while prioritizing safety. The drone can fly over areas with loose soil and rocks, grassy surfaces, and paved, hard surfaces, but must avoid any dense vertical obstacles or unstable structures. The drone is allowed to fly over grassy, uneven terrain as long as it is clear of obstructions. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"buenos_aires_64.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":143,"start_point":[98,62],"end_point":[574,946],"distance":1004.0079680958712},{"start_region_id":143,"end_region_id":1,"start_point":[574,946],"end_point":[98,62],"distance":1004.0079680958712},{"start_region_id":1,"end_region_id":133,"start_point":[98,62],"end_point":[472,890],"distance":908.5482926074981},{"start_region_id":133,"end_region_id":1,"start_point":[472,890],"end_point":[98,62],"distance":908.5482926074981},{"start_region_id":4,"end_region_id":143,"start_point":[638,36],"end_point":[574,946],"distance":912.2477733598477}],"complexity_score":0.6962160685358084}
{"id":9615,"query_id":"Q01923","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The terrain includes hard, flat surfaces, open areas of loose soil and rocks, patches of low vegetation and shrubs, and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid any tall vertical structures or dense tree canopies. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_64.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":360,"end_region_id":363,"start_point":[796,486],"end_point":[187,239],"distance":657.1833838435052},{"start_region_id":363,"end_region_id":360,"start_point":[187,239],"end_point":[796,486],"distance":657.1833838435052},{"start_region_id":363,"end_region_id":365,"start_point":[187,239],"end_point":[552,375],"distance":389.51379949881107},{"start_region_id":365,"end_region_id":363,"start_point":[552,375],"end_point":[187,239],"distance":389.51379949881107},{"start_region_id":360,"end_region_id":365,"start_point":[796,486],"end_point":[552,375],"distance":268.06156009394556}],"complexity_score":0.6962160685358084}
{"id":14140,"query_id":"Q02828","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a paved lane. The drone can fly over most surfaces, but must navigate around dense clusters of tall vegetation that would require slower, more careful maneuvering. The terrain includes areas of loose, sandy soil and patches of low shrubs. What is the fastest path to the paved lane?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"paved lane","task_description":"What is the fastest path to the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"buenos_aires_64.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":363,"start_point":[574,946],"end_point":[187,239],"distance":805.9888336695491},{"start_region_id":1,"end_region_id":360,"start_point":[98,62],"end_point":[796,486],"distance":816.6884350840288},{"start_region_id":133,"end_region_id":363,"start_point":[472,890],"end_point":[187,239],"distance":710.6518134783024},{"start_region_id":88,"end_region_id":363,"start_point":[614,628],"end_point":[187,239],"distance":577.6244454660831},{"start_region_id":143,"end_region_id":365,"start_point":[574,946],"end_point":[552,375],"distance":571.4236606931848}],"complexity_score":0.6962160685358084}
{"id":249,"query_id":"Q00050","question":"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 cultivated fields; and calm water surfaces, but must avoid dense tree canopies and vertical structures. Paved surfaces and vehicle lanes are not available for this mission.","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks","end_land_type":"and needing to reach another area of similar loose, sandy terrain","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[2,2,0,0,0,1,2,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":1,"start_point":[930,828],"end_point":[89,183],"distance":1059.8613116818633},{"start_region_id":1,"end_region_id":8,"start_point":[89,183],"end_point":[930,828],"distance":1059.8613116818633},{"start_region_id":8,"end_region_id":3,"start_point":[930,828],"end_point":[94,286],"distance":996.3232407206007},{"start_region_id":3,"end_region_id":8,"start_point":[94,286],"end_point":[930,828],"distance":996.3232407206007},{"start_region_id":1,"end_region_id":9,"start_point":[89,183],"end_point":[716,728],"distance":830.7550782270307}],"complexity_score":0.6963155000685834}
{"id":713,"query_id":"Q00143","question":"A surveillance drone starts from a sandy, open area and needs to reach another sandy, open area while minimizing risk. The drone can fly over most surfaces: open sandy ground, paved areas like sidewalks and roads, and areas with trees are allowed if the drone can navigate around obstacles. All other terrain types, such as water bodies and buildings, are accessible but may pose risks. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a sandy, open area","end_land_type":"another sandy, open area","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":1,"start_point":[930,828],"end_point":[89,183],"distance":1059.8613116818633},{"start_region_id":1,"end_region_id":8,"start_point":[89,183],"end_point":[930,828],"distance":1059.8613116818633},{"start_region_id":8,"end_region_id":3,"start_point":[930,828],"end_point":[94,286],"distance":996.3232407206007},{"start_region_id":3,"end_region_id":8,"start_point":[94,286],"end_point":[930,828],"distance":996.3232407206007},{"start_region_id":1,"end_region_id":9,"start_point":[89,183],"end_point":[716,728],"distance":830.7550782270307}],"complexity_score":0.6963155000685834}
{"id":3237,"query_id":"Q00648","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy area. The terrain includes only hard, artificial surfaces and loose, sandy ground without vegetation. All other surfaces, such as water bodies, buildings, trees, roads, agricultural fields, and grassy areas, are not accessible. What is the shortest path?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the shortest path from the paved, hard surface to the loose, sandy area?","task_type":"Shortest","input_classes":["Bareland","Developed space"],"traverse_vector":[1,0,1,0,0,0,0,0],"cost_vector":[1,0,1,0,0,0,0,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":4,"start_point":[206,664],"end_point":[251,465],"distance":204.0245083317198}],"complexity_score":0.6963155000685834}
{"id":9624,"query_id":"Q01925","question":"A hiker is standing on a paved area and needs to reach a patch of loose, sandy ground. The terrain includes hard, flat surfaces suitable for walking, grassy and shrub-covered areas that are passable on foot, and cultivated fields with soft soil that can be crossed. The hiker cannot enter any structures or water bodies. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"loose, sandy ground","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":6,"start_point":[306,56],"end_point":[776,541],"distance":675.3702688155587},{"start_region_id":140,"end_region_id":2,"start_point":[618,947],"end_point":[337,369],"distance":642.6857708087211},{"start_region_id":132,"end_region_id":4,"start_point":[484,841],"end_point":[251,465],"distance":442.3403666861075},{"start_region_id":140,"end_region_id":6,"start_point":[618,947],"end_point":[776,541],"distance":435.6604182158393},{"start_region_id":100,"end_region_id":4,"start_point":[184,862],"end_point":[251,465],"distance":402.613959022784}],"complexity_score":0.6963155000685834}
{"id":10104,"query_id":"Q02021","question":"A quadcopter drone is positioned on a patch of loose, sandy soil with scattered rocks. It needs to reach a cluster of tall, leafy trees as quickly as possible. The drone can fly over areas with sparse, low vegetation; flat, hard surfaces like pavements or parking lots; and the trees themselves, but must avoid any water bodies or buildings. The trees are conditionally traversable because the drone can navigate through gaps in the canopy or fly above them, though this may slow it down. All other surfaces mentioned are traversable by default for the drone.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy soil with scattered rocks","end_land_type":"a cluster of tall, leafy trees","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Tree"],"traverse_vector":[1,1,1,0,1,0,0,0],"cost_vector":[2,2,2,0,1,0,0,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":259,"start_point":[94,286],"end_point":[782,982],"distance":978.6521343153552},{"start_region_id":11,"end_region_id":152,"start_point":[531,764],"end_point":[116,35],"distance":838.848019607843},{"start_region_id":6,"end_region_id":152,"start_point":[776,541],"end_point":[116,35],"distance":831.6465595431752},{"start_region_id":3,"end_region_id":270,"start_point":[94,286],"end_point":[523,998],"distance":831.2550751724767},{"start_region_id":3,"end_region_id":215,"start_point":[94,286],"end_point":[846,490],"distance":779.1790551599805}],"complexity_score":0.6963155000685834}
{"id":10595,"query_id":"Q02119","question":"A delivery drone is starting from a location on exposed, rocky ground and needs to reach another location on similar exposed, rocky ground. The drone can fly over hard surfaces, vehicle pathways, vegetated areas, and the rocky ground itself. However, to maximize flight comfort and stability, the drone should prioritize flying over surfaces that are smooth, stable, and predictable, and avoid areas with tall vertical obstacles or liquid surfaces that might cause turbulence or instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"exposed, rocky ground","end_land_type":"exposed, rocky ground","task_description":"What is the most comfortable path for the delivery drone to travel from the starting exposed, rocky ground to the destination exposed, rocky ground?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":6,"start_point":[337,369],"end_point":[776,541],"distance":471.49231170826107},{"start_region_id":6,"end_region_id":2,"start_point":[776,541],"end_point":[337,369],"distance":471.49231170826107},{"start_region_id":4,"end_region_id":11,"start_point":[251,465],"end_point":[531,764],"distance":409.6352035653186},{"start_region_id":11,"end_region_id":4,"start_point":[531,764],"end_point":[251,465],"distance":409.6352035653186}],"complexity_score":0.6963155000685834}
{"id":14254,"query_id":"Q02851","question":"A quadcopter drone is currently positioned on a dry, sandy or rocky area. The drone needs to reach another dry, sandy or rocky area, passing over a paved lane and a body of water. The drone can fly over most surfaces but must avoid vertical obstacles like trees and buildings for safety, as they pose collision risks. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A dry, sandy or rocky area","end_land_type":"Another dry, sandy or rocky area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":1,"start_point":[930,828],"end_point":[89,183],"distance":1059.8613116818633},{"start_region_id":1,"end_region_id":8,"start_point":[89,183],"end_point":[930,828],"distance":1059.8613116818633},{"start_region_id":8,"end_region_id":3,"start_point":[930,828],"end_point":[94,286],"distance":996.3232407206007},{"start_region_id":3,"end_region_id":8,"start_point":[94,286],"end_point":[930,828],"distance":996.3232407206007},{"start_region_id":1,"end_region_id":9,"start_point":[89,183],"end_point":[716,728],"distance":830.7550782270307}],"complexity_score":0.6963155000685834}
{"id":15276,"query_id":"Q03056","question":"An aerial survey drone is positioned on a patch of loose, sandy ground with scattered rocks. It needs to reach an area covered with low, natural vegetation and shrubs. The drone can fly over hard, paved surfaces, cultivated fields with crops, and open water bodies. However, it must avoid flying through dense tree canopies or near tall structures, as these could cause turbulence and instability. The drone's priority is to maintain a smooth, vibration-free flight to protect its sensitive imaging equipment. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of loose, sandy ground with scattered rocks","end_land_type":"An area covered with low, natural vegetation and shrubs","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":17,"start_point":[930,828],"end_point":[209,52],"distance":1059.2530387022734},{"start_region_id":1,"end_region_id":34,"start_point":[89,183],"end_point":[973,272],"distance":888.4689077283459},{"start_region_id":1,"end_region_id":60,"start_point":[89,183],"end_point":[597,874],"distance":857.6392015294077},{"start_region_id":3,"end_region_id":34,"start_point":[94,286],"end_point":[973,272],"distance":879.1114832602291},{"start_region_id":9,"end_region_id":17,"start_point":[716,728],"end_point":[209,52],"distance":845.0}],"complexity_score":0.6963155000685834}
{"id":16119,"query_id":"Q03224","question":"An aerial survey drone starts from a patch of loose, dry earth with scattered rocks and no vegetation and needs to reach a flat, hard, paved surface suitable for landing. The drone can fly over areas of loose soil, grassy or shrub-covered ground, liquid surfaces, and paved lanes, but must avoid dense clusters of tall vertical obstacles. The priority is to maintain stable, vibration-free flight to protect sensitive onboard equipment. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, dry earth with scattered rocks and no vegetation.","end_land_type":"The destination is a flat, hard, paved surface suitable for landing.","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mahe_37.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":149,"start_point":[930,828],"end_point":[647,210],"distance":679.7153816120391},{"start_region_id":8,"end_region_id":151,"start_point":[930,828],"end_point":[250,814],"distance":680.1441023783121},{"start_region_id":1,"end_region_id":150,"start_point":[89,183],"end_point":[610,575],"distance":652.0007668707146},{"start_region_id":1,"end_region_id":151,"start_point":[89,183],"end_point":[250,814],"distance":651.2157860494476},{"start_region_id":11,"end_region_id":149,"start_point":[531,764],"end_point":[647,210],"distance":566.0141340991406}],"complexity_score":0.6963155000685834}
{"id":2329,"query_id":"Q00466","question":"A quadcopter drone is on a paved concrete surface and needs to reach a paved asphalt street. The drone can fly over most terrains but must avoid vertical obstacles like trees and buildings for safety, as collisions could cause damage. It can traverse hard surfaces, soft ground, vegetation-covered areas, and liquid surfaces, but flying over water increases risk due to potential signal interference or loss if it falls. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved concrete surface","end_land_type":"A paved asphalt street","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tuscaloosa_39.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":124,"start_point":[756,84],"end_point":[75,745],"distance":949.0426755420433},{"start_region_id":75,"end_region_id":116,"start_point":[92,336],"end_point":[971,570],"distance":909.6136542510782},{"start_region_id":64,"end_region_id":116,"start_point":[238,97],"end_point":[971,570],"distance":872.3634563643757},{"start_region_id":83,"end_region_id":124,"start_point":[827,521],"end_point":[75,745],"distance":784.6527894553107},{"start_region_id":63,"end_region_id":124,"start_point":[516,102],"end_point":[75,745],"distance":779.698659739774}],"complexity_score":0.6963231627323679}
{"id":6105,"query_id":"Q01221","question":"A hiker starts from a paved sidewalk and needs to reach a shaded grove of trees as quickly as possible. The hiker can traverse hard surfaces like sidewalks and roads, and can also cross soft ground like loose soil and grassy areas, but must avoid water bodies and buildings. The hiker can walk through vegetated areas if they are not too dense. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a shaded grove of trees","task_description":"What is the fastest path from the paved sidewalk to the shaded grove of trees?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"tuscaloosa_39.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":226,"start_point":[238,97],"end_point":[963,1007],"distance":1163.4968843963443},{"start_region_id":75,"end_region_id":226,"start_point":[92,336],"end_point":[963,1007],"distance":1099.4917007417564},{"start_region_id":58,"end_region_id":216,"start_point":[756,84],"end_point":[115,932],"distance":1063.007525843538},{"start_region_id":65,"end_region_id":226,"start_point":[299,184],"end_point":[963,1007],"distance":1057.4615832265492},{"start_region_id":63,"end_region_id":226,"start_point":[516,102],"end_point":[963,1007],"distance":1009.3730727535781}],"complexity_score":0.6963231627323679}
{"id":11135,"query_id":"Q02227","question":"A delivery drone starts from a concrete pad and needs to reach another concrete pad while prioritizing safety. The terrain includes grassy fields and shrubs, paved surfaces and vehicle lanes, wooded areas with trees that can be flown between, vertical structures that can be flown around, and water bodies that pose minimal risk. The drone must choose a route that minimizes risk of collision or system failure.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a concrete pad","end_land_type":"another concrete pad","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"tuscaloosa_39.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":64,"start_point":[836,659],"end_point":[238,97],"distance":820.6387755888702},{"start_region_id":64,"end_region_id":89,"start_point":[238,97],"end_point":[836,659],"distance":820.6387755888702},{"start_region_id":75,"end_region_id":89,"start_point":[92,336],"end_point":[836,659],"distance":811.0887744260797},{"start_region_id":89,"end_region_id":75,"start_point":[836,659],"end_point":[92,336],"distance":811.0887744260797},{"start_region_id":86,"end_region_id":64,"start_point":[720,725],"end_point":[238,97],"distance":791.6489120816121}],"complexity_score":0.6963231627323679}
{"id":2567,"query_id":"Q00514","question":"An off-road vehicle starts from a grassy, open area and needs to reach another grassy, open area while prioritizing safety. The terrain consists of natural, uneven ground covered with grass and low shrubs, which is traversable with appropriate clearance. You must avoid any paved surfaces, any cultivated fields, any wooded areas, any water bodies, and any structures. What is the safest path to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Rangeland"],"traverse_vector":[0,1,0,0,0,0,0,0],"cost_vector":[0,1,0,0,0,0,0,0],"image_name":"muenster_47.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":126,"start_point":[368,762],"end_point":[157,796],"distance":213.7217817631137},{"start_region_id":126,"end_region_id":106,"start_point":[157,796],"end_point":[368,762],"distance":213.7217817631137}],"complexity_score":0.696360744872432}
{"id":5824,"query_id":"Q01165","question":"A hiker is standing on grassy, open terrain and needs to reach another patch of grassy, open terrain. The area contains both open grassy fields and cultivated crop fields. The hiker must avoid all paved surfaces, roads, water bodies, trees, buildings, and bare rocky or sandy ground. The cultivated fields are currently fallow with firm, dry soil that provides stable footing. The hiker's priority is to minimize any risk of slips, falls, or hazardous terrain.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,2,0],"image_name":"muenster_47.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":126,"start_point":[368,762],"end_point":[157,796],"distance":213.7217817631137},{"start_region_id":126,"end_region_id":106,"start_point":[157,796],"end_point":[368,762],"distance":213.7217817631137}],"complexity_score":0.696360744872432}
{"id":7179,"query_id":"Q01436","question":"A quadcopter drone starts from a flat, artificial surface and needs to reach a cluster of tall, vertical natural structures. The drone can fly over most terrain types, including cultivated fields with rows of crops, but must navigate carefully around the tall structures to avoid collisions. The drone's flight controller prioritizes smooth, stable flight with minimal turbulence and vibration. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"a cluster of tall, vertical natural structures","task_description":"What is the most comfortable flight path for the quadcopter drone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"muenster_47.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":328,"end_region_id":426,"start_point":[854,803],"end_point":[36,28],"distance":1126.8313982135926},{"start_region_id":186,"end_region_id":625,"start_point":[947,125],"end_point":[72,781],"distance":1093.6000182882221},{"start_region_id":344,"end_region_id":429,"start_point":[78,931],"end_point":[599,8],"distance":1059.8915038814114},{"start_region_id":260,"end_region_id":426,"start_point":[933,577],"end_point":[36,28],"distance":1051.6701003641779},{"start_region_id":341,"end_region_id":426,"start_point":[611,898],"end_point":[36,28],"distance":1042.84466724436}],"complexity_score":0.696360744872432}
{"id":2620,"query_id":"Q00524","question":"A sedan with standard suspension starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists only of smooth, stable, and predictable surfaces that provide consistent support. All other types of ground—such as loose soil, vegetation-covered areas, water bodies, and vertical structures—are impassable due to physical barriers or instability that would cause discomfort or prevent passage. The goal is to find a path that maximizes ride comfort.","agent_category":"Car","specific_agent":"A sedan with standard suspension","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"tokyo_39.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":112,"start_point":[983,183],"end_point":[41,883],"distance":1173.6115200525257},{"start_region_id":112,"end_region_id":75,"start_point":[41,883],"end_point":[983,183],"distance":1173.6115200525257},{"start_region_id":116,"end_region_id":61,"start_point":[777,962],"end_point":[168,33],"distance":1110.8204175293142},{"start_region_id":61,"end_region_id":116,"start_point":[168,33],"end_point":[777,962],"distance":1110.8204175293142},{"start_region_id":61,"end_region_id":101,"start_point":[168,33],"end_point":[957,769],"distance":1078.9888785339726}],"complexity_score":0.6963666420909548}
{"id":10765,"query_id":"Q02153","question":"An aerial delivery drone starts from a paved lane and needs to reach a flat artificial surface. The drone can fly over open grassy areas, paved lanes, flat artificial surfaces, water bodies, and areas with tall vertical obstacles, but must avoid dense overhead obstacles that could entangle its rotors. The drone's flight path must prioritize terrains that allow maximum forward speed while maintaining stable flight. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial delivery drone","start_land_type":"paved lane","end_land_type":"flat artificial surface","task_description":"What is the fastest route for the aerial delivery drone to reach the flat artificial surface from the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"tokyo_39.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":61,"start_point":[933,957],"end_point":[168,33],"distance":1199.5836777815878},{"start_region_id":136,"end_region_id":77,"start_point":[933,957],"end_point":[213,177],"distance":1061.5083607772478},{"start_region_id":136,"end_region_id":88,"start_point":[933,957],"end_point":[57,402],"distance":1037.0154290076885},{"start_region_id":136,"end_region_id":64,"start_point":[933,957],"end_point":[605,123],"distance":896.1807853329594},{"start_region_id":136,"end_region_id":112,"start_point":[933,957],"end_point":[41,883],"distance":895.064243504342}],"complexity_score":0.6963666420909548}
{"id":12232,"query_id":"Q02447","question":"A hiker starts from grassy, uneven ground with scattered shrubs and needs to reach a paved lane used by vehicles. The area includes hard, flat surfaces like sidewalks and parking lots, as well as cultivated fields with crops, but you cannot cross any water bodies or enter buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"tokyo_39.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":136,"start_point":[61,44],"end_point":[933,957],"distance":1262.518514715725},{"start_region_id":8,"end_region_id":136,"start_point":[37,150],"end_point":[933,957],"distance":1205.8461759279248},{"start_region_id":6,"end_region_id":136,"start_point":[332,71],"end_point":[933,957],"distance":1070.6059032155576},{"start_region_id":14,"end_region_id":136,"start_point":[37,349],"end_point":[933,957],"distance":1082.8111562040724},{"start_region_id":2,"end_region_id":136,"start_point":[748,32],"end_point":[933,957],"distance":943.3186100146652}],"complexity_score":0.6963666420909548}
{"id":768,"query_id":"Q00154","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures providing overhead cover and needs to reach another similar vegetated area. The drone must maintain a smooth and stable flight to protect its sensitive imaging equipment. The mission area contains various surfaces: hard, flat paved areas; long, linear paved strips for vehicles; open bodies of liquid; and cultivated fields with low, uniform vegetation. The drone can fly over all these surfaces, but the tall, leafy structures require careful navigation to avoid collisions and maintain stability. The open bodies of liquid can cause unpredictable air currents that may introduce vibrations. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A vegetated area with tall, leafy structures providing overhead cover.","end_land_type":"Another vegetated area with tall, leafy structures providing overhead cover.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"santiago_34.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":214,"start_point":[562,762],"end_point":[318,82],"distance":722.4513824472897},{"start_region_id":214,"end_region_id":309,"start_point":[318,82],"end_point":[562,762],"distance":722.4513824472897},{"start_region_id":214,"end_region_id":293,"start_point":[318,82],"end_point":[807,591],"distance":705.8342581654705},{"start_region_id":293,"end_region_id":214,"start_point":[807,591],"end_point":[318,82],"distance":705.8342581654705},{"start_region_id":290,"end_region_id":214,"start_point":[426,569],"end_point":[318,82],"distance":498.831634923047}],"complexity_score":0.6964444209727151}
{"id":4093,"query_id":"Q00819","question":"A quadcopter starts from a densely vegetated area with tall, upright obstacles and needs to reach a grassy, open field. The terrain includes loose, sandy or rocky ground without vegetation; grassy or shrubby areas that are not cultivated; hard, paved surfaces like sidewalks or parking lots; vehicle lanes made of asphalt or concrete; cultivated crop fields; and the initial densely vegetated area. For safety, you must avoid all liquid surfaces and any constructed vertical structures. The tall, dense vertical obstacles and constructed vertical structures are accessible only with careful navigation to avoid collisions. What is the safest path to take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall, upright obstacles","end_land_type":"a grassy, open field","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_34.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":86,"start_point":[318,82],"end_point":[594,1000],"distance":958.5927185202274},{"start_region_id":214,"end_region_id":69,"start_point":[318,82],"end_point":[89,887],"distance":836.9384684670672},{"start_region_id":214,"end_region_id":50,"start_point":[318,82],"end_point":[971,586],"distance":824.8787789730077},{"start_region_id":214,"end_region_id":57,"start_point":[318,82],"end_point":[764,769],"distance":819.0756985773659},{"start_region_id":293,"end_region_id":69,"start_point":[807,591],"end_point":[89,887],"distance":776.6208856321082}],"complexity_score":0.6964444209727151}
{"id":2478,"query_id":"Q00496","question":"A surveillance drone starts from a cultivated field with loose soil and crops and needs to reach a paved street. The drone can only use airspace over surfaces that are stable and predictable to minimize risk: open areas like fields, hard flat surfaces, and roads are allowed, as well as trees and buildings since the drone can fly around them carefully. Water bodies are not traversable due to potential signal interference or splash hazards. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the safest path for the surveillance drone to take from the cultivated field to the paved street?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"piura_50.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":53,"start_point":[33,973],"end_point":[900,506],"distance":984.7730703060478},{"start_region_id":149,"end_region_id":53,"start_point":[55,761],"end_point":[900,506],"distance":882.6380911789385},{"start_region_id":146,"end_region_id":53,"start_point":[75,327],"end_point":[900,506],"distance":844.1954749937955},{"start_region_id":147,"end_region_id":53,"start_point":[57,539],"end_point":[900,506],"distance":843.6456602152351},{"start_region_id":150,"end_region_id":53,"start_point":[187,830],"end_point":[900,506],"distance":783.1634567572723}],"complexity_score":0.6964464025400012}
{"id":6630,"query_id":"Q01326","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field while prioritizing safety. The drone can fly over open, solid ground composed of loose earth and rocks; areas with low, natural vegetation; hard, paved surfaces; vehicle lanes; liquid surfaces; and other cultivated areas. However, vertical structures and dense, tall vegetation pose collision risks and should be avoided. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the aerial survey drone to travel from the starting cultivated field to the destination cultivated field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"piura_50.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":151,"start_point":[247,242],"end_point":[33,973],"distance":761.6803791617584},{"start_region_id":151,"end_region_id":145,"start_point":[33,973],"end_point":[247,242],"distance":761.6803791617584},{"start_region_id":146,"end_region_id":151,"start_point":[75,327],"end_point":[33,973],"distance":647.3638853071741},{"start_region_id":151,"end_region_id":146,"start_point":[33,973],"end_point":[75,327],"distance":647.3638853071741},{"start_region_id":145,"end_region_id":150,"start_point":[247,242],"end_point":[187,830],"distance":591.053297089188}],"complexity_score":0.6964464025400012}
{"id":15420,"query_id":"Q03084","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with crops. The drone can fly over areas with soft, grassy vegetation, open water bodies, and cultivated fields, but must avoid dense tree canopies and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with crops","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"piura_50.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":151,"start_point":[933,149],"end_point":[33,973],"distance":1220.2360427392725},{"start_region_id":23,"end_region_id":151,"start_point":[791,108],"end_point":[33,973],"distance":1150.1256453101114},{"start_region_id":22,"end_region_id":151,"start_point":[704,106],"end_point":[33,973],"distance":1096.3256815381094},{"start_region_id":24,"end_region_id":149,"start_point":[933,149],"end_point":[55,761],"distance":1070.2467005321716},{"start_region_id":34,"end_region_id":151,"start_point":[977,468],"end_point":[33,973],"distance":1070.58909017419}],"complexity_score":0.6964464025400012}
{"id":1166,"query_id":"Q00234","question":"An aerial survey drone is positioned on an open grassy area and needs to reach a wooded canopy. The drone must avoid any vertical structures or dense obstacles that could cause collisions, and liquid surfaces are considered hazardous due to potential signal interference or splash damage. The grassy terrain and wooded areas are traversable, but the drone should prioritize stable, open spaces to minimize risk. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Open grassy area","end_land_type":"Wooded canopy","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_15.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":229,"start_point":[868,45],"end_point":[129,883],"distance":1117.30255526424},{"start_region_id":3,"end_region_id":232,"start_point":[868,45],"end_point":[271,973],"distance":1103.445966053617},{"start_region_id":11,"end_region_id":229,"start_point":[951,287],"end_point":[129,883],"distance":1015.3324578678651},{"start_region_id":50,"end_region_id":202,"start_point":[27,788],"end_point":[908,307],"distance":1003.7539539150021},{"start_region_id":2,"end_region_id":232,"start_point":[580,34],"end_point":[271,973],"distance":988.5352800987935}],"complexity_score":0.6964753809497232}
{"id":5483,"query_id":"Q01097","question":"A quadcopter starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The area includes vertical obstacles like tall vegetation that require careful navigation, but they can be flown through if needed. All other surfaces are either not present or irrelevant for aerial travel. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path from the starting grassy, open field to the destination grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_15.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":50,"start_point":[868,45],"end_point":[27,788],"distance":1122.198734627695},{"start_region_id":50,"end_region_id":3,"start_point":[27,788],"end_point":[868,45],"distance":1122.198734627695},{"start_region_id":11,"end_region_id":50,"start_point":[951,287],"end_point":[27,788],"distance":1051.0837264461857},{"start_region_id":50,"end_region_id":11,"start_point":[27,788],"end_point":[951,287],"distance":1051.0837264461857},{"start_region_id":50,"end_region_id":2,"start_point":[27,788],"end_point":[580,34],"distance":935.053474406678}],"complexity_score":0.6964753809497232}
{"id":17059,"query_id":"Q03412","question":"A passenger car starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes smooth, paved surfaces suitable for driving, as well as areas with loose soil and natural vegetation that may be uneven. You must avoid any vertical obstacles, liquid surfaces, and wooded areas. The goal is to find a path that maximizes ride comfort.","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,3,4,0,0,0,0],"image_name":"chisinau_15.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":172,"start_point":[522,944],"end_point":[324,254],"distance":717.8467803090016},{"start_region_id":104,"end_region_id":188,"start_point":[161,310],"end_point":[446,920],"distance":673.2941407735552},{"start_region_id":139,"end_region_id":172,"start_point":[213,857],"end_point":[324,254],"distance":613.1313073070074},{"start_region_id":134,"end_region_id":172,"start_point":[45,768],"end_point":[324,254],"distance":584.8392941654998},{"start_region_id":104,"end_region_id":183,"start_point":[161,310],"end_point":[142,828],"distance":518.3483384751995}],"complexity_score":0.6964753809497232}
{"id":2783,"query_id":"Q00557","question":"A delivery van starts from a paved road surface and needs to reach another paved road surface. The vehicle can only travel on hard, stable surfaces like asphalt or concrete, and may also use compacted, level ground suitable for driving. Loose, sandy, or rocky terrain without vegetation is accessible, as is cultivated land with crops that has been prepared for vehicle passage. All other terrain types, including areas with trees, water bodies, and structures, are impassable. What is the shortest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"chicago_26.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":38,"start_point":[148,872],"end_point":[652,25],"distance":985.6089488230107},{"start_region_id":38,"end_region_id":44,"start_point":[652,25],"end_point":[148,872],"distance":985.6089488230107},{"start_region_id":43,"end_region_id":38,"start_point":[329,872],"end_point":[652,25],"distance":906.4976558160533},{"start_region_id":38,"end_region_id":43,"start_point":[652,25],"end_point":[329,872],"distance":906.4976558160533},{"start_region_id":43,"end_region_id":35,"start_point":[329,872],"end_point":[33,97],"distance":829.6029170633382}],"complexity_score":0.69688480806004}
{"id":5750,"query_id":"Q01150","question":"A passenger car starts from a paved street and needs to reach another paved street. The terrain consists of hard, smooth surfaces suitable for driving, including parking areas and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved street","end_land_type":"another paved street","task_description":"What is the shortest path from the starting paved street to the destination paved street?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"chicago_26.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":38,"start_point":[148,872],"end_point":[652,25],"distance":985.6089488230107},{"start_region_id":38,"end_region_id":44,"start_point":[652,25],"end_point":[148,872],"distance":985.6089488230107},{"start_region_id":43,"end_region_id":38,"start_point":[329,872],"end_point":[652,25],"distance":906.4976558160533},{"start_region_id":38,"end_region_id":43,"start_point":[652,25],"end_point":[329,872],"distance":906.4976558160533},{"start_region_id":43,"end_region_id":35,"start_point":[329,872],"end_point":[33,97],"distance":829.6029170633382}],"complexity_score":0.69688480806004}
{"id":7333,"query_id":"Q01467","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The drone can only operate over surfaces that are either hard and flat, vegetated with tall structures, or cultivated fields. Hard and flat surfaces are available for use. Cultivated fields are accessible because they are currently fallow and free of tall crops. Tall, leafy structures can be navigated through but require careful maneuvering to avoid collisions. All other surface types, including loose granular material, low natural vegetation, liquid areas, and vertical solid structures, are prohibited for this mission. What is the safest route?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the safest route?","task_type":"Safest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,2,2,1,0,2,0],"image_name":"chicago_26.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":59,"start_point":[397,851],"end_point":[499,367],"distance":494.631175725914},{"start_region_id":59,"end_region_id":83,"start_point":[499,367],"end_point":[397,851],"distance":494.631175725914},{"start_region_id":59,"end_region_id":67,"start_point":[499,367],"end_point":[274,592],"distance":318.1980515339464},{"start_region_id":67,"end_region_id":59,"start_point":[274,592],"end_point":[499,367],"distance":318.1980515339464},{"start_region_id":83,"end_region_id":67,"start_point":[397,851],"end_point":[274,592],"distance":286.7228627089232}],"complexity_score":0.69688480806004}
{"id":15381,"query_id":"Q03077","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over grassy or shrub-covered areas, cultivated fields, and wooded patches, but must avoid vertical structures and liquid surfaces due to safety protocols. Which aerial path allows the drone to maintain the highest speed?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"Which aerial path allows the drone to maintain the highest speed?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,2,2,1,0,2,0],"image_name":"chicago_26.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":31,"start_point":[263,120],"end_point":[991,840],"distance":1023.9062457080727},{"start_region_id":31,"end_region_id":17,"start_point":[991,840],"end_point":[263,120],"distance":1023.9062457080727},{"start_region_id":29,"end_region_id":21,"start_point":[409,798],"end_point":[982,92],"distance":909.2661876480396},{"start_region_id":21,"end_region_id":29,"start_point":[982,92],"end_point":[409,798],"distance":909.2661876480396},{"start_region_id":18,"end_region_id":31,"start_point":[653,52],"end_point":[991,840],"distance":857.4310467903528}],"complexity_score":0.69688480806004}
{"id":16519,"query_id":"Q03304","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cluster of tall, leafy trees. The drone can fly over dry, sandy expanses, grassy or shrubby areas, paved or compacted surfaces, vehicle lanes, cultivated fields, and even bodies of water, but it must avoid vertical structures and dense tree canopies unless explicitly permitted. For this mission, the drone is allowed to traverse over loose, sandy ground; grassy or shrubby terrain; tall, leafy trees; and bodies of water, but it cannot use paved or compacted surfaces, vehicle lanes, cultivated fields, or vertical structures. The objective is to minimize risk by prioritizing terrains that are generally controllable, predictable, and low-risk, while avoiding areas that may increase the likelihood of loss of control, damage, or hazardous situations.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"a cluster of tall, leafy trees","task_description":"What is the safest path for the aerial survey drone to take from the grassy, open field to the cluster of tall, leafy trees?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Water"],"traverse_vector":[1,1,0,0,1,1,0,0],"cost_vector":[2,2,0,0,1,1,0,0],"image_name":"chicago_26.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":67,"start_point":[221,382],"end_point":[274,592],"distance":216.5848563496534}],"complexity_score":0.69688480806004}
{"id":3700,"query_id":"Q00740","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a dense cluster of tall, vertical obstacles as quickly as possible. The drone can fly over loose, sandy ground; open, flat areas with short vegetation; paved, hard surfaces; vehicle lanes; liquid bodies; and cultivated fields, but must navigate carefully around tall, vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dense cluster of tall, vertical obstacles","task_description":"What is the fastest path for the quadcopter drone to reach the dense cluster of tall, vertical obstacles from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chisinau_62.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":236,"start_point":[33,33],"end_point":[925,989],"distance":1307.5167302944922},{"start_region_id":121,"end_region_id":238,"start_point":[973,56],"end_point":[314,1000],"distance":1151.2675622981826},{"start_region_id":119,"end_region_id":191,"start_point":[33,33],"end_point":[991,599],"distance":1112.7084074455445},{"start_region_id":119,"end_region_id":209,"start_point":[33,33],"end_point":[898,723],"distance":1106.4922051239223},{"start_region_id":120,"end_region_id":236,"start_point":[126,236],"end_point":[925,989],"distance":1097.9116540050024}],"complexity_score":0.6969809257015074}
{"id":8260,"query_id":"Q01652","question":"An off-road vehicle starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface such as a parking lot or construction site. The terrain includes loose, sandy ground and rocky patches that are traversable with off-road capability, while trees, water bodies, and buildings are completely impassable. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface like a parking lot or construction site","task_description":"What is the shortest path from the grassy, uneven starting point to the paved destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_62.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":109,"start_point":[337,118],"end_point":[953,884],"distance":982.9608334008024},{"start_region_id":14,"end_region_id":109,"start_point":[44,585],"end_point":[953,884],"distance":956.9127441935341},{"start_region_id":14,"end_region_id":49,"start_point":[44,585],"end_point":[897,192],"distance":939.1794290762548},{"start_region_id":14,"end_region_id":94,"start_point":[44,585],"end_point":[957,732],"distance":924.7583468128308},{"start_region_id":6,"end_region_id":108,"start_point":[337,118],"end_point":[859,879],"distance":922.8244686829668}],"complexity_score":0.6969809257015074}
{"id":17075,"query_id":"Q03415","question":"A quadcopter drone starts from a flat paved surface and needs to reach another flat paved surface as quickly as possible. The environment includes open grassy areas, hard artificial surfaces, and vehicle lanes. The drone can fly over all these terrains without restriction, as they are all clear of permanent vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat paved surface","end_land_type":"flat paved surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination flat paved surface?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"chisinau_62.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":35,"start_point":[953,884],"end_point":[210,43],"distance":1122.198734627695},{"start_region_id":35,"end_region_id":109,"start_point":[210,43],"end_point":[953,884],"distance":1122.198734627695},{"start_region_id":35,"end_region_id":108,"start_point":[210,43],"end_point":[859,879],"distance":1058.3463516259694},{"start_region_id":108,"end_region_id":35,"start_point":[859,879],"end_point":[210,43],"distance":1058.3463516259694},{"start_region_id":95,"end_region_id":49,"start_point":[100,859],"end_point":[897,192],"distance":1039.277633743746}],"complexity_score":0.6969809257015074}
{"id":3468,"query_id":"Q00694","question":"A family sedan is starting from a paved parking lot and needs to reach another paved parking area. The vehicle requires smooth, stable surfaces to ensure a comfortable ride for passengers. While paved surfaces like roads and parking lots are naturally suitable, the sedan can also traverse cultivated fields if they are dry and firm enough to provide stable ground. However, loose, sandy, or rocky terrain without vegetation is too rough and uneven for comfortable travel and must be avoided. What is the most comfortable route?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved parking lot","end_land_type":"another paved parking area","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"austin_17.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":72,"start_point":[169,816],"end_point":[936,36],"distance":1093.9328132933942},{"start_region_id":72,"end_region_id":108,"start_point":[936,36],"end_point":[169,816],"distance":1093.9328132933942},{"start_region_id":105,"end_region_id":68,"start_point":[894,801],"end_point":[172,98],"distance":1007.716726069385},{"start_region_id":68,"end_region_id":105,"start_point":[172,98],"end_point":[894,801],"distance":1007.716726069385},{"start_region_id":110,"end_region_id":68,"start_point":[751,880],"end_point":[172,98],"distance":973.0184993102649}],"complexity_score":0.6971776153261432}
{"id":5566,"query_id":"Q01114","question":"A quadcopter drone starts from open grassy terrain with natural ground cover and needs to reach a forested zone with vertical vegetation structures. The flight path must prioritize smooth, stable airspace to minimize turbulence and vibration. Liquid surfaces and built structures are to be avoided as they may cause discomfort during flight. What is the most comfortable path to take?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"open grassy terrain","end_land_type":"forested zone","task_description":"What is the most comfortable flight path from the open grassy terrain to the forested zone?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"austin_17.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":223,"start_point":[103,131],"end_point":[827,942],"distance":1087.1508634959548},{"start_region_id":23,"end_region_id":207,"start_point":[909,294],"end_point":[89,898],"distance":1018.4380197145038},{"start_region_id":6,"end_region_id":222,"start_point":[103,131],"end_point":[675,941],"distance":991.6067769030221},{"start_region_id":7,"end_region_id":207,"start_point":[686,179],"end_point":[89,898],"distance":934.5426689028169},{"start_region_id":16,"end_region_id":223,"start_point":[200,266],"end_point":[827,942],"distance":922.0113882160025}],"complexity_score":0.6971776153261432}
{"id":1223,"query_id":"Q00245","question":"A surveillance drone starts from a densely wooded area and needs to reach another densely wooded area while prioritizing a smooth and stable flight. The drone can traverse grassy or shrub-covered open spaces, paved lanes used by vehicles, and areas with dense vegetation, but must avoid any liquid surfaces and vertical structures that could cause turbulence. The grassy or shrub-covered areas and paved lanes offer clear airspace, and the densely vegetated areas have enough gaps for comfortable navigation. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a densely wooded area","end_land_type":"another densely wooded area","task_description":"What is the most comfortable path for the surveillance drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"kitsap_15.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":284,"start_point":[698,130],"end_point":[114,805],"distance":892.5698852190791},{"start_region_id":284,"end_region_id":196,"start_point":[114,805],"end_point":[698,130],"distance":892.5698852190791},{"start_region_id":188,"end_region_id":284,"start_point":[515,76],"end_point":[114,805],"distance":832.0108172373722},{"start_region_id":284,"end_region_id":188,"start_point":[114,805],"end_point":[515,76],"distance":832.0108172373722},{"start_region_id":283,"end_region_id":188,"start_point":[528,895],"end_point":[515,76],"distance":819.103168105215}],"complexity_score":0.6972051074623022}
{"id":10244,"query_id":"Q02049","question":"A hiker starts from a paved area and needs to reach a vehicle lane. The hiker can traverse hard surfaces like sidewalks and roads, and can also cross areas with loose soil and sparse vegetation. However, the hiker cannot enter any structures or bodies of water. What is the shortest path to the vehicle lane?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"vehicle lane","task_description":"What is the shortest path to the vehicle lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"kitsap_15.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":181,"start_point":[28,845],"end_point":[461,458],"distance":580.7391841437944},{"start_region_id":127,"end_region_id":181,"start_point":[27,93],"end_point":[461,458],"distance":567.0811229445043},{"start_region_id":159,"end_region_id":181,"start_point":[22,589],"end_point":[461,458],"distance":458.1288028491551},{"start_region_id":146,"end_region_id":181,"start_point":[21,376],"end_point":[461,458],"distance":447.57569192260655},{"start_region_id":129,"end_region_id":181,"start_point":[163,158],"end_point":[461,458],"distance":422.85222004856496}],"complexity_score":0.6972051074623022}
{"id":17037,"query_id":"Q03408","question":"A quadcopter drone is hovering above a paved roadway and needs to reach a vegetated open area as quickly as possible. The drone can fly over paved roadways, hard artificial surfaces, and grassy shrublands. However, the drone must avoid flying through dense tree canopies or inside buildings. What is the fastest flight path for the quadcopter drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a vegetated open area","task_description":"What is the fastest flight path for the quadcopter drone?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"kitsap_15.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":113,"start_point":[461,458],"end_point":[101,956],"distance":614.4949145436437},{"start_region_id":181,"end_region_id":100,"start_point":[461,458],"end_point":[124,854],"distance":519.9855767230472},{"start_region_id":181,"end_region_id":111,"start_point":[461,458],"end_point":[296,948],"distance":517.0348150753487},{"start_region_id":181,"end_region_id":5,"start_point":[461,458],"end_point":[100,247],"distance":418.1411245022427},{"start_region_id":181,"end_region_id":75,"start_point":[461,458],"end_point":[951,783],"distance":587.9838433154434}],"complexity_score":0.6972051074623022}
{"id":6974,"query_id":"Q01395","question":"A quadcopter starts from a paved area and needs to reach another paved area. The terrain includes hard, flat surfaces, areas with tall vertical obstacles that can be flown over or around, and soft, cultivated ground. All other surfaces are not traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path from the starting paved area to the destination paved area?","task_type":"Shortest","input_classes":["Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[0,0,1,1,1,0,1,1],"cost_vector":[0,0,2,2,1,0,2,2],"image_name":"aachen_39.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":203,"start_point":[858,176],"end_point":[104,930],"distance":1066.3170260293136},{"start_region_id":203,"end_region_id":113,"start_point":[104,930],"end_point":[858,176],"distance":1066.3170260293136},{"start_region_id":181,"end_region_id":113,"start_point":[114,900],"end_point":[858,176],"distance":1038.1290863856962},{"start_region_id":113,"end_region_id":181,"start_point":[858,176],"end_point":[114,900],"distance":1038.1290863856962},{"start_region_id":113,"end_region_id":184,"start_point":[858,176],"end_point":[116,823],"distance":984.4658450144424}],"complexity_score":0.6972449583707303}
{"id":15660,"query_id":"Q03132","question":"An aerial survey drone starts from an area of natural, uncultivated grassy and shrubby vegetation, an aerial survey drone must return to a similar patch of natural, uncultivated grassy and shrubby vegetation. The drone can fly over open liquid surfaces, but these present a risk of total loss if there is a system failure. It can also navigate around or above tall, solid vertical structures, though these pose collision hazards. Smooth, hard artificial surfaces and cultivated crop fields are available and generally safe. The drone's primary concern is minimizing the risk of catastrophic failure or collision.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of natural, uncultivated grassy and shrubby vegetation","end_land_type":"and needing to return to a similar patch of natural, uncultivated grassy and shrubby vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"aachen_39.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":51,"start_point":[971,945],"end_point":[42,612],"distance":986.8789186115995},{"start_region_id":51,"end_region_id":80,"start_point":[42,612],"end_point":[971,945],"distance":986.8789186115995},{"start_region_id":4,"end_region_id":80,"start_point":[391,174],"end_point":[971,945],"distance":964.8010157540258},{"start_region_id":80,"end_region_id":4,"start_point":[971,945],"end_point":[391,174],"distance":964.8010157540258},{"start_region_id":51,"end_region_id":45,"start_point":[42,612],"end_point":[938,567],"distance":897.1293106347601}],"complexity_score":0.6972449583707303}
{"id":16198,"query_id":"Q03240","question":"A quadcopter drone is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for landing. The drone can fly over loose, sandy or rocky ground without vegetation, grassy or shrub-covered areas that are not cultivated, cultivated fields with crops or grazing vegetation, and paved lanes or streets. The drone cannot fly through areas with dense tree canopies or close to structures with walls and roofs. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface suitable for landing","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"aachen_39.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":215,"start_point":[171,588],"end_point":[764,269],"distance":673.3572603009491},{"start_region_id":4,"end_region_id":214,"start_point":[391,174],"end_point":[360,682],"distance":508.9449872039217},{"start_region_id":39,"end_region_id":215,"start_point":[357,515],"end_point":[764,269],"distance":475.5680813511353},{"start_region_id":53,"end_region_id":215,"start_point":[591,619],"end_point":[764,269],"distance":390.42156702723275},{"start_region_id":4,"end_region_id":215,"start_point":[391,174],"end_point":[764,269],"distance":384.9077811632288}],"complexity_score":0.6972449583707303}
{"id":4367,"query_id":"Q00874","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over liquid surfaces and hard, flat areas, but cannot pass through dense vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Developed space","Road","Water"],"traverse_vector":[0,0,1,1,0,1,0,0],"cost_vector":[0,0,1,1,0,1,0,0],"image_name":"duesseldorf_18.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":141,"start_point":[585,946],"end_point":[310,53],"distance":934.3842892514836},{"start_region_id":141,"end_region_id":215,"start_point":[310,53],"end_point":[585,946],"distance":934.3842892514836},{"start_region_id":215,"end_region_id":142,"start_point":[585,946],"end_point":[410,112],"distance":852.1625431805836},{"start_region_id":142,"end_region_id":215,"start_point":[410,112],"end_point":[585,946],"distance":852.1625431805836},{"start_region_id":215,"end_region_id":162,"start_point":[585,946],"end_point":[131,266],"distance":817.628277397498}],"complexity_score":0.6972764993515659}
{"id":4687,"query_id":"Q00938","question":"A quadcopter starts from a densely vegetated area with tall vertical obstacles and needs to reach a hard, paved surface designed for vehicle movement. The terrain includes loose, sandy or rocky ground without vegetation; smooth, artificial surfaces like sidewalks and parking lots; and cultivated fields with planted crops. The tall vertical obstacles can be flown around with careful navigation. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall vertical obstacles","end_land_type":"a hard, paved surface designed for vehicle movement","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"duesseldorf_18.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":224,"start_point":[48,181],"end_point":[821,453],"distance":819.4589678562313},{"start_region_id":253,"end_region_id":225,"start_point":[48,181],"end_point":[767,199],"distance":719.2252776425478},{"start_region_id":227,"end_region_id":224,"start_point":[229,54],"end_point":[821,453],"distance":713.9082574112726},{"start_region_id":282,"end_region_id":224,"start_point":[116,380],"end_point":[821,453],"distance":708.7693559967163},{"start_region_id":233,"end_region_id":223,"start_point":[863,98],"end_point":[350,552],"distance":685.0437942204863}],"complexity_score":0.6972764993515659}
{"id":9497,"query_id":"Q01900","question":"A hiker is standing on a paved, hard surface and aims to reach a cluster of tall, leafy vegetation. The hiker can walk across loose, sandy ground and cultivated fields with rows of crops, but must avoid areas with standing liquid and vertical structures. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface","end_land_type":"A cluster of tall, leafy vegetation","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[1,0,1,1,1,0,1,0],"image_name":"duesseldorf_18.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":253,"start_point":[821,453],"end_point":[48,181],"distance":819.4589678562313},{"start_region_id":224,"end_region_id":227,"start_point":[821,453],"end_point":[229,54],"distance":713.9082574112726},{"start_region_id":224,"end_region_id":282,"start_point":[821,453],"end_point":[116,380],"distance":708.7693559967163},{"start_region_id":223,"end_region_id":319,"start_point":[350,552],"end_point":[866,823],"distance":582.8353112157841},{"start_region_id":223,"end_region_id":227,"start_point":[350,552],"end_point":[229,54],"distance":512.4890242727155}],"complexity_score":0.6972764993515659}
{"id":17685,"query_id":"Q03537","question":"An aerial surveillance drone starts from a location with tall, vertical structures that provide overhead cover and needs to return to another location with similar tall, vertical structures for landing. The drone must avoid any areas with liquid surfaces or permanent solid structures. The route can include open areas with loose soil or rock, grassy or shrub-covered terrain, paved lanes for vehicles, cultivated fields with crops, and areas with tall vertical obstacles. The priority is to minimize risk of collision, signal interference, or unpredictable environmental factors.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall, vertical structures that provide overhead cover","end_land_type":"needing to return to another location with similar tall, vertical structures for landing","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"duesseldorf_18.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":346,"start_point":[48,181],"end_point":[976,654],"distance":1041.591570626414},{"start_region_id":346,"end_region_id":253,"start_point":[976,654],"end_point":[48,181],"distance":1041.591570626414},{"start_region_id":319,"end_region_id":253,"start_point":[866,823],"end_point":[48,181],"distance":1039.8499891811318},{"start_region_id":253,"end_region_id":319,"start_point":[48,181],"end_point":[866,823],"distance":1039.8499891811318},{"start_region_id":319,"end_region_id":227,"start_point":[866,823],"end_point":[229,54],"distance":998.5639689073505}],"complexity_score":0.6972764993515659}
{"id":10428,"query_id":"Q02086","question":"A quadcopter drone begins above grassy, uneven terrain with scattered shrubs and needs to reach a position above a paved, hard-surfaced lane. The drone can fly over loose, sandy or rocky ground without vegetation, flat, compacted surfaces like parking lots and sidewalks, and liquid bodies. However, it must avoid areas with tall, dense vertical obstacles. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard-surfaced lane","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"koeln_62.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":280,"start_point":[980,657],"end_point":[114,542],"distance":873.6023122680022},{"start_region_id":93,"end_region_id":276,"start_point":[30,755],"end_point":[616,344],"distance":715.7632290080289},{"start_region_id":91,"end_region_id":283,"start_point":[980,657],"end_point":[287,814],"distance":710.5617496037906},{"start_region_id":77,"end_region_id":280,"start_point":[809,541],"end_point":[114,542],"distance":695.0007194240881},{"start_region_id":94,"end_region_id":280,"start_point":[790,621],"end_point":[114,542],"distance":680.600470173214}],"complexity_score":0.6973802983243935}
{"id":2705,"query_id":"Q00541","question":"An agricultural drone starts from a hard artificial surface and needs to reach a cultivated area as quickly as possible. The drone can fly over loose sandy or rocky ground, hard surfaces like pavement or roads, and cultivated soil. It cannot fly through areas with dense trees. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"hard artificial surface","end_land_type":"cultivated area","task_description":"What is the fastest route for the agricultural drone to reach the cultivated area?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"koeln_3.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":181,"start_point":[433,420],"end_point":[195,159],"distance":353.2208940592275},{"start_region_id":86,"end_region_id":182,"start_point":[433,420],"end_point":[230,669],"distance":321.26313202731495}],"complexity_score":0.6974705419511446}
{"id":6742,"query_id":"Q01349","question":"An agricultural drone starts from a flat, artificial surface and needs to reach a crop-covered field. The drone can traverse the artificial surface and the crop field, but must avoid all other terrain types, including loose sandy areas, natural vegetation patches, vehicle lanes, any water bodies, individual trees or wooded zones, and any structures. The crop field is accessible because it is low-growing and does not obstruct flight. What is the safest path for the agricultural drone?","agent_category":"Drone","specific_agent":"an agricultural drone","start_land_type":"a flat, artificial surface","end_land_type":"a crop-covered field","task_description":"What is the safest path for the agricultural drone?","task_type":"Safest","input_classes":["Developed space","Agriculture land"],"traverse_vector":[0,0,1,0,0,0,1,0],"cost_vector":[0,0,1,0,0,0,1,0],"image_name":"koeln_3.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":181,"start_point":[433,420],"end_point":[195,159],"distance":353.2208940592275}],"complexity_score":0.6974705419511446}
{"id":5436,"query_id":"Q01088","question":"A quadcopter drone is positioned on a paved, hard surface and must travel to an area of natural, uncultivated vegetation. The drone can fly over both paved areas and natural grassy terrain, but must avoid densely wooded areas and any structures. All other terrain types including loose sandy ground, vehicle lanes, bodies of water, and cultivated fields are prohibited. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"an area of natural, uncultivated vegetation","task_description":"What is the fastest flight path from the paved surface to the natural vegetation area?","task_type":"Fastest","input_classes":["Rangeland","Developed space"],"traverse_vector":[0,1,1,0,0,0,0,0],"cost_vector":[0,1,1,0,0,0,0,0],"image_name":"kampala_6.tif","subfolder":"kampala","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":3,"start_point":[930,212],"end_point":[296,39],"distance":657.1795797192727},{"start_region_id":151,"end_region_id":11,"start_point":[398,418],"end_point":[880,115],"distance":569.3267954347485},{"start_region_id":136,"end_region_id":3,"start_point":[814,247],"end_point":[296,39],"distance":558.2006807591692},{"start_region_id":132,"end_region_id":11,"start_point":[421,211],"end_point":[880,115],"distance":468.93176475901055},{"start_region_id":141,"end_region_id":3,"start_point":[548,383],"end_point":[296,39],"distance":426.42701602970703}],"complexity_score":0.697516434057036}
{"id":10200,"query_id":"Q02040","question":"A hiker is standing on a paved, hard surface and wants to reach a grassy, open field. The hiker can walk across loose, sandy patches and low vegetation areas, but must avoid dense clusters of tall vertical obstacles due to difficult navigation. The hiker cannot travel over liquid surfaces or enter solid structures. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"kampala_6.tif","subfolder":"kampala","coordinate_format":"xy","start_end_pairs":[{"start_region_id":327,"end_region_id":11,"start_point":[38,995],"end_point":[880,115],"distance":1217.9343167839554},{"start_region_id":115,"end_region_id":85,"start_point":[978,69],"end_point":[111,782],"distance":1122.5230509882638},{"start_region_id":324,"end_region_id":11,"start_point":[268,984],"end_point":[880,115],"distance":1062.8758158881967},{"start_region_id":267,"end_region_id":11,"start_point":[171,882],"end_point":[880,115],"distance":1044.4950933345738},{"start_region_id":327,"end_region_id":6,"start_point":[38,995],"end_point":[607,151],"distance":1017.8885007700991}],"complexity_score":0.697516434057036}
{"id":14789,"query_id":"Q02958","question":"A hiker starts from a paved area and needs to reach another paved area. The hiker can traverse hard surfaces, loose soil, grassy patches, cultivated fields, and wooded areas, but cannot cross water bodies or enter buildings. The terrain includes rough ground with loose earth and rocks, open grassy fields, paved walkways and parking lots, individual trees or clusters, and cultivated crop fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"paved area","task_description":"What is the shortest path for the hiker to reach the destination paved area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"kampala_6.tif","subfolder":"kampala","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":327,"start_point":[978,69],"end_point":[38,995],"distance":1319.4983895405103},{"start_region_id":327,"end_region_id":115,"start_point":[38,995],"end_point":[978,69],"distance":1319.4983895405103},{"start_region_id":327,"end_region_id":129,"start_point":[38,995],"end_point":[930,212],"distance":1186.9090108344446},{"start_region_id":129,"end_region_id":327,"start_point":[930,212],"end_point":[38,995],"distance":1186.9090108344446},{"start_region_id":115,"end_region_id":324,"start_point":[978,69],"end_point":[268,984],"distance":1158.1558617042872}],"complexity_score":0.697516434057036}
{"id":5907,"query_id":"Q01182","question":"A jogger starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The jogger can only use surfaces that are firm and stable, such as sidewalks, parking lots, or streets, to maintain a steady running pace. Surfaces that are soft, uneven, or obstructed by vegetation or water are not allowed because they would slow down movement. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"wallace_1.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":195,"start_point":[313,145],"end_point":[907,826],"distance":903.6575678873054},{"start_region_id":195,"end_region_id":126,"start_point":[907,826],"end_point":[313,145],"distance":903.6575678873054},{"start_region_id":152,"end_region_id":195,"start_point":[259,338],"end_point":[907,826],"distance":811.2015779077356},{"start_region_id":195,"end_region_id":152,"start_point":[907,826],"end_point":[259,338],"distance":811.2015779077356},{"start_region_id":126,"end_region_id":174,"start_point":[313,145],"end_point":[542,761],"distance":657.188709580437}],"complexity_score":0.6975329458703602}
{"id":16293,"query_id":"Q03259","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over rough, uneven ground composed of loose earth and rocks, areas with low vegetation like grass and shrubs, and liquid surfaces. However. The drone must avoid any tall vertical obstacles that could obstruct its flight path. Given these constraints, what is the most direct route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"wallace_1.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":234,"start_point":[539,373],"end_point":[912,971],"distance":704.7928773760416},{"start_region_id":234,"end_region_id":232,"start_point":[912,971],"end_point":[539,373],"distance":704.7928773760416}],"complexity_score":0.6975329458703602}
{"id":1627,"query_id":"Q00326","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The terrain includes areas with loose, uneven ground covered by natural grasses and shrubs, dense clusters of tall vegetation that can obstruct movement, and cultivated plots with soft, tilled soil. You must avoid any hard, paved surfaces, water bodies, and vertical structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,2,0,0,0,0,3,0],"image_name":"rosario_4.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":2,"start_point":[711,411],"end_point":[632,105],"distance":316.03322610130726},{"start_region_id":2,"end_region_id":3,"start_point":[632,105],"end_point":[711,411],"distance":316.03322610130726}],"complexity_score":0.6978175763919497}
{"id":2532,"query_id":"Q00507","question":"A hiker starts from a grassy, open terrain and needs to reach another grassy, open terrain. The hiker can traverse grassy areas, but must avoid any hard surfaces like sidewalks or roads, any water bodies, any buildings, and any cultivated fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland"],"traverse_vector":[0,1,0,0,0,0,0,0],"cost_vector":[0,1,0,0,0,0,0,0],"image_name":"rosario_4.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":2,"start_point":[711,411],"end_point":[632,105],"distance":316.03322610130726},{"start_region_id":2,"end_region_id":3,"start_point":[632,105],"end_point":[711,411],"distance":316.03322610130726}],"complexity_score":0.6978175763919497}
{"id":16292,"query_id":"Q03259","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over rough, uneven ground composed of loose earth and rocks, areas with low vegetation like grass and shrubs, and liquid surfaces. However. The drone must avoid any tall vertical obstacles that could obstruct its flight path. Given these constraints, what is the most direct route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rosario_4.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":179,"end_region_id":180,"start_point":[577,660],"end_point":[226,139],"distance":628.2053804290441},{"start_region_id":180,"end_region_id":179,"start_point":[226,139],"end_point":[577,660],"distance":628.2053804290441},{"start_region_id":181,"end_region_id":185,"start_point":[567,267],"end_point":[231,584],"distance":461.93614277300276},{"start_region_id":185,"end_region_id":181,"start_point":[231,584],"end_point":[567,267],"distance":461.93614277300276},{"start_region_id":185,"end_region_id":180,"start_point":[231,584],"end_point":[226,139],"distance":445.0280890011326}],"complexity_score":0.6978175763919497}
{"id":13048,"query_id":"Q02610","question":"A delivery drone is dispatched from a grassy, open field and needs to reach a paved parking lot. The drone can fly over most surfaces, but must avoid dense tree canopies and building structures. The drone's flight path is restricted to areas with grassy vegetation, paved surfaces, vehicle lanes, water bodies, and cultivated crop fields. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, open field","end_land_type":"paved parking lot","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,1,1,1,0,1,1,0],"image_name":"dortmund_30.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":119,"start_point":[985,921],"end_point":[71,131],"distance":1208.0960226736945},{"start_region_id":9,"end_region_id":176,"start_point":[54,84],"end_point":[944,713],"distance":1089.8353086590653},{"start_region_id":83,"end_region_id":135,"start_point":[985,921],"end_point":[152,232],"distance":1081.0226639622317},{"start_region_id":9,"end_region_id":205,"start_point":[54,84],"end_point":[752,888],"distance":1064.7159245545265},{"start_region_id":83,"end_region_id":100,"start_point":[985,921],"end_point":[327,115],"distance":1040.4806581575651}],"complexity_score":0.6979767272265998}
{"id":7477,"query_id":"Q01496","question":"An aerial surveillance drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The drone can fly over open water surfaces and cultivated fields with low, uniform vegetation, but must navigate carefully around vertical obstacles like tall, leafy structures and built structures, which are present but can be bypassed with caution. The open water surfaces and cultivated fields are accessible, but the tall, leafy structures require careful maneuvering to avoid collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"abancay_41.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":259,"start_point":[886,138],"end_point":[77,845],"distance":1074.3975055816168},{"start_region_id":259,"end_region_id":177,"start_point":[77,845],"end_point":[886,138],"distance":1074.3975055816168},{"start_region_id":262,"end_region_id":177,"start_point":[162,882],"end_point":[886,138],"distance":1038.1290863856962},{"start_region_id":177,"end_region_id":262,"start_point":[886,138],"end_point":[162,882],"distance":1038.1290863856962},{"start_region_id":166,"end_region_id":273,"start_point":[597,42],"end_point":[896,982],"distance":986.4081305423227}],"complexity_score":0.6981546515944385}
{"id":10526,"query_id":"Q02106","question":"A quadcopter drone starts from an area covered with grass and shrubs and needs to reach a flat, hard-surfaced lane. The drone must avoid any areas with dense vertical obstacles like trees or buildings that could pose collision risks, and should minimize flight over liquid surfaces or near structures to reduce hazards. The terrain includes open ground with sparse vegetation, stable solid surfaces, and areas with loose or uneven materials. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"abancay_41.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":163,"start_point":[46,86],"end_point":[829,826],"distance":1077.352774164526},{"start_region_id":1,"end_region_id":163,"start_point":[234,45],"end_point":[829,826],"distance":981.8278871574182},{"start_region_id":13,"end_region_id":163,"start_point":[238,297],"end_point":[829,826],"distance":793.1721124699229},{"start_region_id":2,"end_region_id":163,"start_point":[936,65],"end_point":[829,826],"distance":768.4855236112129},{"start_region_id":8,"end_region_id":163,"start_point":[553,192],"end_point":[829,826],"distance":691.4708959891226}],"complexity_score":0.6981546515944385}
{"id":9169,"query_id":"Q01834","question":"A rally car is positioned on a paved, hard surface area and needs to reach a grassy, open field as quickly as possible. The vehicle can travel across compacted, dry earth surfaces, grassy or shrub-covered terrain, and cultivated fields with low crops, as these conditions provide sufficient traction and clearance for off-road capability. However, the vehicle cannot enter areas with dense vertical obstacles like trees or structures, nor can it cross liquid bodies. What is the fastest path?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a paved, hard surface area","end_land_type":"a grassy, open field","task_description":"What is the fastest path from the paved, hard surface area to the grassy, open field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"bielefeld_40.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":5,"start_point":[107,626],"end_point":[881,189],"distance":888.844755848849},{"start_region_id":113,"end_region_id":21,"start_point":[950,880],"end_point":[101,644],"distance":881.1906717617929},{"start_region_id":112,"end_region_id":5,"start_point":[300,837],"end_point":[881,189],"distance":870.3246520695596},{"start_region_id":75,"end_region_id":21,"start_point":[890,312],"end_point":[101,644],"distance":856.0052569932033},{"start_region_id":85,"end_region_id":5,"start_point":[97,523],"end_point":[881,189],"distance":852.1807320046611}],"complexity_score":0.6983485551405634}
{"id":13457,"query_id":"Q02692","question":"A quadcopter drone starts from a paved, hard surface and needs to return to another paved, hard surface while prioritizing safety. The drone can fly over loose, sandy or rocky ground, grassy or shrub-covered areas, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. Which path minimizes risk?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_40.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":61,"start_point":[950,880],"end_point":[205,65],"distance":1104.1965404763773},{"start_region_id":61,"end_region_id":113,"start_point":[205,65],"end_point":[950,880],"distance":1104.1965404763773},{"start_region_id":113,"end_region_id":76,"start_point":[950,880],"end_point":[290,150],"distance":984.1239759298622},{"start_region_id":76,"end_region_id":113,"start_point":[290,150],"end_point":[950,880],"distance":984.1239759298622},{"start_region_id":113,"end_region_id":85,"start_point":[950,880],"end_point":[97,523],"distance":924.6934627215659}],"complexity_score":0.6983485551405634}
{"id":17848,"query_id":"Q03570","question":"A quadcopter drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard surface used by vehicles. The drone can fly over most terrain types, including grassy areas, cultivated fields, liquid surfaces, and paved areas, but it must avoid dense vertical obstacles like trees and buildings to prevent collisions and ensure stable flight. The goal is to find a path that maximizes flight comfort by prioritizing open, unobstructed areas that provide smooth airflow and minimal turbulence, while avoiding rough or hazardous surfaces.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, open field with low vegetation","end_land_type":"A paved, hard surface used by vehicles","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"bielefeld_40.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":133,"start_point":[101,644],"end_point":[850,39],"distance":962.8218942255104},{"start_region_id":5,"end_region_id":137,"start_point":[881,189],"end_point":[61,368],"distance":839.309835519637},{"start_region_id":21,"end_region_id":135,"start_point":[101,644],"end_point":[841,341],"distance":799.6305396869232},{"start_region_id":21,"end_region_id":132,"start_point":[101,644],"end_point":[580,229],"distance":633.7712521091502},{"start_region_id":5,"end_region_id":138,"start_point":[881,189],"end_point":[467,652],"distance":621.0998309450744}],"complexity_score":0.6983485551405634}
{"id":14470,"query_id":"Q02894","question":"A hiker starts from a paved surface and needs to reach a wooded area. The hiker can traverse loose, sandy ground and grassy, uneven terrain, but must avoid any liquid surfaces and vertical structures. The hiker can also cross areas with tall vegetation if necessary. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"wooded area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"paris_14.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":114,"start_point":[397,478],"end_point":[106,592],"distance":312.5331982366033},{"start_region_id":74,"end_region_id":85,"start_point":[397,478],"end_point":[174,122],"distance":420.0773738253466},{"start_region_id":74,"end_region_id":92,"start_point":[397,478],"end_point":[565,260],"distance":275.2235455043772}],"complexity_score":0.6986641602814883}
{"id":17256,"query_id":"Q03452","question":"A quadcopter drone is on a flat, artificial surface and must reach another flat, artificial surface. The environment includes soft, vegetated ground and areas with tall, vertical obstacles. The drone can fly over the vegetated ground, and the vertical obstacles are spaced widely enough to navigate between them safely. All liquid areas and solid vertical structures must be avoided due to safety protocols. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"another flat, artificial surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"paris_14.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":42,"start_point":[387,624],"end_point":[277,164],"distance":472.96934361541867},{"start_region_id":42,"end_region_id":67,"start_point":[277,164],"end_point":[387,624],"distance":472.96934361541867},{"start_region_id":35,"end_region_id":67,"start_point":[340,173],"end_point":[387,624],"distance":453.4423888433899},{"start_region_id":67,"end_region_id":35,"start_point":[387,624],"end_point":[340,173],"distance":453.4423888433899},{"start_region_id":51,"end_region_id":35,"start_point":[75,465],"end_point":[340,173],"distance":394.32093527988087}],"complexity_score":0.6986641602814883}
{"id":502,"query_id":"Q00101","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach an open expanse of loose, sandy soil. The hiker can traverse areas with loose, sandy soil; areas covered by low, natural vegetation; cultivated fields with crops; and densely vegetated areas with tall, woody plants. The hiker cannot traverse any hard, paved surfaces, any lanes used by vehicles, any liquid bodies, or any solid, vertical structures. The hiker must avoid any terrain that could cause slips, trips, or instability, such as loose soil, uneven ground, or dense vegetation that obscures footing.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"an open expanse of loose, sandy soil","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,3,0,0,1,0,4,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":4,"start_point":[221,842],"end_point":[611,707],"distance":412.70449476592813}],"complexity_score":0.6986692854776527}
{"id":507,"query_id":"Q00102","question":"A surveillance drone starts from a densely vegetated area with tall, woody plants and needs to reach an open expanse of loose, sandy soil. The drone can traverse areas with loose, sandy soil; areas covered by low, natural vegetation; cultivated fields with crops; and densely vegetated areas with tall, woody plants, provided it flies above them. The drone cannot traverse any hard, paved surfaces, any lanes used by vehicles, any liquid bodies, or any solid, vertical structures, as these pose collision risks. The drone must avoid any terrain that could cause signal interference or physical damage, such as dense vegetation or structures.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"an open expanse of loose, sandy soil","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":4,"start_point":[221,842],"end_point":[611,707],"distance":412.70449476592813}],"complexity_score":0.6986692854776527}
{"id":3320,"query_id":"Q00664","question":"A quadcopter starts from a sandy, open ground and needs to reach another spot of similar sandy, open ground. The quadcopter aims to provide a stable flight for sensitive equipment, so it prefers to avoid areas with tall vertical obstacles or liquid surfaces that might cause turbulence. The only other surface available is a flat, hard area like a paved lot. Which path should the quadcopter take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open ground","end_land_type":"sandy, open ground","task_description":"Which path maximizes ride comfort for the quadcopter?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":6,"start_point":[876,897],"end_point":[380,892],"distance":496.0252009726925},{"start_region_id":6,"end_region_id":5,"start_point":[380,892],"end_point":[876,897],"distance":496.0252009726925},{"start_region_id":5,"end_region_id":4,"start_point":[876,897],"end_point":[611,707],"distance":326.0751447136074},{"start_region_id":4,"end_region_id":5,"start_point":[611,707],"end_point":[876,897],"distance":326.0751447136074},{"start_region_id":6,"end_region_id":4,"start_point":[380,892],"end_point":[611,707],"distance":295.94931998570297}],"complexity_score":0.6986692854776527}
{"id":3475,"query_id":"Q00695","question":"A surveillance drone is starting from a patch of loose, sandy soil and needs to reach another patch of loose, sandy soil. The drone must avoid any terrain that is not a hard, paved surface or loose, sandy soil, as other surfaces could pose collision risks or instability. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a patch of loose, sandy soil","end_land_type":"another patch of loose, sandy soil","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":6,"start_point":[876,897],"end_point":[380,892],"distance":496.0252009726925},{"start_region_id":6,"end_region_id":5,"start_point":[380,892],"end_point":[876,897],"distance":496.0252009726925},{"start_region_id":5,"end_region_id":4,"start_point":[876,897],"end_point":[611,707],"distance":326.0751447136074},{"start_region_id":4,"end_region_id":5,"start_point":[611,707],"end_point":[876,897],"distance":326.0751447136074},{"start_region_id":6,"end_region_id":4,"start_point":[380,892],"end_point":[611,707],"distance":295.94931998570297}],"complexity_score":0.6986692854776527}
{"id":7165,"query_id":"Q01433","question":"A hiker starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The hiker can walk on hard, flat surfaces and through cultivated fields with low vegetation, but must avoid tall, vertical obstacles, liquid surfaces, and structures with solid roofs. Additionally, areas with dense, tall grass or shrubs are not allowed. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"A patch of loose, sandy ground","end_land_type":"Another patch of loose, sandy ground","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":6,"start_point":[876,897],"end_point":[380,892],"distance":496.0252009726925},{"start_region_id":6,"end_region_id":5,"start_point":[380,892],"end_point":[876,897],"distance":496.0252009726925},{"start_region_id":5,"end_region_id":4,"start_point":[876,897],"end_point":[611,707],"distance":326.0751447136074},{"start_region_id":4,"end_region_id":5,"start_point":[611,707],"end_point":[876,897],"distance":326.0751447136074},{"start_region_id":6,"end_region_id":4,"start_point":[380,892],"end_point":[611,707],"distance":295.94931998570297}],"complexity_score":0.6986692854776527}
{"id":14445,"query_id":"Q02889","question":"A quadcopter drone starts from a paved surface and needs to reach an open, dry ground area with loose soil and rocks. The drone can fly over grassy fields with low vegetation and individual trees, but must avoid any liquid surfaces and vertical structures. The drone's flight controller prioritizes smooth, stable flight paths to minimize vibrations and ensure stable video capture. What is the most comfortable route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"open, dry ground with loose soil and rocks","task_description":"What is the most comfortable route for the quadcopter drone to reach the open, dry ground area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":5,"start_point":[634,37],"end_point":[876,897],"distance":893.4002462502459},{"start_region_id":172,"end_region_id":6,"start_point":[634,37],"end_point":[380,892],"distance":891.9310511468922},{"start_region_id":186,"end_region_id":5,"start_point":[112,765],"end_point":[876,897],"distance":775.3192890674138},{"start_region_id":181,"end_region_id":6,"start_point":[952,355],"end_point":[380,892],"distance":784.5718577670244},{"start_region_id":172,"end_region_id":4,"start_point":[634,37],"end_point":[611,707],"distance":670.3946598832661}],"complexity_score":0.6986692854776527}
{"id":17868,"query_id":"Q03574","question":"A quadcopter starts from an area of sandy, open ground and needs to reach a paved roadway. The terrain includes patches of grassy vegetation; hard, flat surfaces; tall, vertical obstacles; and cultivated areas with soft soil. You must avoid any liquid surfaces or solid structures. What is the shortest flight path to the paved roadway?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Road","task_description":"What is the shortest flight path to the paved roadway?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"tuscaloosa_11.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":186,"start_point":[876,897],"end_point":[112,765],"distance":775.3192890674138},{"start_region_id":6,"end_region_id":181,"start_point":[380,892],"end_point":[952,355],"distance":784.5718577670244},{"start_region_id":5,"end_region_id":169,"start_point":[876,897],"end_point":[337,527],"distance":653.7744259299227},{"start_region_id":5,"end_region_id":182,"start_point":[876,897],"end_point":[622,351],"distance":602.1893389956351},{"start_region_id":6,"end_region_id":182,"start_point":[380,892],"end_point":[622,351],"distance":592.6592612960671}],"complexity_score":0.6986692854776527}
{"id":2849,"query_id":"Q00570","question":"An agricultural monitoring drone starts from a cultivated field and needs to reach a paved street. The drone can fly over various surfaces including loose soil, hard flat areas, and cultivated land, but must avoid areas with dense vertical obstacles. Liquid surfaces are permissible. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the fastest route for the agricultural monitoring drone to travel from the cultivated field to the paved street?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"monrovia_72.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":207,"start_point":[741,44],"end_point":[905,748],"distance":722.8499152659562},{"start_region_id":341,"end_region_id":203,"start_point":[741,44],"end_point":[249,472],"distance":652.110420097701},{"start_region_id":341,"end_region_id":208,"start_point":[741,44],"end_point":[582,639],"distance":615.8782347185197},{"start_region_id":341,"end_region_id":194,"start_point":[741,44],"end_point":[364,194],"distance":405.744993807687}],"complexity_score":0.6990270659977061}
{"id":10707,"query_id":"Q02142","question":"An aerial survey drone starts from a cultivated field and needs to reach a wooded area. The drone must avoid any built structures and minimize risks from collisions or unstable surfaces. The drone can traverse open sandy/rocky terrain, paved vehicle lanes, cultivated fields, and water bodies, but wooded areas require careful navigation due to potential obstacles. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the safest path for the aerial survey drone to reach the wooded area from the cultivated field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"monrovia_72.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":342,"end_region_id":332,"start_point":[866,43],"end_point":[139,967],"distance":1175.7146762714158},{"start_region_id":341,"end_region_id":332,"start_point":[741,44],"end_point":[139,967],"distance":1101.967785373057},{"start_region_id":342,"end_region_id":328,"start_point":[866,43],"end_point":[218,874],"distance":1053.7860314124496},{"start_region_id":341,"end_region_id":328,"start_point":[741,44],"end_point":[218,874],"distance":981.0346578995056},{"start_region_id":342,"end_region_id":297,"start_point":[866,43],"end_point":[393,844],"distance":930.2311540687078}],"complexity_score":0.6990270659977061}
{"id":15163,"query_id":"Q03033","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach cultivated crop fields with planted rows. The drone must avoid any areas with tall, dense vegetation or man-made structures that could pose collision risks. The drone can safely fly over open sandy or rocky ground, grassy areas, paved surfaces, water bodies, and agricultural fields. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"cultivated crop fields with planted rows","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_72.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":341,"start_point":[56,852],"end_point":[741,44],"distance":1059.2870243706377},{"start_region_id":92,"end_region_id":341,"start_point":[169,874],"end_point":[741,44],"distance":1008.0099205861021},{"start_region_id":109,"end_region_id":341,"start_point":[934,957],"end_point":[741,44],"distance":933.17629631276},{"start_region_id":56,"end_region_id":341,"start_point":[66,637],"end_point":[741,44],"distance":898.4842792169488},{"start_region_id":72,"end_region_id":341,"start_point":[202,730],"end_point":[741,44],"distance":872.4201969234779}],"complexity_score":0.6990270659977061}
{"id":7809,"query_id":"Q01562","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over areas with loose, dry soil and rocks, as well as cultivated fields with low vegetation. It can also traverse liquid surfaces. However, it must avoid any areas with tall, dense vegetation or vertical structures. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_36.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":213,"start_point":[105,72],"end_point":[925,898],"distance":1163.905494445318},{"start_region_id":83,"end_region_id":212,"start_point":[949,96],"end_point":[22,846],"distance":1192.4047131741806},{"start_region_id":103,"end_region_id":212,"start_point":[899,306],"end_point":[22,846],"distance":1029.9169869460354},{"start_region_id":79,"end_region_id":213,"start_point":[444,20],"end_point":[925,898],"distance":1001.1218707030628},{"start_region_id":83,"end_region_id":211,"start_point":[949,96],"end_point":[144,691],"distance":1001.0244752252564}],"complexity_score":0.6992330630087893}
{"id":10419,"query_id":"Q02084","question":"A hiker starts from a densely vegetated area with tall, leafy plants and thick undergrowth and needs to reach a flat, hard, and smooth paved surface. The hiker can traverse loose, sandy or rocky ground without vegetation, as well as open grassy or shrubby terrain, but must avoid any water bodies and buildings. The hiker prefers surfaces that are smooth and stable to maximize comfort during the journey.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely vegetated area with tall, leafy plants and thick undergrowth","end_land_type":"a flat, hard, and smooth paved surface","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"koeln_36.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":228,"end_region_id":83,"start_point":[33,312],"end_point":[949,96],"distance":941.1227337600553},{"start_region_id":228,"end_region_id":110,"start_point":[33,312],"end_point":[891,590],"distance":901.9135213533501},{"start_region_id":228,"end_region_id":103,"start_point":[33,312],"end_point":[899,306],"distance":866.0207849699683},{"start_region_id":266,"end_region_id":75,"start_point":[690,699],"end_point":[105,72],"distance":857.5278421135957},{"start_region_id":266,"end_region_id":76,"start_point":[690,699],"end_point":[211,68],"distance":792.2133551007582}],"complexity_score":0.6992330630087893}
{"id":15180,"query_id":"Q03036","question":"An aerial surveillance drone starts from a flat, paved surface and needs to reach another flat, paved surface while minimizing risk. The drone can fly over open grassy areas, other paved surfaces, vehicle lanes, bodies of liquid, cultivated fields, and even vertical structures, but must avoid areas with tall, dense vegetation that could entangle its rotors. Which path minimizes risk?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, paved surface","end_land_type":"Another flat, paved surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"koeln_36.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":162,"start_point":[949,96],"end_point":[37,884],"distance":1205.2750723382608},{"start_region_id":162,"end_region_id":83,"start_point":[37,884],"end_point":[949,96],"distance":1205.2750723382608},{"start_region_id":152,"end_region_id":83,"start_point":[149,852],"end_point":[949,96],"distance":1100.6979603869538},{"start_region_id":83,"end_region_id":152,"start_point":[949,96],"end_point":[149,852],"distance":1100.6979603869538},{"start_region_id":162,"end_region_id":103,"start_point":[37,884],"end_point":[899,306],"distance":1037.847773038031}],"complexity_score":0.6992330630087893}
{"id":16758,"query_id":"Q03352","question":"A quadcopter drone is hovering above a grassy field. It needs to reach a smooth, paved lane. The drone can fly over the grassy field, loose sandy areas, cultivated fields with tilled soil, and the paved lane itself. However, flying over liquid surfaces like rivers or lakes would cause instability due to downdraft turbulence, and flying near vertical obstacles like trees or structures would require careful maneuvering and cause discomfort. The operator wants to minimize vibrations and ensure a smooth, stable flight. What is the most comfortable path to reach the paved lane?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the most comfortable path to reach the paved lane?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Road","Agriculture land"],"traverse_vector":[1,1,0,1,0,0,1,0],"cost_vector":[1,1,0,1,0,0,1,0],"image_name":"koeln_36.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":204,"start_point":[221,463],"end_point":[479,353],"distance":280.471032372329},{"start_region_id":29,"end_region_id":204,"start_point":[632,489],"end_point":[479,353],"distance":204.70710783946902}],"complexity_score":0.6992330630087893}
{"id":1425,"query_id":"Q00285","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a grassy, open field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, areas with low vegetation and shrubs, the paved surface it starts on, bodies of liquid, and cultivated fields with crops. However, it must avoid flying directly through dense, tall vegetation or near vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_56.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":111,"start_point":[84,290],"end_point":[968,910],"distance":1079.748118775856},{"start_region_id":196,"end_region_id":111,"start_point":[369,101],"end_point":[968,910],"distance":1006.6190937986424},{"start_region_id":193,"end_region_id":101,"start_point":[84,290],"end_point":[891,789],"distance":948.8150504708491},{"start_region_id":193,"end_region_id":46,"start_point":[84,290],"end_point":[965,381],"distance":885.6873037364824},{"start_region_id":199,"end_region_id":46,"start_point":[180,797],"end_point":[965,381],"distance":888.4148805597529}],"complexity_score":0.6992987940672323}
{"id":5620,"query_id":"Q01124","question":"An off-road vehicle starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The vehicle can traverse grassy, open fields and also use hard, flat surfaces like parking lots or paved areas, which provide better traction and stability. However, the vehicle cannot drive through dense vegetation, water bodies, or buildings, as these pose risks of damage or accidents. What is the safest path for the off-road vehicle to take?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path for the off-road vehicle to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"koeln_56.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":111,"start_point":[57,482],"end_point":[968,910],"distance":1006.531171896827},{"start_region_id":111,"end_region_id":62,"start_point":[968,910],"end_point":[57,482],"distance":1006.531171896827},{"start_region_id":23,"end_region_id":111,"start_point":[409,150],"end_point":[968,910],"distance":943.4410421430689},{"start_region_id":111,"end_region_id":23,"start_point":[968,910],"end_point":[409,150],"distance":943.4410421430689},{"start_region_id":45,"end_region_id":111,"start_point":[278,293],"end_point":[968,910],"distance":925.6289753459536}],"complexity_score":0.6992987940672323}
{"id":16713,"query_id":"Q03343","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over most surfaces including loose soil, grassy areas, hard compacted surfaces, and cultivated fields, but must avoid dense vegetation and vertical structures. Liquid surfaces are allowed but pose a risk. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_56.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":111,"start_point":[84,290],"end_point":[968,910],"distance":1079.748118775856},{"start_region_id":196,"end_region_id":111,"start_point":[369,101],"end_point":[968,910],"distance":1006.6190937986424},{"start_region_id":193,"end_region_id":101,"start_point":[84,290],"end_point":[891,789],"distance":948.8150504708491},{"start_region_id":193,"end_region_id":46,"start_point":[84,290],"end_point":[965,381],"distance":885.6873037364824},{"start_region_id":199,"end_region_id":46,"start_point":[180,797],"end_point":[965,381],"distance":888.4148805597529}],"complexity_score":0.6992987940672323}
{"id":5663,"query_id":"Q01133","question":"A person walking with a stroller starts from a paved lane and needs to reach another paved lane while ensuring a smooth and stable journey. The path must use only hard, flat surfaces that provide consistent footing and minimal vibration. Avoid any soft, uneven, or vegetated ground that could cause discomfort or instability.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"vegas_23.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":45,"start_point":[465,285],"end_point":[231,428],"distance":274.23530042647684},{"start_region_id":45,"end_region_id":43,"start_point":[231,428],"end_point":[465,285],"distance":274.23530042647684}],"complexity_score":0.6994209905802924}
{"id":7519,"query_id":"Q01504","question":"A quadcopter drone starts from a vegetated area with tall, leafy structures and needs to reach a hard, paved surface. The quadcopter drone can fly over open, loose soil and cultivated fields, but must navigate carefully around vertical obstacles and dense overhead foliage. The objective is to find the path that allows the drone to travel as quickly as possible.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a hard, paved surface","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"vegas_23.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":45,"start_point":[222,157],"end_point":[231,428],"distance":271.14940531006147},{"start_region_id":64,"end_region_id":43,"start_point":[222,157],"end_point":[465,285],"distance":274.6506872374435}],"complexity_score":0.6994209905802924}
{"id":15322,"query_id":"Q03065","question":"A quadcopter drone begins in a grassy field and needs to reach a cluster of tall vegetation. The drone operator wants to maximize flight comfort by avoiding turbulence and maintaining stable hover. The path must use open areas with minimal obstacles. Liquid surfaces can be flown over but may cause downdraft discomfort. Vertical structures and dense vegetation can be navigated around if there's sufficient space to avoid collisions. Paved areas and vehicle lanes provide stable, predictable airspace. Cultivated fields offer open flight paths. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy field","end_land_type":"a cluster of tall vegetation","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"vegas_23.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":64,"start_point":[579,573],"end_point":[222,157],"distance":548.1833634834243},{"start_region_id":26,"end_region_id":64,"start_point":[403,603],"end_point":[222,157],"distance":481.32837024218713},{"start_region_id":14,"end_region_id":64,"start_point":[412,434],"end_point":[222,157],"distance":335.90028282214945},{"start_region_id":12,"end_region_id":64,"start_point":[188,439],"end_point":[222,157],"distance":284.0422503783548}],"complexity_score":0.6994209905802924}
{"id":16616,"query_id":"Q03324","question":"A quadcopter drone starts from a grassy, open field and needs to reach a cluster of tall, leafy vegetation. The drone can fly over all surfaces except vertical structures and dense overhead obstacles, which are blocked. Smooth, stable surfaces are preferred for a comfortable flight, while liquid areas may cause turbulence and should be avoided if possible. Tall vegetation requires careful navigation due to potential obstructions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the most comfortable path for the quadcopter drone to take from the grassy, open field to the cluster of tall, leafy vegetation?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"vegas_23.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":64,"start_point":[579,573],"end_point":[222,157],"distance":548.1833634834243},{"start_region_id":26,"end_region_id":64,"start_point":[403,603],"end_point":[222,157],"distance":481.32837024218713},{"start_region_id":14,"end_region_id":64,"start_point":[412,434],"end_point":[222,157],"distance":335.90028282214945},{"start_region_id":12,"end_region_id":64,"start_point":[188,439],"end_point":[222,157],"distance":284.0422503783548}],"complexity_score":0.6994209905802924}
{"id":13049,"query_id":"Q02610","question":"A delivery drone is dispatched from a grassy, open field and needs to reach a paved parking lot. The drone can fly over most surfaces, but must avoid dense tree canopies and building structures. The drone's flight path is restricted to areas with grassy vegetation, paved surfaces, vehicle lanes, water bodies, and cultivated crop fields. What is the shortest possible route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, open field","end_land_type":"paved parking lot","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,1,1,1,0,1,1,0],"image_name":"dortmund_31.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":341,"start_point":[970,99],"end_point":[136,923],"distance":1172.4043671020677},{"start_region_id":14,"end_region_id":371,"start_point":[970,99],"end_point":[372,971],"distance":1057.3495164797685},{"start_region_id":14,"end_region_id":332,"start_point":[970,99],"end_point":[241,837],"distance":1037.345169169838},{"start_region_id":14,"end_region_id":305,"start_point":[970,99],"end_point":[127,679],"distance":1023.2541228844377},{"start_region_id":37,"end_region_id":341,"start_point":[835,188],"end_point":[136,923],"distance":1014.3106033163609}],"complexity_score":0.6995212019287949}
{"id":728,"query_id":"Q00146","question":"A hiker starts from a paved area and needs to reach another paved area. The terrain includes firm, compacted surfaces suitable for walking, areas with low vegetation and shrubs that can be crossed on foot, and cultivated fields with soft soil that are accessible. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_7.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":61,"start_point":[166,150],"end_point":[531,584],"distance":567.0811229445043},{"start_region_id":61,"end_region_id":21,"start_point":[531,584],"end_point":[166,150],"distance":567.0811229445043},{"start_region_id":61,"end_region_id":54,"start_point":[531,584],"end_point":[78,407],"distance":486.35172457800536},{"start_region_id":54,"end_region_id":61,"start_point":[78,407],"end_point":[531,584],"distance":486.35172457800536},{"start_region_id":22,"end_region_id":54,"start_point":[489,181],"end_point":[78,407],"distance":469.03837796069524}],"complexity_score":0.6996495905077127}
{"id":4171,"query_id":"Q00835","question":"An aerial survey drone starts from a vegetated area with tall vertical structures and needs to reach another vegetated area with tall vertical structures. The drone must avoid any liquid surfaces and man-made vertical structures entirely, as they pose collision risks. The drone can traverse open areas with loose, dry soil; hard, flat paved surfaces; vehicle lanes; and vegetated areas with tall vertical structures, though these require careful navigation to avoid obstacles. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall vertical structures","end_land_type":"another vegetated area with tall vertical structures","task_description":"What is the safest path for the aerial survey drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,2,2,1,0,0,0],"image_name":"shanghai_7.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":75,"start_point":[223,588],"end_point":[181,17],"distance":572.5425748361426},{"start_region_id":75,"end_region_id":114,"start_point":[181,17],"end_point":[223,588],"distance":572.5425748361426},{"start_region_id":113,"end_region_id":75,"start_point":[86,547],"end_point":[181,17],"distance":538.4468404587402},{"start_region_id":75,"end_region_id":113,"start_point":[181,17],"end_point":[86,547],"distance":538.4468404587402},{"start_region_id":114,"end_region_id":95,"start_point":[223,588],"end_point":[189,298],"distance":291.9863010485252}],"complexity_score":0.6996495905077127}
{"id":9637,"query_id":"Q01928","question":"An off-road vehicle starts from a grassy, uneven terrain with scattered shrubs and needs to reach another patch of grassy, uneven terrain with scattered shrubs. The area contains various surface types: loose, sandy ground without vegetation; grassy, uneven terrain with scattered shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes with asphalt or concrete surfaces; and cultivated fields with crops. Trees, water bodies, and buildings are not accessible. You must find a path that connects these two grassy patches.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"grassy, uneven terrain with scattered shrubs","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_7.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":7,"start_point":[110,558],"end_point":[417,172],"distance":493.19874290188534},{"start_region_id":7,"end_region_id":17,"start_point":[417,172],"end_point":[110,558],"distance":493.19874290188534},{"start_region_id":7,"end_region_id":13,"start_point":[417,172],"end_point":[147,383],"distance":342.6674773012461},{"start_region_id":13,"end_region_id":7,"start_point":[147,383],"end_point":[417,172],"distance":342.6674773012461},{"start_region_id":17,"end_region_id":11,"start_point":[110,558],"end_point":[400,436],"distance":314.6172277546161}],"complexity_score":0.6996495905077127}
{"id":13204,"query_id":"Q02641","question":"A hiker starts from a densely wooded area with tall trees and uneven ground and needs to reach a paved, flat surface such as a sidewalk or parking lot. The hiker prefers surfaces that are smooth and stable to maximize comfort, avoiding rough or unpredictable terrain. The hiker can traverse grassy fields, cultivated crop areas, and loose soil patches if they are dry and firm enough to walk on without sinking, but cannot cross water bodies or enter buildings. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area with tall trees and uneven ground","end_land_type":"a paved, flat surface such as a sidewalk or parking lot","task_description":"What is the most comfortable path for the hiker to take from the wooded area to the paved surface?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"shanghai_7.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":61,"start_point":[181,17],"end_point":[531,584],"distance":666.3249957790867},{"start_region_id":113,"end_region_id":22,"start_point":[86,547],"end_point":[489,181],"distance":544.394158675495},{"start_region_id":75,"end_region_id":59,"start_point":[181,17],"end_point":[243,554],"distance":540.5672946081736},{"start_region_id":114,"end_region_id":22,"start_point":[223,588],"end_point":[489,181],"distance":486.2149730314771},{"start_region_id":75,"end_region_id":56,"start_point":[181,17],"end_point":[333,474],"distance":481.6149914610217}],"complexity_score":0.6996495905077127}
{"id":2701,"query_id":"Q00541","question":"An agricultural drone starts from a hard artificial surface and needs to reach a cultivated area as quickly as possible. The drone can fly over loose sandy or rocky ground, hard surfaces like pavement or roads, and cultivated soil. It cannot fly through areas with dense trees. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"hard artificial surface","end_land_type":"cultivated area","task_description":"What is the fastest route for the agricultural drone to reach the cultivated area?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"koeln_2.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":249,"end_region_id":510,"start_point":[566,945],"end_point":[54,143],"distance":951.4977666815619},{"start_region_id":201,"end_region_id":510,"start_point":[786,707],"end_point":[54,143],"distance":924.0779187925659},{"start_region_id":175,"end_region_id":510,"start_point":[910,418],"end_point":[54,143],"distance":899.0889833603791},{"start_region_id":156,"end_region_id":510,"start_point":[946,108],"end_point":[54,143],"distance":892.6863951018858},{"start_region_id":235,"end_region_id":510,"start_point":[583,838],"end_point":[54,143],"distance":873.4220056765229}],"complexity_score":0.6998727503554515}
{"id":5785,"query_id":"Q01157","question":"An off-road vehicle starts from a grassy, uneven terrain and needs to reach a cultivated field. The vehicle requires surfaces that provide a smooth ride to minimize vibration and discomfort. Paved surfaces like roads or parking lots are not accessible for this route, and obstacles like trees, water bodies, or buildings cannot be crossed. The cultivated field is traversable by the vehicle. What is the most comfortable route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"cultivated field","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Agriculture land"],"traverse_vector":[1,1,0,0,0,0,1,0],"cost_vector":[1,2,0,0,0,0,3,0],"image_name":"koeln_2.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":511,"start_point":[838,198],"end_point":[623,156],"distance":219.06391761310215}],"complexity_score":0.6998727503554515}
{"id":16540,"query_id":"Q03308","question":"An aerial survey drone starts from a paved, hard surface, an aerial survey drone must reach a cultivated field with soft, tilled soil. The drone can fly over open grassy areas, paved surfaces, vegetated areas with tall plants, liquid surfaces, and cultivated fields, but it must avoid dense vertical obstacles that could obstruct its flight path. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard surface","end_land_type":"A cultivated field with soft, tilled soil","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_2.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":510,"start_point":[574,747],"end_point":[54,143],"distance":797.0043914559066},{"start_region_id":272,"end_region_id":511,"start_point":[574,747],"end_point":[623,156],"distance":593.0278239678134},{"start_region_id":262,"end_region_id":510,"start_point":[516,506],"end_point":[54,143],"distance":587.5482958872402},{"start_region_id":272,"end_region_id":512,"start_point":[574,747],"end_point":[144,369],"distance":572.5242352948912},{"start_region_id":262,"end_region_id":512,"start_point":[516,506],"end_point":[144,369],"distance":396.42527669158534}],"complexity_score":0.6998727503554515}
{"id":8121,"query_id":"Q01625","question":"A delivery van starts from a paved road surface and needs to reach another paved road surface as quickly as possible. The vehicle can travel on paved, hard surfaces and also on cultivated, flat fields that are currently dry and firm enough to support its weight without getting stuck. However, it cannot drive through areas with dense vegetation, bodies of water, or solid structures. What is the fastest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the fastest route for the delivery van to travel from the starting paved road to the destination paved road?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"thousand_oaks_15.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":239,"start_point":[254,936],"end_point":[990,171],"distance":1061.5653536170064}],"complexity_score":0.699892664260793}
{"id":14968,"query_id":"Q02994","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The terrain includes areas of loose, sandy soil and rocky ground; flat, hard surfaces like sidewalks and parking lots; dense clusters of tall vegetation; and cultivated fields with crops. The hiker can traverse the grassy fields, cultivated areas, and loose ground, but must avoid any bodies of water and all structures. The hard surfaces are available for use. The dense vegetation can be entered if necessary, but it presents obstacles and reduced visibility. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"thousand_oaks_15.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":11,"start_point":[909,797],"end_point":[35,110],"distance":1111.6856570092104},{"start_region_id":11,"end_region_id":80,"start_point":[35,110],"end_point":[909,797],"distance":1111.6856570092104},{"start_region_id":81,"end_region_id":9,"start_point":[120,831],"end_point":[913,78],"distance":1093.552925102393},{"start_region_id":9,"end_region_id":81,"start_point":[913,78],"end_point":[120,831],"distance":1093.552925102393},{"start_region_id":11,"end_region_id":61,"start_point":[35,110],"end_point":[980,505],"distance":1024.2314191626813}],"complexity_score":0.699892664260793}
{"id":10536,"query_id":"Q02108","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy canopies, an aerial surveillance drone must navigate to another densely vegetated area with tall, leafy canopies. The drone can fly over open, solid ground with loose soil and rocks; grassy or shrub-covered terrain; flat, hard surfaces like pavements or parking lots; and bodies of water. However, vertical structures and buildings are strictly off-limits due to collision risks. The drone's priority is to avoid any terrain that could cause instability, signal interference, or unexpected obstacles.","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy canopies","end_land_type":"another densely vegetated area with tall, leafy canopies","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"vegas_26.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":70,"start_point":[62,568],"end_point":[580,60],"distance":725.5260160738552},{"start_region_id":70,"end_region_id":110,"start_point":[580,60],"end_point":[62,568],"distance":725.5260160738552},{"start_region_id":113,"end_region_id":70,"start_point":[253,626],"end_point":[580,60],"distance":653.670406244615},{"start_region_id":70,"end_region_id":113,"start_point":[580,60],"end_point":[253,626],"distance":653.670406244615},{"start_region_id":110,"end_region_id":81,"start_point":[62,568],"end_point":[570,184],"distance":636.8045225970054}],"complexity_score":0.7000252501745837}
{"id":16623,"query_id":"Q03325","question":"An aerial surveillance drone starts from a vegetated area with tall, distinct vertical structures that provide overhead cover and needs to reach another similar vegetated area with tall, distinct vertical structures. The drone must maintain a safe flight path. The terrain includes open grassy areas with scattered low vegetation, hard paved surfaces designed for vehicle traffic, liquid surfaces that are calm and reflective, cultivated fields with organized rows of low crops, and additional vegetated areas with tall vertical structures. The drone can fly over all these terrain types, but must exercise caution around tall vertical structures due to collision risk, and should avoid flying directly over liquid surfaces or near tall vertical structures unless necessary for safety reasons, as these present higher operational risks.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A vegetated area with tall, distinct vertical structures that provide overhead cover.","end_land_type":"Another vegetated area with tall, distinct vertical structures that provide overhead cover.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"vegas_26.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":70,"start_point":[62,568],"end_point":[580,60],"distance":725.5260160738552},{"start_region_id":70,"end_region_id":110,"start_point":[580,60],"end_point":[62,568],"distance":725.5260160738552},{"start_region_id":113,"end_region_id":70,"start_point":[253,626],"end_point":[580,60],"distance":653.670406244615},{"start_region_id":70,"end_region_id":113,"start_point":[580,60],"end_point":[253,626],"distance":653.670406244615},{"start_region_id":110,"end_region_id":81,"start_point":[62,568],"end_point":[570,184],"distance":636.8045225970054}],"complexity_score":0.7000252501745837}
{"id":8334,"query_id":"Q01667","question":"A hiker starts from a paved surface and needs to reach a grassy or shrub-covered ground. The terrain includes only hard, flat surfaces, loose sandy or rocky ground, and vegetated areas. The hard, flat surfaces are traversable by default. The loose sandy or rocky ground is traversable because it is dry and stable. The grassy or shrub-covered ground is traversable because the vegetation is low and sparse. All other terrain types, such as vertical structures, dense tree canopies, liquid bodies, and cultivated fields, are not allowed due to physical barriers or restrictions.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_27.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":1,"start_point":[307,997],"end_point":[837,51],"distance":1084.350496841312},{"start_region_id":170,"end_region_id":24,"start_point":[999,805],"end_point":[151,196],"distance":1044.0234671692012},{"start_region_id":175,"end_region_id":24,"start_point":[896,886],"end_point":[151,196],"distance":1015.4432529688697},{"start_region_id":155,"end_region_id":1,"start_point":[116,667],"end_point":[837,51],"distance":948.3127121366664},{"start_region_id":177,"end_region_id":1,"start_point":[582,955],"end_point":[837,51],"distance":939.2768494964623}],"complexity_score":0.7000765828459062}
{"id":12755,"query_id":"Q02551","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, flat surfaces suitable for walking; areas with loose soil and scattered vegetation; and patches of tall, dense vegetation that require careful navigation. You cannot cross any liquid surfaces or enter any vertical structures. What is the shortest route to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest route to the grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_27.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":24,"start_point":[944,246],"end_point":[151,196],"distance":794.5747290217579},{"start_region_id":191,"end_region_id":1,"start_point":[151,116],"end_point":[837,51],"distance":689.0725651192333},{"start_region_id":197,"end_region_id":24,"start_point":[816,332],"end_point":[151,196],"distance":678.7643184493422},{"start_region_id":192,"end_region_id":1,"start_point":[497,604],"end_point":[837,51],"distance":649.1602267545355},{"start_region_id":192,"end_region_id":24,"start_point":[497,604],"end_point":[151,196],"distance":534.9579422721005}],"complexity_score":0.7000765828459062}
{"id":17102,"query_id":"Q03421","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over grassy or shrub-covered ground and other paved or hard surfaces, but must avoid flying over any water bodies, wooded areas, or structures to minimize risk. The drone cannot traverse any loose, sandy, or rocky ground or cultivated fields. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"chisinau_27.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":107,"start_point":[999,805],"end_point":[73,36],"distance":1203.676451543354},{"start_region_id":107,"end_region_id":170,"start_point":[73,36],"end_point":[999,805],"distance":1203.676451543354},{"start_region_id":107,"end_region_id":175,"start_point":[73,36],"end_point":[896,886],"distance":1183.1436937244773},{"start_region_id":175,"end_region_id":107,"start_point":[896,886],"end_point":[73,36],"distance":1183.1436937244773},{"start_region_id":177,"end_region_id":107,"start_point":[582,955],"end_point":[73,36],"distance":1050.5436687734593}],"complexity_score":0.7000765828459062}
{"id":7386,"query_id":"Q01478","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and overhead canopy and needs to reach a flat, paved lane used by ground vehicles. The drone can fly over most surfaces, but must navigate carefully through areas with dense vertical obstacles that could cause turbulence and instability. The drone's operator prioritizes a smooth, stable flight path that minimizes vibration and sudden movements to protect sensitive onboard equipment. Which route provides the most comfortable flight?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and overhead canopy","end_land_type":"A flat, paved lane used by ground vehicles","task_description":"Which route provides the most comfortable flight?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"joplin_40.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":432,"end_region_id":243,"start_point":[91,961],"end_point":[527,448],"distance":673.2495822501489},{"start_region_id":382,"end_region_id":243,"start_point":[92,701],"end_point":[527,448],"distance":503.2236083492109},{"start_region_id":336,"end_region_id":243,"start_point":[37,484],"end_point":[527,448],"distance":491.3206692171621},{"start_region_id":450,"end_region_id":243,"start_point":[604,966],"end_point":[527,448],"distance":523.6917031995065},{"start_region_id":252,"end_region_id":243,"start_point":[253,85],"end_point":[527,448],"distance":454.80215478821117}],"complexity_score":0.7001951199361652}
{"id":15364,"query_id":"Q03073","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a paved lane while prioritizing safety. The drone can fly over grassy areas, cultivated fields, bare earth, and liquid surfaces. However. The drone must exercise caution when flying near vertical structures or dense vegetation. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard surface","end_land_type":"a paved lane","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"joplin_40.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":243,"start_point":[991,972],"end_point":[527,448],"distance":699.908565456946},{"start_region_id":200,"end_region_id":243,"start_point":[987,783],"end_point":[527,448],"distance":569.0562362368064},{"start_region_id":116,"end_region_id":243,"start_point":[1000,217],"end_point":[527,448],"distance":526.3933890162375},{"start_region_id":192,"end_region_id":243,"start_point":[514,796],"end_point":[527,448],"distance":348.2427314388629},{"start_region_id":198,"end_region_id":243,"start_point":[771,709],"end_point":[527,448],"distance":357.2911977645125}],"complexity_score":0.7001951199361652}
{"id":1648,"query_id":"Q00330","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface while minimizing risk. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; liquid bodies; and cultivated fields with crops. However, vertical structures and dense vegetation are strictly avoided due to collision hazards, and the drone must maintain stable flight over liquid surfaces to prevent loss. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a hard, paved surface","end_land_type":"a hard, paved surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_41.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":267,"start_point":[174,253],"end_point":[848,901],"distance":934.9759355191983},{"start_region_id":267,"end_region_id":254,"start_point":[848,901],"end_point":[174,253],"distance":934.9759355191983},{"start_region_id":254,"end_region_id":268,"start_point":[174,253],"end_point":[232,890],"distance":639.6350521977356},{"start_region_id":268,"end_region_id":254,"start_point":[232,890],"end_point":[174,253],"distance":639.6350521977356},{"start_region_id":267,"end_region_id":268,"start_point":[848,901],"end_point":[232,890],"distance":616.0982064573797}],"complexity_score":0.7002286689912876}
{"id":5793,"query_id":"Q01159","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area. The terrain includes only surfaces that are open and clear, such as asphalt lanes and areas with low vegetation and loose soil, avoiding any vertical structures, liquid bodies, cultivated fields, and tree clusters to minimize risks like collisions, signal interference, or unstable flight. The drone can fly over passable obstacles due to its aerial capability. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"palu_41.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":21,"start_point":[848,901],"end_point":[71,99],"distance":1116.6615422767993},{"start_region_id":268,"end_region_id":30,"start_point":[232,890],"end_point":[983,125],"distance":1072.019589373254},{"start_region_id":267,"end_region_id":47,"start_point":[848,901],"end_point":[103,206],"distance":1018.8473879831071},{"start_region_id":267,"end_region_id":74,"start_point":[848,901],"end_point":[62,361],"distance":953.6225668470729},{"start_region_id":268,"end_region_id":63,"start_point":[232,890],"end_point":[963,299],"distance":940.0223401600624}],"complexity_score":0.7002286689912876}
{"id":7183,"query_id":"Q01437","question":"A delivery drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles that could disrupt its flight path. The drone should prioritize smooth, predictable flight conditions to ensure package stability and minimize vibrations during transit.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"palu_41.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":267,"start_point":[174,253],"end_point":[848,901],"distance":934.9759355191983},{"start_region_id":267,"end_region_id":254,"start_point":[848,901],"end_point":[174,253],"distance":934.9759355191983},{"start_region_id":254,"end_region_id":268,"start_point":[174,253],"end_point":[232,890],"distance":639.6350521977356},{"start_region_id":268,"end_region_id":254,"start_point":[232,890],"end_point":[174,253],"distance":639.6350521977356},{"start_region_id":267,"end_region_id":268,"start_point":[848,901],"end_point":[232,890],"distance":616.0982064573797}],"complexity_score":0.7002286689912876}
{"id":10738,"query_id":"Q02148","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field. The terrain includes areas of loose, sandy soil; patches of low, natural vegetation; hard, paved surfaces; and clusters of tall, vertical obstacles. All surfaces except liquid are traversable, but you must avoid liquid surfaces as they pose a risk. The tall, vertical obstacles are traversable only if you can fly around them safely. What is the safest path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"palu_41.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":30,"start_point":[48,928],"end_point":[983,125],"distance":1232.4909735977785},{"start_region_id":30,"end_region_id":148,"start_point":[983,125],"end_point":[48,928],"distance":1232.4909735977785},{"start_region_id":148,"end_region_id":63,"start_point":[48,928],"end_point":[963,299],"distance":1110.344991432843},{"start_region_id":63,"end_region_id":148,"start_point":[963,299],"end_point":[48,928],"distance":1110.344991432843},{"start_region_id":45,"end_region_id":148,"start_point":[817,200],"end_point":[48,928],"distance":1058.9357865328757}],"complexity_score":0.7002286689912876}
{"id":5789,"query_id":"Q01158","question":"A quadcopter drone starts from a grassy, uneven terrain and needs to reach a cultivated field. The drone prefers to fly over surfaces that are stable and predictable to ensure smooth operation and avoid turbulence. While the drone can fly over most terrains, areas with dense vertical obstacles like trees or buildings should be avoided to prevent collisions and ensure a comfortable flight. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"cultivated field","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_34.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":381,"start_point":[941,50],"end_point":[325,911],"distance":1058.6675587737634},{"start_region_id":68,"end_region_id":379,"start_point":[37,691],"end_point":[921,416],"distance":925.7866924945508},{"start_region_id":3,"end_region_id":381,"start_point":[589,61],"end_point":[325,911],"distance":890.0539309502543},{"start_region_id":6,"end_region_id":381,"start_point":[818,202],"end_point":[325,911],"distance":863.5565991873376},{"start_region_id":1,"end_region_id":379,"start_point":[127,78],"end_point":[921,416],"distance":862.9484341488777}],"complexity_score":0.7002442901836354}
{"id":6739,"query_id":"Q01348","question":"A farm vehicle starts from a compacted, hard-packed surface and needs to reach a plowed agricultural field. The vehicle can traverse the hard surface and the agricultural field, but must avoid all other terrain types, including loose sand or rocky ground, natural grassy or shrub-covered areas, any water bodies, individual trees or wooded areas, and any structures. The agricultural field is accessible because it has been recently harvested and is firm enough to support vehicle weight without sinking. What is the safest path for the farm vehicle?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"a compacted, hard-packed surface","end_land_type":"a plowed agricultural field","task_description":"What is the safest path for the farm vehicle?","task_type":"Safest","input_classes":["Developed space","Agriculture land"],"traverse_vector":[0,0,1,0,0,0,1,0],"cost_vector":[0,0,2,0,0,0,1,0],"image_name":"monrovia_34.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":381,"start_point":[331,668],"end_point":[325,911],"distance":243.0740627874558}],"complexity_score":0.7002442901836354}
{"id":15250,"query_id":"Q03050","question":"An aerial survey drone begins its mission on a flat, cultivated field of crops. It needs to reach a paved, hard-surface area. The drone can fly over open grassy areas, paved surfaces, vehicle lanes, bodies of liquid, and cultivated fields. It can also navigate around vertical structures and dense vegetation clusters, but these present higher collision risks. The liquid surfaces and vertical structures are particularly hazardous due to potential signal interference and physical obstacles. The primary objective is to minimize all operational risks.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the safest flight path for the drone to reach the paved area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"monrovia_34.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":381,"end_region_id":106,"start_point":[325,911],"end_point":[715,56],"distance":939.747306460625},{"start_region_id":379,"end_region_id":149,"start_point":[921,416],"end_point":[41,561],"distance":891.8660213283159},{"start_region_id":379,"end_region_id":159,"start_point":[921,416],"end_point":[65,653],"distance":888.2032425070289},{"start_region_id":379,"end_region_id":118,"start_point":[921,416],"end_point":[81,253],"distance":855.6687443163972},{"start_region_id":379,"end_region_id":165,"start_point":[921,416],"end_point":[141,792],"distance":865.8960676663222}],"complexity_score":0.7002442901836354}
{"id":3368,"query_id":"Q00674","question":"An aerial photography drone starts from a hard, paved surface and needs to reach another hard, paved surface while maintaining stable flight for clear imaging. The drone can fly over open, dry ground with loose soil and rocks, as well as over liquid surfaces, but must avoid areas with tall vegetation or vertical structures that could interfere with its flight path. Which route provides the most comfortable travel?","agent_category":"Drone","specific_agent":"aerial photography drone","start_land_type":"a hard, paved surface","end_land_type":"another hard, paved surface","task_description":"Which route provides the most comfortable travel?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_44.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":313,"start_point":[420,46],"end_point":[940,922],"distance":1018.71291343538},{"start_region_id":313,"end_region_id":174,"start_point":[940,922],"end_point":[420,46],"distance":1018.71291343538},{"start_region_id":290,"end_region_id":174,"start_point":[862,834],"end_point":[420,46],"distance":903.4976480323566},{"start_region_id":174,"end_region_id":290,"start_point":[420,46],"end_point":[862,834],"distance":903.4976480323566},{"start_region_id":180,"end_region_id":313,"start_point":[823,103],"end_point":[940,922],"distance":827.3149339882606}],"complexity_score":0.7002533771601106}
{"id":7868,"query_id":"Q01574","question":"A hiker starts from a paved road surface and needs to reach another paved road surface while prioritizing walking comfort. The hiker can walk on hard, smooth surfaces like sidewalks or parking lots, as well as on loose, sandy or rocky ground if it is stable and not too steep. They can also cross cultivated fields with flat, even soil that has been prepared for planting, and pass through areas with scattered low vegetation or bushes, provided the vegetation is sparse enough to walk through without obstruction. However, the hiker cannot enter any structures or bodies of water. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"koeln_44.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":352,"start_point":[475,399],"end_point":[748,900],"distance":570.5523639421714},{"start_region_id":352,"end_region_id":339,"start_point":[748,900],"end_point":[475,399],"distance":570.5523639421714},{"start_region_id":352,"end_region_id":343,"start_point":[748,900],"end_point":[813,278],"distance":625.3870801351752},{"start_region_id":343,"end_region_id":352,"start_point":[813,278],"end_point":[748,900],"distance":625.3870801351752},{"start_region_id":339,"end_region_id":344,"start_point":[475,399],"end_point":[910,518],"distance":450.98336998164353}],"complexity_score":0.7002533771601106}
{"id":10396,"query_id":"Q02080","question":"An off-road vehicle starts from a paved lane and needs to reach another paved lane. The terrain includes hard, flat surfaces like parking lots and compacted soil areas, as well as soft, uneven ground with loose soil and rocks, and areas with natural grass and shrubs. The vehicle can traverse all these surfaces due to its high clearance and all-terrain tires, but must avoid trees, water bodies, and buildings. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path for the off-road vehicle to reach the destination paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"koeln_44.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":352,"start_point":[475,399],"end_point":[748,900],"distance":570.5523639421714},{"start_region_id":352,"end_region_id":339,"start_point":[748,900],"end_point":[475,399],"distance":570.5523639421714},{"start_region_id":352,"end_region_id":343,"start_point":[748,900],"end_point":[813,278],"distance":625.3870801351752},{"start_region_id":343,"end_region_id":352,"start_point":[813,278],"end_point":[748,900],"distance":625.3870801351752},{"start_region_id":339,"end_region_id":344,"start_point":[475,399],"end_point":[910,518],"distance":450.98336998164353}],"complexity_score":0.7002533771601106}
{"id":12472,"query_id":"Q02495","question":"A sedan starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The sedan can traverse areas with firm, compacted ground that is flat and solid enough to support vehicle weight, as well as open, grassy terrain that is dry and level enough for driving. However. The sedan must avoid any surfaces covered by loose, shifting materials like sand or gravel, any areas with standing or flowing liquid, any vertical structures, and any dense clusters of tall vegetation that would obstruct passage. What is the fastest path?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"koeln_44.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":313,"start_point":[420,46],"end_point":[940,922],"distance":1018.71291343538},{"start_region_id":313,"end_region_id":174,"start_point":[940,922],"end_point":[420,46],"distance":1018.71291343538},{"start_region_id":290,"end_region_id":174,"start_point":[862,834],"end_point":[420,46],"distance":903.4976480323566},{"start_region_id":174,"end_region_id":290,"start_point":[420,46],"end_point":[862,834],"distance":903.4976480323566},{"start_region_id":180,"end_region_id":313,"start_point":[823,103],"end_point":[940,922],"distance":827.3149339882606}],"complexity_score":0.7002533771601106}
{"id":16826,"query_id":"Q03366","question":"A quadcopter drone starts from a grassy, uneven ground and needs to reach a flat, paved area. The drone can fly over open water surfaces, but cannot pass through dense tree canopies or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"a flat, paved area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_44.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":313,"start_point":[101,89],"end_point":[940,922],"distance":1182.290150512978},{"start_region_id":1,"end_region_id":313,"start_point":[282,49],"end_point":[940,922],"distance":1093.203091836096},{"start_region_id":8,"end_region_id":290,"start_point":[101,89],"end_point":[862,834],"distance":1064.9629101522737},{"start_region_id":35,"end_region_id":313,"start_point":[179,255],"end_point":[940,922],"distance":1011.9337923006623},{"start_region_id":8,"end_region_id":273,"start_point":[101,89],"end_point":[873,716],"distance":994.5416029508268}],"complexity_score":0.7002533771601106}
{"id":5953,"query_id":"Q01191","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over liquid surfaces, but these present a significant risk if the drone were to experience a failure and fall into the liquid. The drone must avoid any areas with tall vertical obstacles that could cause collisions. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"christchurch_33.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":305,"end_region_id":208,"start_point":[45,804],"end_point":[846,84],"distance":1077.0334256651463},{"start_region_id":208,"end_region_id":305,"start_point":[846,84],"end_point":[45,804],"distance":1077.0334256651463},{"start_region_id":316,"end_region_id":208,"start_point":[301,959],"end_point":[846,84],"distance":1030.849164524083},{"start_region_id":208,"end_region_id":316,"start_point":[846,84],"end_point":[301,959],"distance":1030.849164524083},{"start_region_id":311,"end_region_id":201,"start_point":[705,924],"end_point":[146,99],"distance":996.5470385285383}],"complexity_score":0.7004728132995047}
{"id":15672,"query_id":"Q03135","question":"A hiker starts from a paved surface and needs to reach a forested area. The hiker can traverse grassy fields with low vegetation, cultivated crop fields, and wooded areas with trees. The paved surface itself is also traversable. What is the shortest path to the forested area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"forested area","task_description":"What is the shortest path to the forested area?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,1,1,1,1,0,1,0],"image_name":"christchurch_33.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":305,"end_region_id":388,"start_point":[45,804],"end_point":[1007,234],"distance":1118.1878196439093},{"start_region_id":316,"end_region_id":388,"start_point":[301,959],"end_point":[1007,234],"distance":1011.9589912639741},{"start_region_id":286,"end_region_id":388,"start_point":[120,671],"end_point":[1007,234],"distance":988.8063511122893},{"start_region_id":293,"end_region_id":388,"start_point":[261,805],"end_point":[1007,234],"distance":939.4450489517734},{"start_region_id":258,"end_region_id":388,"start_point":[95,417],"end_point":[1007,234],"distance":930.1790150288276}],"complexity_score":0.7004728132995047}
{"id":16186,"query_id":"Q03238","question":"An off-road vehicle is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for vehicles. The vehicle can traverse loose, sandy or rocky ground without vegetation, grassy or shrub-covered areas that are not cultivated, cultivated fields with crops or grazing vegetation, and paved lanes or streets used by vehicles. The vehicle cannot travel through areas with individual trees or groups of trees, bodies of water, or structures with walls and roofs. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface suitable for vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"christchurch_33.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":323,"start_point":[488,994],"end_point":[40,52],"distance":1043.104980335153},{"start_region_id":43,"end_region_id":325,"start_point":[50,255],"end_point":[867,874],"distance":1025.0121950494054},{"start_region_id":95,"end_region_id":323,"start_point":[914,582],"end_point":[40,52],"distance":1022.1428471598282},{"start_region_id":18,"end_region_id":325,"start_point":[283,97],"end_point":[867,874],"distance":972.0005144031561},{"start_region_id":118,"end_region_id":323,"start_point":[696,768],"end_point":[40,52],"distance":971.077751778919}],"complexity_score":0.7004728132995047}
{"id":4037,"query_id":"Q00808","question":"A quadcopter starts from a cultivated field and needs to reach another cultivated field while prioritizing a smooth and stable flying experience. You can traverse areas with loose, dry soil and rocks; grassy or shrub-covered ground; hard, paved surfaces; vehicle lanes and streets; other cultivated fields; and wooded areas. However, you cannot fly over any liquid surfaces or through any structures. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path provides the most comfortable route?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"shanghai_44.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":50,"start_point":[309,439],"end_point":[50,241],"distance":326.01380338875225},{"start_region_id":50,"end_region_id":48,"start_point":[50,241],"end_point":[309,439],"distance":326.01380338875225},{"start_region_id":48,"end_region_id":49,"start_point":[309,439],"end_point":[166,214],"distance":266.59707425251315},{"start_region_id":49,"end_region_id":48,"start_point":[166,214],"end_point":[309,439],"distance":266.59707425251315},{"start_region_id":52,"end_region_id":50,"start_point":[181,461],"end_point":[50,241],"distance":256.0488234692751}],"complexity_score":0.70069499423757}
{"id":4793,"query_id":"Q00959","question":"A quadcopter drone is hovering above a crop field and needs to reach a paved sports court. The drone can fly over soft soil, hard surfaces, and vehicle lanes, but must avoid flying through dense tree canopies or inside buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a crop field","end_land_type":"a paved sports court","task_description":"What is the shortest path from the crop field to the paved sports court?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_44.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":2,"start_point":[181,461],"end_point":[419,130],"distance":407.6824744822863},{"start_region_id":50,"end_region_id":2,"start_point":[50,241],"end_point":[419,130],"distance":385.3336216838598},{"start_region_id":48,"end_region_id":2,"start_point":[309,439],"end_point":[419,130],"distance":327.9954267973869},{"start_region_id":49,"end_region_id":2,"start_point":[166,214],"end_point":[419,130],"distance":266.58019431308094},{"start_region_id":48,"end_region_id":1,"start_point":[309,439],"end_point":[119,226],"distance":285.4277491765648}],"complexity_score":0.70069499423757}
{"id":1405,"query_id":"Q00281","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, liquid areas, and vegetation, but must avoid vertical obstacles. The drone's flight path can cross over smooth artificial surfaces, vehicle lanes, liquid bodies, and tall vegetation, but cannot pass through or between vertical structures. What is the shortest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest route for the aerial surveillance drone to travel from the starting paved lane to the destination paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"austin_8.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":139,"start_point":[65,965],"end_point":[718,45],"distance":1128.1883707962957},{"start_region_id":139,"end_region_id":162,"start_point":[718,45],"end_point":[65,965],"distance":1128.1883707962957},{"start_region_id":162,"end_region_id":136,"start_point":[65,965],"end_point":[14,46],"distance":920.4140372680113},{"start_region_id":136,"end_region_id":162,"start_point":[14,46],"end_point":[65,965],"distance":920.4140372680113},{"start_region_id":139,"end_region_id":136,"start_point":[718,45],"end_point":[14,46],"distance":704.0007102269145}],"complexity_score":0.700785515275246}
{"id":7817,"query_id":"Q01564","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over various terrains, including loose soil, hard surfaces, liquid bodies, and cultivated fields, but it must avoid dense vegetation and vertical structures to ensure stable flight and comfort. The goal is to find a path that maximizes comfort by prioritizing smooth, open areas and avoiding turbulent air near obstacles.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved surface","end_land_type":"a paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"austin_8.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":139,"start_point":[65,965],"end_point":[718,45],"distance":1128.1883707962957},{"start_region_id":139,"end_region_id":162,"start_point":[718,45],"end_point":[65,965],"distance":1128.1883707962957},{"start_region_id":162,"end_region_id":136,"start_point":[65,965],"end_point":[14,46],"distance":920.4140372680113},{"start_region_id":136,"end_region_id":162,"start_point":[14,46],"end_point":[65,965],"distance":920.4140372680113},{"start_region_id":139,"end_region_id":136,"start_point":[718,45],"end_point":[14,46],"distance":704.0007102269145}],"complexity_score":0.700785515275246}
{"id":15348,"query_id":"Q03070","question":"A quadcopter starts from a paved lane and needs to reach another paved lane. The quadcopter can fly over grassy or shrub-covered terrain, hard surfaces like sidewalks and roads, cultivated fields, and liquid surfaces. However, it cannot fly through dense wooded patches or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"accra_42.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":445,"end_region_id":397,"start_point":[780,916],"end_point":[301,135],"distance":916.1888451623934},{"start_region_id":397,"end_region_id":445,"start_point":[301,135],"end_point":[780,916],"distance":916.1888451623934},{"start_region_id":445,"end_region_id":413,"start_point":[780,916],"end_point":[148,314],"distance":872.827588931514},{"start_region_id":413,"end_region_id":445,"start_point":[148,314],"end_point":[780,916],"distance":872.827588931514},{"start_region_id":413,"end_region_id":441,"start_point":[148,314],"end_point":[852,590],"distance":756.1692932141585}],"complexity_score":0.7007856942369104}
{"id":1675,"query_id":"Q00335","question":"A quadcopter drone starts from a paved surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over hard, flat surfaces like parking lots and sidewalks, as well as vehicle lanes and railways. It can also traverse cultivated fields with regular crop patterns. However, it must avoid areas with liquid surfaces and solid vertical structures like buildings. The drone's flight path should prioritize terrains that allow maximum speed and minimal navigation complexity.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the fastest route for the drone to reach the destination?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,0,1,1,1,0,1,0],"cost_vector":[0,0,2,2,1,0,2,0],"image_name":"santa_rosa_45.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":353,"end_region_id":523,"start_point":[171,247],"end_point":[948,927],"distance":1032.5352294231902},{"start_region_id":348,"end_region_id":523,"start_point":[513,70],"end_point":[948,927],"distance":961.0796012818086},{"start_region_id":348,"end_region_id":558,"start_point":[513,70],"end_point":[215,978],"distance":955.6505637522536},{"start_region_id":353,"end_region_id":493,"start_point":[171,247],"end_point":[968,704],"distance":918.7262922111242},{"start_region_id":348,"end_region_id":483,"start_point":[513,70],"end_point":[174,792],"distance":797.6245984170749}],"complexity_score":0.7008686055736469}
{"id":5839,"query_id":"Q01168","question":"A quadcopter drone starts from a paved concrete area and needs to reach another paved concrete area. The drone can fly over most surfaces but must avoid vertical obstacles like trees and buildings. Liquid surfaces may cause discomfort due to spray and turbulence. The objective is to find the most comfortable route.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved concrete area","end_land_type":"another paved concrete area","task_description":"What is the most comfortable path from the starting paved area to the destination paved area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santa_rosa_45.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":227,"start_point":[661,162],"end_point":[122,441],"distance":606.928331848168},{"start_region_id":227,"end_region_id":169,"start_point":[122,441],"end_point":[661,162],"distance":606.928331848168}],"complexity_score":0.7008686055736469}
{"id":7109,"query_id":"Q01422","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground; flat, open areas with short vegetation; liquid bodies; and cultivated fields with crops, but must avoid tall, dense vegetation and vertical structures. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_45.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":227,"start_point":[661,162],"end_point":[122,441],"distance":606.928331848168},{"start_region_id":227,"end_region_id":169,"start_point":[122,441],"end_point":[661,162],"distance":606.928331848168}],"complexity_score":0.7008686055736469}
{"id":1676,"query_id":"Q00336","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a paved lane used by vehicles. The drone must avoid flying through dense tree canopies or near building structures, as these present collision risks. The drone is permitted to fly over loose, sandy ground; grassy or shrubby areas; paved surfaces; water bodies; and cultivated crop fields. The drone's flight path must prioritize minimizing risk of collision, loss of control, or damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"paved lane used by vehicles","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"christchurch_11.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":104,"start_point":[29,131],"end_point":[701,800],"distance":948.232566409739},{"start_region_id":19,"end_region_id":105,"start_point":[878,179],"end_point":[186,803],"distance":931.7939686432833},{"start_region_id":7,"end_region_id":106,"start_point":[29,131],"end_point":[483,885],"distance":880.1318083105507},{"start_region_id":16,"end_region_id":104,"start_point":[87,167],"end_point":[701,800],"distance":881.8645020636674},{"start_region_id":70,"end_region_id":102,"start_point":[1000,951],"end_point":[410,272],"distance":899.5226511878398}],"complexity_score":0.7008765579692084}
{"id":5080,"query_id":"Q01016","question":"A delivery drone is starting above a sandy, rocky area and needs to reach a flat, artificial surface. The drone can fly over most surfaces but must avoid areas with tall, dense obstacles that could cause collisions. Sandy, rocky areas are clear for flight. Flat, artificial surfaces are clear for landing. Hard, vehicle surfaces are clear for flight. Areas with tall, dense vegetation are blocked due to collision risk. Surfaces covered by liquid are clear but risky due to potential signal interference or splash damage. Cultivated fields are clear for flight. Vertical structures are blocked unless explicitly permitted, which they are not. The goal is to find the path that minimizes risk of crashes, signal loss, or damage.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting above a sandy, rocky area","end_land_type":"and needing to reach a flat, artificial surface","task_description":"What is the safest route for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":16,"start_point":[846,540],"end_point":[97,88],"distance":874.8171237464434},{"start_region_id":3,"end_region_id":16,"start_point":[826,423],"end_point":[97,88],"distance":802.287978222284},{"start_region_id":4,"end_region_id":19,"start_point":[846,540],"end_point":[235,53],"distance":781.3385949765952},{"start_region_id":2,"end_region_id":27,"start_point":[293,401],"end_point":[880,821],"distance":721.7818229908537},{"start_region_id":1,"end_region_id":31,"start_point":[707,219],"end_point":[618,922],"distance":708.6113180016249}],"complexity_score":0.7008967288169231}
{"id":7098,"query_id":"Q01420","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved sidewalk. The terrain includes areas with loose soil and rocks, hard paved surfaces, tall vertical obstacles with dense foliage, and cultivated fields with soft, tilled earth. You must avoid any liquid surfaces and solid vertical structures. The loose sandy ground and cultivated fields are dry and firm enough to walk on, and the tall vertical obstacles are sparse enough to navigate between. What is the shortest path to the sidewalk?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved sidewalk","task_description":"What is the shortest path to the sidewalk?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":16,"start_point":[846,540],"end_point":[97,88],"distance":874.8171237464434},{"start_region_id":3,"end_region_id":16,"start_point":[826,423],"end_point":[97,88],"distance":802.287978222284},{"start_region_id":4,"end_region_id":19,"start_point":[846,540],"end_point":[235,53],"distance":781.3385949765952},{"start_region_id":2,"end_region_id":27,"start_point":[293,401],"end_point":[880,821],"distance":721.7818229908537},{"start_region_id":1,"end_region_id":31,"start_point":[707,219],"end_point":[618,922],"distance":708.6113180016249}],"complexity_score":0.7008967288169231}
{"id":7404,"query_id":"Q01481","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a patch of loose, dry soil and rocks. The hiker prefers to walk on stable, even surfaces to minimize foot fatigue and maintain balance. While the destination is on rough ground. The hiker can cross cultivated fields with planted crops if the soil is firm and the rows are clear, and can pass through areas with scattered trees if the ground underneath is relatively flat and free of dense roots. However, the hiker must avoid any liquid surfaces and cannot enter or pass through any vertical structures. What is the most comfortable path for the hiker to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a patch of loose, dry soil and rocks","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":4,"start_point":[97,88],"end_point":[846,540],"distance":874.8171237464434},{"start_region_id":16,"end_region_id":3,"start_point":[97,88],"end_point":[826,423],"distance":802.287978222284},{"start_region_id":19,"end_region_id":4,"start_point":[235,53],"end_point":[846,540],"distance":781.3385949765952},{"start_region_id":27,"end_region_id":2,"start_point":[880,821],"end_point":[293,401],"distance":721.7818229908537},{"start_region_id":31,"end_region_id":1,"start_point":[618,922],"end_point":[707,219],"distance":708.6113180016249}],"complexity_score":0.7008967288169231}
{"id":8464,"query_id":"Q01693","question":"A quadcopter drone starts from a patch of loose, dry soil and scattered rocks and needs to reach another area of similar loose, dry soil and scattered rocks. The drone can fly over areas of short, dry grass and shrubs, as well as hard, flat surfaces like sidewalks, parking lots, and paved roads. It can also cross over liquid surfaces. However, it must avoid any tall, dense vegetation or vertical structures. The drone's priority is to complete the route in the minimum possible time.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil and scattered rocks","end_land_type":"needs to reach another area of similar loose, dry soil and scattered rocks","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":4,"start_point":[293,401],"end_point":[846,540],"distance":570.2017186926045},{"start_region_id":4,"end_region_id":2,"start_point":[846,540],"end_point":[293,401],"distance":570.2017186926045},{"start_region_id":2,"end_region_id":3,"start_point":[293,401],"end_point":[826,423],"distance":533.4538405523012},{"start_region_id":3,"end_region_id":2,"start_point":[826,423],"end_point":[293,401],"distance":533.4538405523012},{"start_region_id":1,"end_region_id":2,"start_point":[707,219],"end_point":[293,401],"distance":452.2388749322641}],"complexity_score":0.7008967288169231}
{"id":9143,"query_id":"Q01829","question":"A rally car is positioned on a patch of loose, sandy ground and needs to reach a paved street as quickly as possible. The vehicle can travel across loose, sandy ground; areas with low, wild vegetation; flat, hard surfaces like parking lots and sidewalks; paved lanes; and cultivated fields. However, it cannot drive through dense tree stands, bodies of water, or into buildings. What is the fastest route for the rally car to take?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved street","task_description":"What is the fastest route for the rally car to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":32,"start_point":[846,540],"end_point":[256,141],"distance":712.2506581253541},{"start_region_id":3,"end_region_id":32,"start_point":[826,423],"end_point":[256,141],"distance":635.943393707333},{"start_region_id":4,"end_region_id":33,"start_point":[846,540],"end_point":[366,153],"distance":616.578462160332},{"start_region_id":4,"end_region_id":34,"start_point":[846,540],"end_point":[371,193],"distance":588.2465469511912},{"start_region_id":1,"end_region_id":39,"start_point":[707,219],"end_point":[569,726],"distance":525.4455252450058}],"complexity_score":0.7008967288169231}
{"id":13172,"query_id":"Q02635","question":"An aerial survey drone starts from a paved lane and needs to reach an area of exposed sandy ground. The drone can fly over most surfaces, but must avoid dense tree canopies as they pose collision risks. The drone can traverse over hard paved surfaces, loose sandy areas, cultivated fields, open water bodies, and artificial flat surfaces like parking lots. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"exposed sandy ground","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":4,"start_point":[256,141],"end_point":[846,540],"distance":712.2506581253541},{"start_region_id":32,"end_region_id":3,"start_point":[256,141],"end_point":[826,423],"distance":635.943393707333},{"start_region_id":33,"end_region_id":4,"start_point":[366,153],"end_point":[846,540],"distance":616.578462160332},{"start_region_id":34,"end_region_id":4,"start_point":[371,193],"end_point":[846,540],"distance":588.2465469511912},{"start_region_id":39,"end_region_id":1,"start_point":[569,726],"end_point":[707,219],"distance":525.4455252450058}],"complexity_score":0.7008967288169231}
{"id":13524,"query_id":"Q02705","question":"A 4x4 off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy area. The vehicle can travel on hard surfaces and loose soil, but cultivated fields are also accessible because the crops are low and the ground is firm enough for off-road tires. What is the fastest path?","agent_category":"Car","specific_agent":"a 4x4 off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"What is the fastest path from the paved, hard surface to the loose, sandy area?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,3,4,0,0,2,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":4,"start_point":[97,88],"end_point":[846,540],"distance":874.8171237464434},{"start_region_id":16,"end_region_id":3,"start_point":[97,88],"end_point":[826,423],"distance":802.287978222284},{"start_region_id":19,"end_region_id":4,"start_point":[235,53],"end_point":[846,540],"distance":781.3385949765952},{"start_region_id":27,"end_region_id":2,"start_point":[880,821],"end_point":[293,401],"distance":721.7818229908537},{"start_region_id":31,"end_region_id":1,"start_point":[618,922],"end_point":[707,219],"distance":708.6113180016249}],"complexity_score":0.7008967288169231}
{"id":17474,"query_id":"Q03495","question":"A quadcopter drone is currently positioned on a paved, hard surface and needs to reach a destination located on loose, sandy or rocky ground without vegetation. The drone can fly over open areas with low vegetation, cultivated fields, and individual trees or tree groups, but must avoid any built structures and liquid bodies. The drone's priority is to maintain maximum possible speed throughout the flight. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy or rocky ground without vegetation","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chicago_4.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":4,"start_point":[256,141],"end_point":[846,540],"distance":712.2506581253541},{"start_region_id":32,"end_region_id":3,"start_point":[256,141],"end_point":[826,423],"distance":635.943393707333},{"start_region_id":33,"end_region_id":4,"start_point":[366,153],"end_point":[846,540],"distance":616.578462160332},{"start_region_id":34,"end_region_id":4,"start_point":[371,193],"end_point":[846,540],"distance":588.2465469511912},{"start_region_id":39,"end_region_id":1,"start_point":[569,726],"end_point":[707,219],"distance":525.4455252450058}],"complexity_score":0.7008967288169231}
{"id":2169,"query_id":"Q00434","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The terrain includes smooth, stable surfaces that provide good traction and predictable footing, as well as cultivated fields with relatively even soil and scattered tall vegetation that could obstruct visibility or create uneven ground. You must avoid any liquid surfaces and vertical structures. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person walking","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"chiangmai_8.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":202,"start_point":[237,991],"end_point":[988,106],"distance":1160.700650469362},{"start_region_id":187,"end_region_id":202,"start_point":[178,919],"end_point":[988,106],"distance":1147.6362664189382},{"start_region_id":169,"end_region_id":202,"start_point":[137,732],"end_point":[988,106],"distance":1056.4454552886295},{"start_region_id":192,"end_region_id":201,"start_point":[237,991],"end_point":[687,28],"distance":1062.9529622706737},{"start_region_id":192,"end_region_id":204,"start_point":[237,991],"end_point":[892,210],"distance":1019.3066270754841}],"complexity_score":0.7011992404253041}
{"id":11931,"query_id":"Q02387","question":"A quadcopter drone starts from a paved road surface and needs to reach a flat, hard-surfaced area. The drone can fly over most surfaces, but areas with tall vertical obstacles or structures are blocked. Only open areas with firm ground or loose, sandy/rocky terrain are permitted. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a flat, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chiangmai_8.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":202,"end_region_id":192,"start_point":[988,106],"end_point":[237,991],"distance":1160.700650469362},{"start_region_id":202,"end_region_id":187,"start_point":[988,106],"end_point":[178,919],"distance":1147.6362664189382},{"start_region_id":202,"end_region_id":169,"start_point":[988,106],"end_point":[137,732],"distance":1056.4454552886295},{"start_region_id":201,"end_region_id":192,"start_point":[687,28],"end_point":[237,991],"distance":1062.9529622706737},{"start_region_id":204,"end_region_id":192,"start_point":[892,210],"end_point":[237,991],"distance":1019.3066270754841}],"complexity_score":0.7011992404253041}
{"id":16013,"query_id":"Q03203","question":"An aerial survey drone starts from an area of open, grassy terrain and needs to reach another patch of similar open, grassy terrain as quickly as possible. The drone can fly over open grassy areas, paved vehicle lanes, bodies of liquid, cultivated crop fields, and even vertical structures. However, it must slow down significantly when passing through areas with tall, dense vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of open, grassy terrain.","end_land_type":"The destination is another patch of similar open, grassy terrain.","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chiangmai_8.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":15,"start_point":[104,990],"end_point":[1012,99],"distance":1272.1418946013844},{"start_region_id":15,"end_region_id":106,"start_point":[1012,99],"end_point":[104,990],"distance":1272.1418946013844},{"start_region_id":98,"end_region_id":1,"start_point":[952,939],"end_point":[65,56],"distance":1251.5821986589615},{"start_region_id":1,"end_region_id":98,"start_point":[65,56],"end_point":[952,939],"distance":1251.5821986589615},{"start_region_id":83,"end_region_id":15,"start_point":[16,792],"end_point":[1012,99],"distance":1213.3692760244096}],"complexity_score":0.7011992404253041}
{"id":2055,"query_id":"Q00411","question":"A jogger starts from a paved road surface and needs to reach a hard, flat paved area such as a sidewalk or parking lot as quickly as possible. The jogger can traverse areas with loose soil and low vegetation typical of cultivated fields, as well as patches with scattered trees, provided the ground is firm enough for running. However, the jogger cannot enter buildings or cross water bodies. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the fastest path for the jogger to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"vienna_12.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":183,"start_point":[891,970],"end_point":[102,279],"distance":1048.8098016323074},{"start_region_id":267,"end_region_id":166,"start_point":[891,970],"end_point":[223,194],"distance":1023.9140588936164},{"start_region_id":267,"end_region_id":172,"start_point":[891,970],"end_point":[389,105],"distance":1000.1144934456255},{"start_region_id":260,"end_region_id":234,"start_point":[147,524],"end_point":[940,948],"distance":899.2357866544236},{"start_region_id":267,"end_region_id":169,"start_point":[891,970],"end_point":[585,133],"distance":891.18179963462}],"complexity_score":0.7012759803800743}
{"id":2410,"query_id":"Q00482","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface using a quadcopter drone. The drone can fly over most surfaces, including loose soil, hard paved areas, and liquid bodies, but it must avoid dense vegetation and vertical structures to ensure stable flight and comfort. The objective is to find a path that maximizes ride comfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"A paved surface","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"vienna_12.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":257,"end_region_id":260,"start_point":[697,402],"end_point":[147,524],"distance":563.3684407206354},{"start_region_id":260,"end_region_id":257,"start_point":[147,524],"end_point":[697,402],"distance":563.3684407206354}],"complexity_score":0.7012759803800743}
{"id":16167,"query_id":"Q03234","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface destination while maintaining stable flight for sensor calibration. The drone can fly over open, dry ground with loose soil and rocks; areas with low, natural vegetation like grass and shrubs; and bodies of liquid. However, it must avoid any vertical structures or dense clusters of tall objects that could disrupt its flight path. The drone's priority is to minimize vibrations and maintain a smooth, predictable trajectory to ensure clear data collection.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"vienna_12.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":257,"end_region_id":260,"start_point":[697,402],"end_point":[147,524],"distance":563.3684407206354},{"start_region_id":260,"end_region_id":257,"start_point":[147,524],"end_point":[697,402],"distance":563.3684407206354}],"complexity_score":0.7012759803800743}
{"id":1985,"query_id":"Q00397","question":"An aerial drone starts from a paved surface and needs to reach another paved surface. The area contains hard, flat surfaces suitable for vehicles, liquid bodies, and cultivated fields with crops. You cannot use any other types of terrain. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path from the starting paved surface to the destination paved surface?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"tonga_1.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":209,"start_point":[111,140],"end_point":[776,993],"distance":1081.5886463901145},{"start_region_id":209,"end_region_id":128,"start_point":[776,993],"end_point":[111,140],"distance":1081.5886463901145},{"start_region_id":128,"end_region_id":206,"start_point":[111,140],"end_point":[680,977],"distance":1012.0918930610994},{"start_region_id":206,"end_region_id":128,"start_point":[680,977],"end_point":[111,140],"distance":1012.0918930610994},{"start_region_id":171,"end_region_id":128,"start_point":[892,660],"end_point":[111,140],"distance":938.2755458819121}],"complexity_score":0.7013856796473066}
{"id":10949,"query_id":"Q02190","question":"A quadcopter drone starts from a grassy, uneven terrain and needs to reach a wooded area with tall vegetation. The terrain includes soft ground with loose soil and scattered vegetation, hard paved surfaces, smooth flat surfaces used by vehicles, areas with dense vertical obstacles, and liquid surfaces. You must avoid any solid structures or vertical obstacles that cannot be passed through. For the areas with dense vertical obstacles, you can fly between them but cannot pass through solid trunks. For the liquid surfaces, they are traversable but may cause discomfort due to spray or reflection issues. The hard paved surfaces, smooth flat surfaces used by vehicles, and soft ground with loose soil and scattered vegetation are naturally traversable. What is the most comfortable path to take?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"wooded area with tall vegetation","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"tonga_1.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":377,"start_point":[975,190],"end_point":[41,976],"distance":1220.7178216115303},{"start_region_id":17,"end_region_id":387,"start_point":[79,156],"end_point":[832,1005],"distance":1134.8171658906117},{"start_region_id":16,"end_region_id":377,"start_point":[762,132],"end_point":[41,976],"distance":1110.0346841427975},{"start_region_id":17,"end_region_id":345,"start_point":[79,156],"end_point":[952,837],"distance":1107.1991690748328},{"start_region_id":13,"end_region_id":333,"start_point":[975,190],"end_point":[55,790],"distance":1098.3624174196784}],"complexity_score":0.7013856796473066}
{"id":7156,"query_id":"Q01432","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated crop field. The drone can fly over areas with loose, dry soil without vegetation, as well as over liquid surfaces. However, it cannot pass through dense vertical obstacles that would obstruct its flight path. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated crop field","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"shanghai_43.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":75,"start_point":[113,265],"end_point":[554,573],"distance":537.9079846962676},{"start_region_id":9,"end_region_id":75,"start_point":[261,126],"end_point":[554,573],"distance":534.4698307669012},{"start_region_id":9,"end_region_id":76,"start_point":[261,126],"end_point":[104,581],"distance":481.3252538564749},{"start_region_id":9,"end_region_id":74,"start_point":[261,126],"end_point":[346,549],"distance":431.4556755913636},{"start_region_id":16,"end_region_id":72,"start_point":[113,265],"end_point":[470,423],"distance":390.40107581818984}],"complexity_score":0.7014181831035682}
{"id":12663,"query_id":"Q02533","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved lane used by vehicles as quickly as possible. You can traverse paved areas like streets and parking lots, as well as grassy or shrub-covered ground that is not cultivated or grazed, and bare earth surfaces. However, you cannot drive through any areas with trees, water bodies, or buildings. The cultivated fields are traversable because the crops are short and the soil is compacted enough to support vehicle weight. What is the fastest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved lane used by vehicles","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"shanghai_43.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":27,"start_point":[124,404],"end_point":[328,263],"distance":247.98588669519077},{"start_region_id":72,"end_region_id":27,"start_point":[470,423],"end_point":[328,263],"distance":213.92522057952868}],"complexity_score":0.7014181831035682}
{"id":14531,"query_id":"Q02907","question":"A quadcopter drone with standard rotors starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with loose, tilled soil. The drone must maintain stable, vibration-free flight. You can fly over rough, uneven ground composed of loose earth and rocks. You can fly over hard, paved surfaces. You can fly over cultivated fields with loose, tilled soil. All vertical structures and dense vegetation are strictly avoided due to collision risk. Liquid surfaces are accessible but may cause instability from surface reflections and wind effects.","agent_category":"Drone","specific_agent":"A quadcopter drone with standard rotors","start_land_type":"A cultivated field with loose, tilled soil","end_land_type":"Another cultivated field with loose, tilled soil","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"shanghai_43.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":73,"start_point":[554,573],"end_point":[124,404],"distance":462.01839790207487},{"start_region_id":73,"end_region_id":75,"start_point":[124,404],"end_point":[554,573],"distance":462.01839790207487},{"start_region_id":76,"end_region_id":75,"start_point":[104,581],"end_point":[554,573],"distance":450.0711054933431},{"start_region_id":75,"end_region_id":76,"start_point":[554,573],"end_point":[104,581],"distance":450.0711054933431},{"start_region_id":76,"end_region_id":72,"start_point":[104,581],"end_point":[470,423],"distance":398.6477141537375}],"complexity_score":0.7014181831035682}
{"id":698,"query_id":"Q00140","question":"A hiker starts from a paved lane and needs to reach a flat, hard-surfaced area. The hiker can traverse loose, rocky ground if necessary, but must avoid any liquid surfaces and cannot pass through solid structures. The hiker can also walk through areas with tall vegetation, though these areas pose some risk. The goal is to find the path that minimizes risk while reaching the destination.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"buenos_aires_57.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":297,"end_region_id":267,"start_point":[846,349],"end_point":[172,936],"distance":893.7812931584549},{"start_region_id":299,"end_region_id":191,"start_point":[119,331],"end_point":[934,442],"distance":822.5241637787914},{"start_region_id":297,"end_region_id":187,"start_point":[846,349],"end_point":[62,353],"distance":784.0102040152284},{"start_region_id":299,"end_region_id":220,"start_point":[119,331],"end_point":[750,669],"distance":715.8246992106377},{"start_region_id":304,"end_region_id":267,"start_point":[492,313],"end_point":[172,936],"distance":700.3777552149983}],"complexity_score":0.7014836010007137}
{"id":4203,"query_id":"Q00841","question":"A delivery drone is on a concrete landing pad and needs to fly to a tree canopy while ensuring a smooth and stable flight for the safety of its package. The drone can fly over various surfaces including loose soil, grassy areas, paved zones, roads, and cultivated fields. Flying near buildings or through dense tree branches is possible but may cause turbulence. Flying over water is allowed but may be less comfortable due to wind patterns. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a concrete landing pad","end_land_type":"a tree canopy","task_description":"What is the most comfortable flight path for the delivery drone to travel from the concrete landing pad to the tree canopy?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"buenos_aires_57.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":502,"start_point":[934,442],"end_point":[62,947],"distance":1007.6750468280933},{"start_region_id":267,"end_region_id":333,"start_point":[172,936],"end_point":[871,187],"distance":1024.5008540748026},{"start_region_id":267,"end_region_id":318,"start_point":[172,936],"end_point":[491,16],"distance":973.7355903940248},{"start_region_id":267,"end_region_id":323,"start_point":[172,936],"end_point":[587,56],"distance":972.9465555722986},{"start_region_id":267,"end_region_id":332,"start_point":[172,936],"end_point":[711,140],"distance":961.3204460532398}],"complexity_score":0.7014836010007137}
{"id":3982,"query_id":"Q00797","question":"A hiker is standing on a firm, paved road surface. They need to reach a destination on a soft, grassy field with low shrubs. The hiker wants a route that minimizes physical strain and uneven footing. While they can walk across unpaved terrain, they should avoid any liquid bodies or solid vertical structures. The path should prioritize surfaces that are flat and stable underfoot.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the most comfortable walking path for the hiker from the paved road to the grassy field?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dortmund_46.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":370,"end_region_id":114,"start_point":[195,188],"end_point":[530,951],"distance":833.303066117004},{"start_region_id":371,"end_region_id":114,"start_point":[795,127],"end_point":[530,951],"distance":865.5639779935392},{"start_region_id":371,"end_region_id":89,"start_point":[795,127],"end_point":[307,680],"distance":737.5316942342207},{"start_region_id":375,"end_region_id":114,"start_point":[868,307],"end_point":[530,951],"distance":727.3101126754666},{"start_region_id":372,"end_region_id":114,"start_point":[142,336],"end_point":[530,951],"distance":727.1650431642049}],"complexity_score":0.7019559899051044}
{"id":8644,"query_id":"Q01729","question":"An aerial surveillance drone starts from a grassy, uneven field and needs to reach a paved lane. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved surfaces like sidewalks and parking lots, vehicle lanes, and water bodies. However, it cannot fly through dense tree canopies or between buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_46.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":370,"start_point":[530,951],"end_point":[195,188],"distance":833.303066117004},{"start_region_id":114,"end_region_id":371,"start_point":[530,951],"end_point":[795,127],"distance":865.5639779935392},{"start_region_id":89,"end_region_id":371,"start_point":[307,680],"end_point":[795,127],"distance":737.5316942342207},{"start_region_id":114,"end_region_id":375,"start_point":[530,951],"end_point":[868,307],"distance":727.3101126754666},{"start_region_id":114,"end_region_id":372,"start_point":[530,951],"end_point":[142,336],"distance":727.1650431642049}],"complexity_score":0.7019559899051044}
{"id":9854,"query_id":"Q01971","question":"An aerial survey drone begins its mission on a paved, hard surface and needs to reach a grassy, open field. The drone can fly over various terrains, including loose, sandy ground; grassy or shrubby areas; paved surfaces; vegetated areas with tall, vertical obstacles; liquid bodies; and cultivated fields with crops. The mission requires the fastest possible route to the destination. What is the optimal path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the optimal path for the drone to reach the grassy, open field in the fastest possible way?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"dortmund_46.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":370,"end_region_id":114,"start_point":[195,188],"end_point":[530,951],"distance":833.303066117004},{"start_region_id":371,"end_region_id":114,"start_point":[795,127],"end_point":[530,951],"distance":865.5639779935392},{"start_region_id":371,"end_region_id":89,"start_point":[795,127],"end_point":[307,680],"distance":737.5316942342207},{"start_region_id":375,"end_region_id":114,"start_point":[868,307],"end_point":[530,951],"distance":727.3101126754666},{"start_region_id":372,"end_region_id":114,"start_point":[142,336],"end_point":[530,951],"distance":727.1650431642049}],"complexity_score":0.7019559899051044}
{"id":7855,"query_id":"Q01571","question":"An aerial surveillance drone is currently positioned on a paved, hard surface and needs to reach a cultivated, vegetated field. The drone can fly over areas of loose, dry soil and sand, other paved or compacted surfaces, vehicle lanes, bodies of liquid, and the cultivated field itself. However, the drone must avoid any tall, vertical structures and dense clusters of tall vegetation to minimize the risk of collision or signal interference. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"cultivated, vegetated field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"lohur_22.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":445,"start_point":[753,91],"end_point":[367,926],"distance":919.9027122473333},{"start_region_id":206,"end_region_id":431,"start_point":[97,625],"end_point":[943,638],"distance":846.0998759011846},{"start_region_id":201,"end_region_id":415,"start_point":[973,535],"end_point":[146,379],"distance":841.5848145017827},{"start_region_id":153,"end_region_id":445,"start_point":[504,115],"end_point":[367,926],"distance":822.4901215212253},{"start_region_id":198,"end_region_id":431,"start_point":[138,592],"end_point":[943,638],"distance":806.3132145760728}],"complexity_score":0.702285431262582}
{"id":13282,"query_id":"Q02657","question":"A delivery drone starts from a flat paved surface and needs to reach a cultivated field area while prioritizing safety. The drone can fly over various surfaces including grassy terrain, paved areas, vehicle pathways, and cultivated soil. However, areas with tall vertical obstacles like woody vegetation and man-made structures should be avoided due to collision risk. Liquid surfaces also present safety hazards and should be minimized. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"flat paved surface","end_land_type":"cultivated field area","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"lohur_22.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":404,"start_point":[97,625],"end_point":[945,97],"distance":998.9434418424298},{"start_region_id":231,"end_region_id":404,"start_point":[434,927],"end_point":[945,97],"distance":974.6902071940602},{"start_region_id":198,"end_region_id":404,"start_point":[138,592],"end_point":[945,97],"distance":946.7174868988108},{"start_region_id":206,"end_region_id":444,"start_point":[97,625],"end_point":[985,836],"distance":912.7239451225107},{"start_region_id":150,"end_region_id":445,"start_point":[753,91],"end_point":[367,926],"distance":919.9027122473333}],"complexity_score":0.702285431262582}
{"id":13348,"query_id":"Q02670","question":"An aerial surveillance drone starts from a cultivated field and needs to reach a grassy meadow. The drone must avoid all vertical obstacles like trees and structures, and cannot fly over liquid surfaces due to safety protocols. The drone can traverse open grassy areas, paved surfaces, vehicle lanes, and cultivated fields. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"lohur_22.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":445,"end_region_id":6,"start_point":[367,926],"end_point":[998,32],"distance":1094.256368498717},{"start_region_id":445,"end_region_id":17,"start_point":[367,926],"end_point":[994,207],"distance":953.9863730682949},{"start_region_id":446,"end_region_id":6,"start_point":[738,945],"end_point":[998,32],"distance":949.2992152108839},{"start_region_id":445,"end_region_id":4,"start_point":[367,926],"end_point":[645,27],"distance":941.002125396112},{"start_region_id":445,"end_region_id":13,"start_point":[367,926],"end_point":[903,170],"distance":926.7318921888898}],"complexity_score":0.702285431262582}
{"id":1677,"query_id":"Q00336","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a paved lane used by vehicles. The drone must avoid flying through dense tree canopies or near building structures, as these present collision risks. The drone is permitted to fly over loose, sandy ground; grassy or shrubby areas; paved surfaces; water bodies; and cultivated crop fields. The drone's flight path must prioritize minimizing risk of collision, loss of control, or damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"paved lane used by vehicles","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"christchurch_12.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":387,"start_point":[57,683],"end_point":[771,467],"distance":745.9571033243132},{"start_region_id":194,"end_region_id":387,"start_point":[172,872],"end_point":[771,467],"distance":723.0670784927219},{"start_region_id":192,"end_region_id":386,"start_point":[542,849],"end_point":[251,392],"distance":541.7840898365325},{"start_region_id":161,"end_region_id":386,"start_point":[658,731],"end_point":[251,392],"distance":529.6885877569952},{"start_region_id":170,"end_region_id":387,"start_point":[323,749],"end_point":[771,467],"distance":529.365658123003}],"complexity_score":0.7022937212536753}
{"id":2628,"query_id":"Q00526","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The drone can fly over loose, sandy ground, cultivated fields with crops, and water bodies, but cannot fly through areas with dense trees or structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the shortest path from the paved area to the vehicle lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"christchurch_12.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":367,"end_region_id":387,"start_point":[123,971],"end_point":[771,467],"distance":820.9263060713794},{"start_region_id":348,"end_region_id":386,"start_point":[884,877],"end_point":[251,392],"distance":797.442160912},{"start_region_id":327,"end_region_id":387,"start_point":[32,759],"end_point":[771,467],"distance":794.5973823264208},{"start_region_id":250,"end_region_id":387,"start_point":[142,77],"end_point":[771,467],"distance":740.0952641383406},{"start_region_id":245,"end_region_id":387,"start_point":[185,19],"end_point":[771,467],"distance":737.6313442364011}],"complexity_score":0.7022937212536753}
{"id":7146,"query_id":"Q01430","question":"An aerial surveillance drone starts from a paved, hard surface and needs to return to another paved, hard surface while prioritizing minimal risk. The drone can fly over loose, sandy or rocky ground without vegetation, liquid surfaces, and cultivated fields with crops, but must avoid any vertical structures or dense vegetation that could cause collisions. Which path minimizes risk?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"Which path minimizes risk?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"christchurch_12.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":327,"start_point":[370,39],"end_point":[32,759],"distance":795.3892129014574},{"start_region_id":327,"end_region_id":246,"start_point":[32,759],"end_point":[370,39],"distance":795.3892129014574},{"start_region_id":245,"end_region_id":327,"start_point":[185,19],"end_point":[32,759],"distance":755.6513746430956},{"start_region_id":327,"end_region_id":245,"start_point":[32,759],"end_point":[185,19],"distance":755.6513746430956},{"start_region_id":319,"end_region_id":245,"start_point":[216,727],"end_point":[185,19],"distance":708.6783473480758}],"complexity_score":0.7022937212536753}
{"id":9146,"query_id":"Q01830","question":"A hiker starts from a paved, hard surface area and needs to reach a vehicle lane or street as quickly as possible. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered ground, and cultivated fields with crops, as these surfaces are dry and firm enough for walking. However, the hiker cannot enter any liquid bodies or structures with solid walls. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane or street","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"rio_60.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":39,"start_point":[130,243],"end_point":[297,112],"distance":212.24985276791125}],"complexity_score":0.7025472836036274}
{"id":1005,"query_id":"Q00201","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes grassy areas and cultivated fields, but the drone must avoid flying over tall vegetation or structures to ensure a stable and comfortable flight, as these could cause turbulence or obstacles. The drone can fly over open grassy ground and farmed areas, which provide clear airspace.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_46.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":49,"start_point":[553,62],"end_point":[77,597],"distance":716.1012498243527},{"start_region_id":49,"end_region_id":24,"start_point":[77,597],"end_point":[553,62],"distance":716.1012498243527},{"start_region_id":49,"end_region_id":23,"start_point":[77,597],"end_point":[341,29],"distance":626.3545321940283},{"start_region_id":23,"end_region_id":49,"start_point":[341,29],"end_point":[77,597],"distance":626.3545321940283},{"start_region_id":40,"end_region_id":22,"start_point":[450,574],"end_point":[156,49],"distance":601.7150488395649}],"complexity_score":0.7026573175671121}
{"id":8536,"query_id":"Q01708","question":"An aerial survey drone is positioned on a paved lane and needs to reach a paved open area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. It can fly over open ground with sparse vegetation, hard paved surfaces, and liquid surfaces, but must prioritize areas with the lowest risk of impact or instability. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved open area","task_description":"What is the safest path for the drone to take from the paved lane to the paved open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_46.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":49,"start_point":[439,89],"end_point":[77,597],"distance":623.7852194465656},{"start_region_id":59,"end_region_id":40,"start_point":[439,89],"end_point":[450,574],"distance":485.12472623027577},{"start_region_id":59,"end_region_id":37,"start_point":[439,89],"end_point":[133,477],"distance":494.1457274934187},{"start_region_id":60,"end_region_id":22,"start_point":[359,473],"end_point":[156,49],"distance":470.0904168348893},{"start_region_id":60,"end_region_id":24,"start_point":[359,473],"end_point":[553,62],"distance":454.48542330860295}],"complexity_score":0.7026573175671121}
{"id":770,"query_id":"Q00154","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures providing overhead cover and needs to reach another similar vegetated area. The drone must maintain a smooth and stable flight to protect its sensitive imaging equipment. The mission area contains various surfaces: hard, flat paved areas; long, linear paved strips for vehicles; open bodies of liquid; and cultivated fields with low, uniform vegetation. The drone can fly over all these surfaces, but the tall, leafy structures require careful navigation to avoid collisions and maintain stability. The open bodies of liquid can cause unpredictable air currents that may introduce vibrations. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A vegetated area with tall, leafy structures providing overhead cover.","end_land_type":"Another vegetated area with tall, leafy structures providing overhead cover.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"santiago_36.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":337,"start_point":[953,419],"end_point":[79,915],"distance":1004.9338286673407},{"start_region_id":337,"end_region_id":216,"start_point":[79,915],"end_point":[953,419],"distance":1004.9338286673407},{"start_region_id":181,"end_region_id":357,"start_point":[147,175],"end_point":[747,977],"distance":1001.6007188495823},{"start_region_id":357,"end_region_id":181,"start_point":[747,977],"end_point":[147,175],"distance":1001.6007188495823},{"start_region_id":357,"end_region_id":166,"start_point":[747,977],"end_point":[493,85],"distance":927.4588939678135}],"complexity_score":0.7028008768507622}
{"id":4095,"query_id":"Q00819","question":"A quadcopter starts from a densely vegetated area with tall, upright obstacles and needs to reach a grassy, open field. The terrain includes loose, sandy or rocky ground without vegetation; grassy or shrubby areas that are not cultivated; hard, paved surfaces like sidewalks or parking lots; vehicle lanes made of asphalt or concrete; cultivated crop fields; and the initial densely vegetated area. For safety, you must avoid all liquid surfaces and any constructed vertical structures. The tall, dense vertical obstacles and constructed vertical structures are accessible only with careful navigation to avoid collisions. What is the safest path to take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall, upright obstacles","end_land_type":"a grassy, open field","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_36.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":6,"start_point":[747,977],"end_point":[344,110],"distance":956.0847242791823},{"start_region_id":361,"end_region_id":6,"start_point":[569,999],"end_point":[344,110],"distance":917.0310790807474},{"start_region_id":337,"end_region_id":6,"start_point":[79,915],"end_point":[344,110],"distance":847.4963126763444},{"start_region_id":321,"end_region_id":6,"start_point":[729,849],"end_point":[344,110],"distance":833.2742645731956},{"start_region_id":216,"end_region_id":55,"start_point":[953,419],"end_point":[268,805],"distance":786.2703097535859}],"complexity_score":0.7028008768507622}
{"id":13153,"query_id":"Q02631","question":"A hiker starts from a paved, hard surface and needs to reach a cluster of tall, leafy vegetation. The hiker can traverse areas with soft, grassy ground, paved surfaces, vehicle lanes, tall vegetation, and cultivated fields, but must avoid any liquid surfaces or vertical structures. The hiker seeks the path that minimizes risk of slips, falls, or unstable footing.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved, hard surface","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"santiago_36.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":181,"start_point":[893,870],"end_point":[147,175],"distance":1019.5788346175101},{"start_region_id":73,"end_region_id":337,"start_point":[839,267],"end_point":[79,915],"distance":998.7512202745987},{"start_region_id":71,"end_region_id":357,"start_point":[405,48],"end_point":[747,977],"distance":989.9520190393067},{"start_region_id":132,"end_region_id":216,"start_point":[149,970],"end_point":[953,419],"distance":974.6881552578753},{"start_region_id":71,"end_region_id":361,"start_point":[405,48],"end_point":[569,999],"distance":965.0373049784138}],"complexity_score":0.7028008768507622}
{"id":3708,"query_id":"Q00742","question":"A hiker is standing on a paved road and needs to reach a wooded area. The terrain includes hard, flat surfaces suitable for walking, as well as soft, vegetated ground and loose, sandy areas. However, all water bodies and buildings are completely impassable and must be avoided. What is the shortest possible route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved road","end_land_type":"a wooded area","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_40.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":189,"start_point":[120,382],"end_point":[916,950],"distance":977.875247667104},{"start_region_id":116,"end_region_id":134,"start_point":[120,382],"end_point":[916,172],"distance":823.2350818569383},{"start_region_id":116,"end_region_id":186,"start_point":[120,382],"end_point":[708,932],"distance":805.1360133542655},{"start_region_id":115,"end_region_id":191,"start_point":[582,479],"end_point":[51,985],"distance":733.4827878007773},{"start_region_id":116,"end_region_id":185,"start_point":[120,382],"end_point":[641,847],"distance":698.3308671396389}],"complexity_score":0.7029847393041568}
{"id":8328,"query_id":"Q01666","question":"A quadcopter drone starts from a grassy, open field with low vegetation and needs to reach another grassy, open field with low vegetation. The drone can fly over hard, flat surfaces like paved areas and roads, as well as soft, loose ground like sandy or rocky expanses. It can also traverse liquid surfaces such as rivers or lakes. However. The drone must avoid tall, dense vegetation like trees and cannot pass through solid vertical structures like buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"another grassy, open field with low vegetation","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_40.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":57,"start_point":[770,166],"end_point":[684,928],"distance":766.8376620902236},{"start_region_id":57,"end_region_id":16,"start_point":[684,928],"end_point":[770,166],"distance":766.8376620902236},{"start_region_id":32,"end_region_id":16,"start_point":[152,574],"end_point":[770,166],"distance":740.5322410266821},{"start_region_id":16,"end_region_id":32,"start_point":[770,166],"end_point":[152,574],"distance":740.5322410266821},{"start_region_id":32,"end_region_id":57,"start_point":[152,574],"end_point":[684,928],"distance":639.0148668067121}],"complexity_score":0.7029847393041568}
{"id":12763,"query_id":"Q02553","question":"A hiker is standing in a grassy field and needs to reach a paved street. The terrain includes areas with loose soil and scattered vegetation, but the hiker can traverse these if they are not too dense. There are also cultivated fields with planted crops that can be crossed carefully. However, all vertical structures and liquid surfaces are completely impassable. The hiker wants to find the most direct route.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the shortest path from the grassy field to the paved street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chisinau_40.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":116,"start_point":[684,928],"end_point":[120,382],"distance":784.991719701552},{"start_region_id":16,"end_region_id":116,"start_point":[770,166],"end_point":[120,382],"distance":684.9496331848057},{"start_region_id":57,"end_region_id":115,"start_point":[684,928],"end_point":[582,479],"distance":460.440006949874},{"start_region_id":41,"end_region_id":116,"start_point":[452,675],"end_point":[120,382],"distance":442.8013098444945},{"start_region_id":32,"end_region_id":115,"start_point":[152,574],"end_point":[582,479],"distance":440.3691633164157}],"complexity_score":0.7029847393041568}
{"id":17109,"query_id":"Q03422","question":"A quadcopter drone is starting from a cluster of tall, vertical obstacles that rise above the ground. It needs to reach a flat expanse covered with low-growing natural plants. The environment includes open areas with firm, level surfaces and scattered tall obstacles that can be flown around with caution. The drone must avoid any liquid surfaces and man-made vertical structures, as these pose collision risks. What is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cluster of tall, vertical obstacles that rise above the ground","end_land_type":"a flat expanse covered with low-growing natural plants","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"chisinau_40.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":5,"start_point":[51,985],"end_point":[994,67],"distance":1316.044452136781},{"start_region_id":176,"end_region_id":5,"start_point":[160,829],"end_point":[994,67],"distance":1129.6902230257638},{"start_region_id":191,"end_region_id":16,"start_point":[51,985],"end_point":[770,166],"distance":1089.8265917108097},{"start_region_id":158,"end_region_id":5,"start_point":[35,511],"end_point":[994,67],"distance":1056.7956283028427},{"start_region_id":125,"end_region_id":57,"start_point":[33,103],"end_point":[684,928],"distance":1050.916742658523}],"complexity_score":0.7029847393041568}
{"id":1173,"query_id":"Q00235","question":"A quadcopter drone starts from a grassy field and needs to reach another grassy field area while prioritizing safety. The drone can fly over paved lanes used by vehicles, and can navigate around individual trees or groups of trees that are identifiable by their shape and height, maintaining a safe distance to avoid collisions. However, the drone must avoid all hard artificial surfaces like sidewalks, parking lots, and construction sites; all natural areas covered by sand or rocks without vegetation; all cultivated crop fields and grazing pastures; all water bodies; and all buildings. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"chisinau_30.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":51,"start_point":[203,639],"end_point":[1000,580],"distance":799.1808306009348},{"start_region_id":51,"end_region_id":55,"start_point":[1000,580],"end_point":[203,639],"distance":799.1808306009348},{"start_region_id":58,"end_region_id":55,"start_point":[969,765],"end_point":[203,639],"distance":776.293758831024},{"start_region_id":55,"end_region_id":58,"start_point":[203,639],"end_point":[969,765],"distance":776.293758831024},{"start_region_id":55,"end_region_id":50,"start_point":[203,639],"end_point":[901,543],"distance":704.5707913332769}],"complexity_score":0.7030675659537615}
{"id":5486,"query_id":"Q01098","question":"An off-road vehicle is starting from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The vehicle can traverse across soft, vegetated ground with scattered shrubs and bushes, as well as across hard, flat surfaces like paved parking lots or compacted artificial areas. The vehicle must avoid all trees, water bodies, and buildings, which are completely impassable. What is the fastest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest route for the off-road vehicle to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"chisinau_30.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":29,"start_point":[969,765],"end_point":[254,273],"distance":867.9222315392088},{"start_region_id":29,"end_region_id":58,"start_point":[254,273],"end_point":[969,765],"distance":867.9222315392088},{"start_region_id":58,"end_region_id":37,"start_point":[969,765],"end_point":[217,398],"distance":836.775358145781},{"start_region_id":37,"end_region_id":58,"start_point":[217,398],"end_point":[969,765],"distance":836.775358145781},{"start_region_id":62,"end_region_id":29,"start_point":[793,878],"end_point":[254,273],"distance":810.2752618709275}],"complexity_score":0.7030675659537615}
{"id":17053,"query_id":"Q03411","question":"A quadcopter drone starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface like a sidewalk or parking lot. The drone can fly over grassy areas, paved surfaces, vehicle lanes, and other open terrains, but must avoid flying through dense tree canopies or inside buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved, hard surface such as a sidewalk or parking lot","task_description":"What is the shortest path for the drone to reach the paved destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_30.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":116,"start_point":[1000,580],"end_point":[25,614],"distance":975.5926403986451},{"start_region_id":58,"end_region_id":116,"start_point":[969,765],"end_point":[25,614],"distance":956.0005230124092},{"start_region_id":51,"end_region_id":129,"start_point":[1000,580],"end_point":[145,915],"distance":918.2864476839458},{"start_region_id":50,"end_region_id":116,"start_point":[901,543],"end_point":[25,614],"distance":878.8725732436984},{"start_region_id":58,"end_region_id":88,"start_point":[969,765],"end_point":[310,204],"distance":865.4490164070903}],"complexity_score":0.7030675659537615}
{"id":8507,"query_id":"Q01702","question":"A quadcopter drone is hovering above a vegetated, natural area with shrubs and grass and needs to land on a flat, hard surface. The drone can fly over the soft, uneven ground and the solid, paved area, but must avoid any trees or buildings. What is the most comfortable flight path to the landing spot?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path to the landing spot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"bogota_3.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":76,"start_point":[148,947],"end_point":[733,15],"distance":1100.38584142109},{"start_region_id":71,"end_region_id":77,"start_point":[148,947],"end_point":[951,233],"distance":1074.5254766640016},{"start_region_id":12,"end_region_id":111,"start_point":[142,97],"end_point":[936,770],"distance":1040.8482117965136},{"start_region_id":66,"end_region_id":74,"start_point":[814,933],"end_point":[136,158],"distance":1029.7130668297843},{"start_region_id":66,"end_region_id":75,"start_point":[814,933],"end_point":[433,22],"distance":987.4624043476289}],"complexity_score":0.7031105321453843}
{"id":17259,"query_id":"Q03452","question":"A quadcopter drone is on a flat, artificial surface and must reach another flat, artificial surface. The environment includes soft, vegetated ground and areas with tall, vertical obstacles. The drone can fly over the vegetated ground, and the vertical obstacles are spaced widely enough to navigate between them safely. All liquid areas and solid vertical structures must be avoided due to safety protocols. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"another flat, artificial surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"bogota_3.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":111,"start_point":[136,158],"end_point":[936,770],"distance":1007.245749556681},{"start_region_id":111,"end_region_id":74,"start_point":[936,770],"end_point":[136,158],"distance":1007.245749556681},{"start_region_id":107,"end_region_id":77,"start_point":[100,685],"end_point":[951,233],"distance":963.5896429497361},{"start_region_id":77,"end_region_id":107,"start_point":[951,233],"end_point":[100,685],"distance":963.5896429497361},{"start_region_id":107,"end_region_id":76,"start_point":[100,685],"end_point":[733,15],"distance":921.7315227331655}],"complexity_score":0.7031105321453843}
{"id":5858,"query_id":"Q01172","question":"A quadcopter drone starts from a flat artificial surface and needs to reach an area with vertical obstacles like tall vegetation. The flat surfaces allow stable flight, while areas with vertical obstacles require careful maneuvering to avoid collisions. Water surfaces may cause signal interference and are to be avoided. All other terrain types are inaccessible. What is the most comfortable route to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat artificial surface","end_land_type":"area with vertical obstacles like tall vegetation","task_description":"What is the most comfortable route to take?","task_type":"Comfort","input_classes":["Developed space","Road","Tree"],"traverse_vector":[0,0,1,1,1,0,0,0],"cost_vector":[0,0,2,2,1,0,0,0],"image_name":"christchurch_35.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":329,"end_region_id":400,"start_point":[53,872],"end_point":[987,93],"distance":1216.2224303144553},{"start_region_id":329,"end_region_id":393,"start_point":[53,872],"end_point":[936,44],"distance":1210.4846136981669},{"start_region_id":336,"end_region_id":422,"start_point":[995,949],"end_point":[90,147],"distance":1209.2266123436086},{"start_region_id":336,"end_region_id":441,"start_point":[995,949],"end_point":[173,234],"distance":1089.4535327401532},{"start_region_id":221,"end_region_id":619,"start_point":[811,82],"end_point":[153,940],"distance":1081.2622253644117}],"complexity_score":0.7033776222398943}
{"id":10770,"query_id":"Q02154","question":"A quadcopter drone is positioned on a vegetated area with tall, upright structures and needs to reach another similar vegetated area with tall, upright structures. The drone must avoid any built structures and liquid surfaces entirely, as they pose collision or signal interference risks. The drone can traverse open, dry ground with loose soil or rocks, areas covered with low vegetation or bushes, and the vegetated upright structures themselves, though flying through these structures requires careful navigation to avoid entanglement. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, upright structures","end_land_type":"another vegetated area with tall, upright structures","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"christchurch_35.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":603,"end_region_id":422,"start_point":[399,909],"end_point":[90,147],"distance":822.2682044199447},{"start_region_id":422,"end_region_id":603,"start_point":[90,147],"end_point":[399,909],"distance":822.2682044199447},{"start_region_id":619,"end_region_id":422,"start_point":[153,940],"end_point":[90,147],"distance":795.4985857938403},{"start_region_id":422,"end_region_id":619,"start_point":[90,147],"end_point":[153,940],"distance":795.4985857938403},{"start_region_id":619,"end_region_id":441,"start_point":[153,940],"end_point":[173,234],"distance":706.2832293067704}],"complexity_score":0.7033776222398943}
{"id":15542,"query_id":"Q03109","question":"A quadcopter drone is on a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over solid ground, loose soil, vegetated fields, hard artificial surfaces, liquid surfaces, and vertical structures, but must avoid dense clusters of tall vegetation that could entangle its rotors. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, vegetated area","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"christchurch_35.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":371,"end_region_id":64,"start_point":[141,514],"end_point":[958,366],"distance":830.2969348371702},{"start_region_id":371,"end_region_id":89,"start_point":[141,514],"end_point":[867,465],"distance":727.6517023961395},{"start_region_id":371,"end_region_id":6,"start_point":[141,514],"end_point":[700,102],"distance":694.4242219277781},{"start_region_id":360,"end_region_id":17,"start_point":[622,569],"end_point":[108,108],"distance":690.4469566882021},{"start_region_id":371,"end_region_id":108,"start_point":[141,514],"end_point":[791,603],"distance":656.0647833865189}],"complexity_score":0.7033776222398943}
{"id":366,"query_id":"Q00074","question":"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 crops. You cannot use paved surfaces like sidewalks or parking lots, vehicle lanes such as streets or highways, any water bodies, or any buildings. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[1,1,0,0,1,0,1,0],"image_name":"rio_53.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":9,"start_point":[332,339],"end_point":[113,246],"distance":237.92856070678022},{"start_region_id":9,"end_region_id":14,"start_point":[113,246],"end_point":[332,339],"distance":237.92856070678022}],"complexity_score":0.7035000068669035}
{"id":4396,"query_id":"Q00880","question":"A quadcopter drone starts from an area with tall, vertical obstacles that require careful navigation and needs to reach a flat, open, and hard surface. The drone can fly over most surfaces, including liquid areas and vertical structures, but must exercise caution around tall obstacles to avoid collisions. The drone prioritizes minimizing risk, so prefers surfaces that are open and low-risk for flight, while avoiding areas with dense vertical obstacles or liquid surfaces that could pose hazards. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"an area with tall, vertical obstacles that require careful navigation","end_land_type":"a flat, open, and hard surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"rio_53.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":19,"start_point":[194,328],"end_point":[384,117],"distance":283.93837359539833},{"start_region_id":57,"end_region_id":17,"start_point":[194,328],"end_point":[298,95],"distance":255.15681452785068}],"complexity_score":0.7035000068669035}
{"id":4557,"query_id":"Q00912","question":"A quadcopter starts from an area with dense, solid vertical obstacles and needs to reach a flat, hard, artificial surface. The terrain includes loose, dry soil without vegetation; smooth, paved surfaces for vehicles; and cultivated fields with soft, tilled soil. You can traverse areas with solid vertical obstacles only by flying above or around them. What is the fastest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Tree","end_land_type":"Developed space","task_description":"What is the fastest path to your destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"rio_53.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":19,"start_point":[194,328],"end_point":[384,117],"distance":283.93837359539833},{"start_region_id":57,"end_region_id":17,"start_point":[194,328],"end_point":[298,95],"distance":255.15681452785068}],"complexity_score":0.7035000068669035}
{"id":2453,"query_id":"Q00491","question":"A quadcopter drone starts from a paved surface and needs to reach a hard, flat area like a constructed zone. The terrain includes loose, sandy or rocky expanses, and areas with tall vegetation that can be navigated around. You must avoid any liquid surfaces. The goal is to find the most comfortable flight path.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved surface","end_land_type":"a hard, flat area like a constructed zone","task_description":"What is the most comfortable flight path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"tonga_9.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":47,"start_point":[541,775],"end_point":[192,18],"distance":833.57663115037},{"start_region_id":87,"end_region_id":83,"start_point":[561,357],"end_point":[85,946],"distance":757.2958470769531},{"start_region_id":88,"end_region_id":55,"start_point":[541,775],"end_point":[375,255],"distance":545.8534601887213},{"start_region_id":87,"end_region_id":74,"start_point":[561,357],"end_point":[903,814],"distance":570.8003153467945},{"start_region_id":87,"end_region_id":47,"start_point":[561,357],"end_point":[192,18],"distance":501.08083180261445}],"complexity_score":0.7036389084358372}
{"id":5994,"query_id":"Q01199","question":"A drone starts from a paved, hard surface area such as a tennis court or sidewalk and needs to reach another paved, hard surface area such as a tennis court or sidewalk. The terrain consists only of hard, flat surfaces suitable for low-altitude flight, including paved roads and artificial grass areas. All other surfaces, such as loose soil, vegetation, water bodies, and vertical structures, are impassable due to physical barriers or safety restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a drone","start_land_type":"a paved, hard surface area such as a tennis court or sidewalk","end_land_type":"another paved, hard surface area such as a tennis court or sidewalk","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"tonga_9.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":55,"start_point":[903,814],"end_point":[375,255],"distance":768.9375787409534},{"start_region_id":55,"end_region_id":74,"start_point":[375,255],"end_point":[903,814],"distance":768.9375787409534},{"start_region_id":55,"end_region_id":76,"start_point":[375,255],"end_point":[938,754],"distance":752.3097766213065},{"start_region_id":76,"end_region_id":55,"start_point":[938,754],"end_point":[375,255],"distance":752.3097766213065},{"start_region_id":72,"end_region_id":55,"start_point":[864,648],"end_point":[375,255],"distance":627.3515760719821}],"complexity_score":0.7036389084358372}
{"id":6917,"query_id":"Q01384","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall vertical obstacles. The drone can fly over loose, sandy ground and cultivated fields with low vegetation, but must avoid liquid surfaces and solid structures. The objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dense cluster of tall vertical obstacles","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tonga_9.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":92,"start_point":[85,946],"end_point":[975,138],"distance":1202.0665538979113},{"start_region_id":47,"end_region_id":136,"start_point":[192,18],"end_point":[757,1000],"distance":1132.9382154380705},{"start_region_id":83,"end_region_id":91,"start_point":[85,946],"end_point":[682,96],"distance":1038.7054442911137},{"start_region_id":47,"end_region_id":132,"start_point":[192,18],"end_point":[493,968],"distance":996.5445298630664},{"start_region_id":74,"end_region_id":89,"start_point":[903,814],"end_point":[306,39],"distance":978.2811456835913}],"complexity_score":0.7036389084358372}
{"id":1158,"query_id":"Q00232","question":"An aerial survey drone starts from an area of low, dry vegetation and scattered shrubs and needs to reach a tall, vertical structure with dense foliage and branches. The drone can fly over open liquid surfaces, but must navigate carefully around vertical obstacles with dense foliage. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of low, dry vegetation and scattered shrubs","end_land_type":"and needs to reach a tall, vertical structure with dense foliage and branches","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"ngaoundere_48.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":391,"start_point":[97,47],"end_point":[663,959],"distance":1073.3592129385204},{"start_region_id":3,"end_region_id":343,"start_point":[955,35],"end_point":[147,720],"distance":1059.2870243706377},{"start_region_id":3,"end_region_id":400,"start_point":[955,35],"end_point":[502,990],"distance":1056.9929044227308},{"start_region_id":1,"end_region_id":400,"start_point":[97,47],"end_point":[502,990],"distance":1026.2913816260955},{"start_region_id":3,"end_region_id":360,"start_point":[955,35],"end_point":[299,809],"distance":1014.5994283459852}],"complexity_score":0.7037726888265536}
{"id":3131,"query_id":"Q00627","question":"A delivery van is on a paved road surface and needs to reach a cultivated field as quickly as possible. The vehicle can traverse paved surfaces like roads and parking lots, and it is permitted to drive over cultivated fields because the soil is firm and dry, allowing safe passage. However, the van cannot travel on loose sandy or rocky ground, through dense vegetation or wooded areas, across any liquid surfaces, or near any vertical structures. Given these constraints, what is the fastest path to the field?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"paved road surface","end_land_type":"cultivated field","task_description":"What is the fastest path for the delivery van to reach the cultivated field from the paved road surface?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"ngaoundere_48.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":256,"end_region_id":441,"start_point":[282,171],"end_point":[1004,830],"distance":977.53005068898},{"start_region_id":256,"end_region_id":446,"start_point":[282,171],"end_point":[109,1001],"distance":847.8378382686161},{"start_region_id":256,"end_region_id":431,"start_point":[282,171],"end_point":[932,646],"distance":805.0621094052309},{"start_region_id":256,"end_region_id":427,"start_point":[282,171],"end_point":[994,482],"distance":776.9588148673004},{"start_region_id":257,"end_region_id":446,"start_point":[643,456],"end_point":[109,1001],"distance":763.0078636554148}],"complexity_score":0.7037726888265536}
{"id":5297,"query_id":"Q01060","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The area includes paved lanes for vehicles, tall vertical obstacles with branches and leaves, liquid bodies, and soft, tilled soil used for crops. The drone can fly over most surfaces, but must navigate carefully around tall vertical obstacles to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field","end_land_type":"another cultivated field","task_description":"What is the fastest path from the starting cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"ngaoundere_48.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":411,"end_region_id":446,"start_point":[988,87],"end_point":[109,1001],"distance":1268.0839877547544},{"start_region_id":446,"end_region_id":411,"start_point":[109,1001],"end_point":[988,87],"distance":1268.0839877547544},{"start_region_id":410,"end_region_id":446,"start_point":[722,33],"end_point":[109,1001],"distance":1145.7717922867537},{"start_region_id":446,"end_region_id":410,"start_point":[109,1001],"end_point":[722,33],"distance":1145.7717922867537},{"start_region_id":434,"end_region_id":411,"start_point":[78,748],"end_point":[988,87],"distance":1124.7315235201688}],"complexity_score":0.7037726888265536}
{"id":14600,"query_id":"Q02920","question":"A hiker starts from a densely vegetated area with tall, woody plants and needs to reach a flat, hard, artificial surface. You can traverse areas with loose, sandy or rocky soil without vegetation, open grassy or shrubby terrain, flat hard artificial surfaces, densely vegetated areas with tall woody plants, and cultivated fields with crops. However, you cannot travel across liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a flat, hard, artificial surface","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_41.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":305,"end_region_id":183,"start_point":[80,24],"end_point":[976,942],"distance":1282.786030482091},{"start_region_id":410,"end_region_id":52,"start_point":[930,917],"end_point":[144,113],"distance":1124.3718246203077},{"start_region_id":410,"end_region_id":83,"start_point":[930,917],"end_point":[20,245],"distance":1131.2311876888825},{"start_region_id":305,"end_region_id":153,"start_point":[80,24],"end_point":[865,805],"distance":1107.3328316274199},{"start_region_id":428,"end_region_id":55,"start_point":[224,980],"end_point":[818,62],"distance":1093.4166634910957}],"complexity_score":0.7038521526031175}
{"id":2544,"query_id":"Q00509","question":"A quadcopter drone starts from a grassy, open terrain and needs to reach another grassy, open terrain. The drone can fly over grassy areas, but must avoid any vertical obstacles like trees or buildings, and any liquid surfaces. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open terrain","end_land_type":"grassy, open terrain","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,1,0],"image_name":"pedrogao_grande_56.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":5,"start_point":[55,92],"end_point":[122,356],"distance":272.3692346796899},{"start_region_id":5,"end_region_id":1,"start_point":[122,356],"end_point":[55,92],"distance":272.3692346796899}],"complexity_score":0.7041540811227166}
{"id":15416,"query_id":"Q03084","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with crops. The drone can fly over areas with soft, grassy vegetation, open water bodies, and cultivated fields, but must avoid dense tree canopies and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with crops","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"pedrogao_grande_56.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":352,"start_point":[60,697],"end_point":[947,168],"distance":1032.7681249922462},{"start_region_id":116,"end_region_id":377,"start_point":[121,436],"end_point":[958,894],"distance":954.1137248777003},{"start_region_id":86,"end_region_id":377,"start_point":[396,163],"end_point":[958,894],"distance":922.0656158864183},{"start_region_id":135,"end_region_id":377,"start_point":[60,697],"end_point":[958,894],"distance":919.3546649688574},{"start_region_id":134,"end_region_id":349,"start_point":[956,747],"end_point":[243,171],"distance":916.5942395629595}],"complexity_score":0.7041540811227166}
{"id":16433,"query_id":"Q03287","question":"A quadcopter drone is on a paved, hard surface and needs to reach cultivated fields with crops. The drone can fly over areas with herbaceous vegetation or bushes, paved lanes used by vehicles, individual trees or groups of trees, water bodies, and cultivated crop areas. However, flying through dense tree canopies requires careful navigation due to potential obstacles. What is the fastest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"cultivated fields with crops","task_description":"What is the fastest path to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"pedrogao_grande_56.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":352,"start_point":[30,932],"end_point":[947,168],"distance":1193.559801601914},{"start_region_id":173,"end_region_id":377,"start_point":[74,464],"end_point":[958,894],"distance":983.0340787582087},{"start_region_id":178,"end_region_id":351,"start_point":[30,932],"end_point":[634,168],"distance":973.9158074494941},{"start_region_id":178,"end_region_id":377,"start_point":[30,932],"end_point":[958,894],"distance":928.7776913772208},{"start_region_id":173,"end_region_id":352,"start_point":[74,464],"end_point":[947,168],"distance":921.8161421888857}],"complexity_score":0.7041540811227166}
{"id":4320,"query_id":"Q00864","question":"An aerial photography drone starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, which provide stable flight conditions. It can also navigate through vegetated areas with tall, leafy structures, though these require careful maneuvering to avoid branches. The drone cannot fly over liquid surfaces or enter solid vertical structures. The goal is to find the most comfortable path that minimizes vibration and maintains stable flight.","agent_category":"Drone","specific_agent":"aerial photography drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"another vegetated area with tall, leafy structures","task_description":"What is the most comfortable route for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"mexico_city_63.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":96,"start_point":[82,980],"end_point":[326,92],"distance":920.9125908575688},{"start_region_id":96,"end_region_id":181,"start_point":[326,92],"end_point":[82,980],"distance":920.9125908575688},{"start_region_id":181,"end_region_id":128,"start_point":[82,980],"end_point":[755,364],"distance":912.3513577564293},{"start_region_id":128,"end_region_id":181,"start_point":[755,364],"end_point":[82,980],"distance":912.3513577564293},{"start_region_id":181,"end_region_id":106,"start_point":[82,980],"end_point":[394,131],"distance":904.5136814885666}],"complexity_score":0.7042898476509761}
{"id":9571,"query_id":"Q01915","question":"A hiker starts from a paved area and needs to reach a grassy field. The hiker can traverse hard surfaces, loose soil, and vegetated ground, but cannot cross water bodies or enter buildings. The hiker is allowed to walk on bare earth, grassy patches, paved surfaces, vehicle lanes, and cultivated fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"a grassy field","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mexico_city_63.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":15,"start_point":[996,946],"end_point":[52,284],"distance":1152.9874240424308},{"start_region_id":84,"end_region_id":5,"start_point":[996,946],"end_point":[211,187],"distance":1091.9276532811136},{"start_region_id":84,"end_region_id":21,"start_point":[996,946],"end_point":[73,376],"distance":1084.817496171591},{"start_region_id":75,"end_region_id":15,"start_point":[918,889],"end_point":[52,284],"distance":1056.4000189322226},{"start_region_id":84,"end_region_id":3,"start_point":[996,946],"end_point":[491,43],"distance":1034.6178038290275}],"complexity_score":0.7042898476509761}
{"id":13272,"query_id":"Q02655","question":"A hiker starts from a paved road surface and needs to reach a wooded area with tall vegetation. The hiker must avoid any structures or water bodies entirely. The terrain includes open grassy fields, maintained paved areas, vehicle lanes, cultivated crop fields, and forested zones. The hiker can traverse grassy fields, cultivated fields, and forested zones only because they are dry and accessible on foot. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"a wooded area with tall vegetation","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"mexico_city_63.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":181,"start_point":[140,45],"end_point":[82,980],"distance":936.7972032409149},{"start_region_id":88,"end_region_id":175,"start_point":[140,45],"end_point":[518,854],"distance":892.9529662865789},{"start_region_id":89,"end_region_id":181,"start_point":[765,326],"end_point":[82,980],"distance":945.6241325177779},{"start_region_id":93,"end_region_id":96,"start_point":[230,901],"end_point":[326,92],"distance":814.6760092208435},{"start_region_id":93,"end_region_id":106,"start_point":[230,901],"end_point":[394,131],"distance":787.2712366141672}],"complexity_score":0.7042898476509761}
{"id":5394,"query_id":"Q01079","question":"A quadcopter drone starts from a grassy, vegetated area and needs to reach another grassy, vegetated area across a body of liquid. The drone can fly over both vegetated terrain and liquid surfaces, but must avoid any vertical structures or dense tree canopies. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","end_land_type":"grassy, vegetated area","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_9.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":1,"start_point":[848,735],"end_point":[44,32],"distance":1068.0004681646915},{"start_region_id":1,"end_region_id":35,"start_point":[44,32],"end_point":[848,735],"distance":1068.0004681646915},{"start_region_id":37,"end_region_id":1,"start_point":[767,742],"end_point":[44,32],"distance":1013.3257126906432},{"start_region_id":1,"end_region_id":37,"start_point":[44,32],"end_point":[767,742],"distance":1013.3257126906432},{"start_region_id":34,"end_region_id":1,"start_point":[343,797],"end_point":[44,32],"distance":821.3561955692549}],"complexity_score":0.7044483852026817}
{"id":8370,"query_id":"Q01674","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, as well as areas with low, natural grass or shrubs. However. The drone must avoid flying through dense vegetation or near vertical structures that could pose collision risks. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest flight path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"melbourne_9.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":60,"start_point":[651,835],"end_point":[48,164],"distance":902.1363533302491},{"start_region_id":60,"end_region_id":78,"start_point":[48,164],"end_point":[651,835],"distance":902.1363533302491},{"start_region_id":52,"end_region_id":85,"start_point":[809,173],"end_point":[127,705],"distance":864.9554901843215},{"start_region_id":85,"end_region_id":52,"start_point":[127,705],"end_point":[809,173],"distance":864.9554901843215},{"start_region_id":77,"end_region_id":60,"start_point":[787,547],"end_point":[48,164],"distance":832.3520889623574}],"complexity_score":0.7044483852026817}
{"id":14680,"query_id":"Q02936","question":"A delivery drone starts from a paved, hard-surfaced area and needs to reach an area of natural, uncultivated vegetation. The terrain includes loose, sandy or rocky ground without vegetation, cultivated fields with crops, and individual trees that can be flown around. Vertical structures and liquid surfaces are present but can be avoided with careful navigation. What is the safest flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"melbourne_9.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":1,"start_point":[651,835],"end_point":[44,32],"distance":1006.6071726348864},{"start_region_id":60,"end_region_id":35,"start_point":[48,164],"end_point":[848,735],"distance":982.8738474494069},{"start_region_id":60,"end_region_id":37,"start_point":[48,164],"end_point":[767,742],"distance":922.5210024709464},{"start_region_id":77,"end_region_id":1,"start_point":[787,547],"end_point":[44,32],"distance":904.0320790768434},{"start_region_id":66,"end_region_id":35,"start_point":[24,491],"end_point":[848,735],"distance":859.3672090555934}],"complexity_score":0.7044483852026817}
{"id":1768,"query_id":"Q00354","question":"A delivery drone is currently above a paved surface and needs to reach another paved surface. The drone aims to maximize flight comfort, preferring to fly over areas that are open and stable, minimizing turbulence and vibration. The drone can fly over paved surfaces, but may also cross over areas of soft, cultivated soil that are currently dry, as well as open grassy fields. However, the drone should avoid flying through dense vegetation clusters or near solid vertical structures, as these may cause discomfort due to wind effects or collision risk. Given these constraints, what is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved surface","end_land_type":"another paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"wallace_3.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":219,"start_point":[230,229],"end_point":[897,417],"distance":692.9884558923042},{"start_region_id":219,"end_region_id":210,"start_point":[897,417],"end_point":[230,229],"distance":692.9884558923042},{"start_region_id":210,"end_region_id":228,"start_point":[230,229],"end_point":[648,765],"distance":679.7205308065955},{"start_region_id":228,"end_region_id":210,"start_point":[648,765],"end_point":[230,229],"distance":679.7205308065955},{"start_region_id":228,"end_region_id":219,"start_point":[648,765],"end_point":[897,417],"distance":427.907700328003}],"complexity_score":0.7044956056952503}
{"id":15584,"query_id":"Q03117","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, shrub-covered area. The drone can fly over open water bodies and cultivated crop fields, but must avoid densely packed vertical structures and areas with tall, closely-spaced vegetation that could interfere with flight. Which path should the drone take to reach the destination using the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, shrub-covered area","task_description":"Which path should the drone take to reach the destination using the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"wallace_3.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":79,"start_point":[757,55],"end_point":[92,915],"distance":1087.1177489122326},{"start_region_id":104,"end_region_id":86,"start_point":[757,55],"end_point":[185,963],"distance":1073.1486383535134},{"start_region_id":104,"end_region_id":65,"start_point":[757,55],"end_point":[62,785],"distance":1007.9310492290631},{"start_region_id":145,"end_region_id":79,"start_point":[893,315],"end_point":[92,915],"distance":1000.8001798560989},{"start_region_id":134,"end_region_id":79,"start_point":[816,271],"end_point":[92,915],"distance":968.9747158724009}],"complexity_score":0.7044956056952503}
{"id":16298,"query_id":"Q03260","question":"A hiker starts from a paved surface and needs to reach a grassy area with scattered shrubs. The terrain includes loose, sandy ground and cultivated fields with crops. The hiker can traverse the cultivated fields and grassy areas, but must avoid any structures, trees, or water bodies. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"grassy area with scattered shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"wallace_3.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":79,"start_point":[897,417],"end_point":[92,915],"distance":946.5880835928582},{"start_region_id":219,"end_region_id":65,"start_point":[897,417],"end_point":[62,785],"distance":912.4960273886128},{"start_region_id":219,"end_region_id":86,"start_point":[897,417],"end_point":[185,963],"distance":897.2513583160518},{"start_region_id":219,"end_region_id":1,"start_point":[897,417],"end_point":[47,176],"distance":883.5049518819915},{"start_region_id":228,"end_region_id":1,"start_point":[648,765],"end_point":[47,176],"distance":841.4998514557207}],"complexity_score":0.7044956056952503}
{"id":729,"query_id":"Q00146","question":"A hiker starts from a paved area and needs to reach another paved area. The terrain includes firm, compacted surfaces suitable for walking, areas with low vegetation and shrubs that can be crossed on foot, and cultivated fields with soft soil that are accessible. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_70.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":45,"start_point":[571,195],"end_point":[86,492],"distance":568.7125811866658},{"start_region_id":45,"end_region_id":29,"start_point":[86,492],"end_point":[571,195],"distance":568.7125811866658},{"start_region_id":48,"end_region_id":43,"start_point":[618,558],"end_point":[96,404],"distance":544.2425929675111},{"start_region_id":43,"end_region_id":48,"start_point":[96,404],"end_point":[618,558],"distance":544.2425929675111},{"start_region_id":41,"end_region_id":45,"start_point":[617,394],"end_point":[86,492],"distance":539.9675916200897}],"complexity_score":0.7045501368311782}
{"id":4172,"query_id":"Q00835","question":"An aerial survey drone starts from a vegetated area with tall vertical structures and needs to reach another vegetated area with tall vertical structures. The drone must avoid any liquid surfaces and man-made vertical structures entirely, as they pose collision risks. The drone can traverse open areas with loose, dry soil; hard, flat paved surfaces; vehicle lanes; and vegetated areas with tall vertical structures, though these require careful navigation to avoid obstacles. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall vertical structures","end_land_type":"another vegetated area with tall vertical structures","task_description":"What is the safest path for the aerial survey drone to reach its destination?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,2,2,1,0,0,0],"image_name":"shanghai_70.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":90,"start_point":[411,241],"end_point":[413,453],"distance":212.00943375236866},{"start_region_id":90,"end_region_id":68,"start_point":[413,453],"end_point":[411,241],"distance":212.00943375236866}],"complexity_score":0.7045501368311782}
{"id":56,"query_id":"Q00012","question":"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 over solid structures or liquid surfaces. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":314,"end_region_id":257,"start_point":[105,272],"end_point":[749,640],"distance":741.7277128434665},{"start_region_id":303,"end_region_id":257,"start_point":[395,27],"end_point":[749,640],"distance":707.8735762832231},{"start_region_id":325,"end_region_id":221,"start_point":[717,453],"end_point":[27,303],"distance":706.1161377563892},{"start_region_id":328,"end_region_id":221,"start_point":[665,601],"end_point":[27,303],"distance":704.1647534490775},{"start_region_id":306,"end_region_id":257,"start_point":[310,104],"end_point":[749,640],"distance":692.832591612144}],"complexity_score":0.7049653769476052}
{"id":4328,"query_id":"Q00866","question":"An aerial survey drone starts from a densely vegetated area with tall, leafy structures and needs to reach a cultivated field with rows of low-growing plants. The aerial survey drone must fly over surfaces that are either solid and open, such as paved or compacted areas, or natural expanses like loose soil and sand, but it can also pass through areas with tall vegetation if necessary, though these may slow it down. The drone cannot enter any vertical structures or liquid surfaces. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a cultivated field with rows of low-growing plants","task_description":"What is the fastest route for the aerial survey drone to travel from the densely vegetated area to the cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":338,"start_point":[994,189],"end_point":[208,908],"distance":1065.2497359774375},{"start_region_id":210,"end_region_id":329,"start_point":[994,189],"end_point":[74,665],"distance":1035.8455483323758},{"start_region_id":221,"end_region_id":339,"start_point":[27,303],"end_point":[866,911],"distance":1036.1394693765892},{"start_region_id":210,"end_region_id":331,"start_point":[994,189],"end_point":[157,797],"distance":1034.5206619492915},{"start_region_id":280,"end_region_id":303,"start_point":[845,954],"end_point":[395,27],"distance":1030.4508721913917}],"complexity_score":0.7049653769476052}
{"id":4623,"query_id":"Q00925","question":"A delivery van is currently parked on a paved parking lot and needs to reach a cultivated field. The vehicle requires hard, stable surfaces to maintain high speeds, but can also traverse firm, level agricultural terrain if necessary. What is the fastest route?","agent_category":"Car","specific_agent":"Delivery van","start_land_type":"paved parking lot","end_land_type":"cultivated field","task_description":"What is the fastest route from the paved parking lot to the cultivated field?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":165,"end_region_id":314,"start_point":[786,887],"end_point":[105,272],"distance":917.5979511746962},{"start_region_id":175,"end_region_id":314,"start_point":[654,924],"end_point":[105,272],"distance":852.3526265578115},{"start_region_id":165,"end_region_id":321,"start_point":[786,887],"end_point":[114,380],"distance":841.8034212332473},{"start_region_id":175,"end_region_id":321,"start_point":[654,924],"end_point":[114,380],"distance":766.5089692886835},{"start_region_id":143,"end_region_id":336,"start_point":[65,457],"end_point":[672,862],"distance":729.7081608424014}],"complexity_score":0.7049653769476052}
{"id":7822,"query_id":"Q01565","question":"An aerial delivery drone starts from a cultivated field with soft, tilled soil and needs to reach a paved roadway. The drone can fly over open sandy or rocky ground, hard artificial surfaces like parking lots and sports fields, liquid bodies, and cultivated areas. However, it must avoid flying through dense vegetation or near vertical structures. The drone's priority is to maintain stable flight with minimal turbulence for the safety of its cargo.","agent_category":"Drone","specific_agent":"Aerial delivery drone","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,0,1,1,0,1,1,0],"cost_vector":[2,0,2,2,0,1,2,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":314,"end_region_id":197,"start_point":[105,272],"end_point":[882,501],"distance":810.0432087240779},{"start_region_id":321,"end_region_id":197,"start_point":[114,380],"end_point":[882,501],"distance":777.4734722162551},{"start_region_id":333,"end_region_id":197,"start_point":[416,827],"end_point":[882,501],"distance":568.7108228265047},{"start_region_id":314,"end_region_id":198,"start_point":[105,272],"end_point":[423,680],"distance":517.2890874549743},{"start_region_id":323,"end_region_id":197,"start_point":[375,450],"end_point":[882,501],"distance":509.5586325438909}],"complexity_score":0.7049653769476052}
{"id":7958,"query_id":"Q01592","question":"A hiker with a heavy backpack starts from a cultivated field with soft, uneven soil and needs to reach a paved, stable area. The terrain includes loose, rocky ground without vegetation; smooth, hard surfaces like sidewalks and parking lots; vehicle lanes with asphalt or concrete; areas with tall, dense vegetation that obstructs movement; and planted crop fields. You can only traverse loose rocky ground, smooth hard surfaces, vehicle lanes, tall vegetation areas, and planted fields. The tall vegetation areas are passable because the vegetation is sparse enough to walk through without significant obstruction. What is the most comfortable path to reach the paved area?","agent_category":"Pedestrian","specific_agent":"A hiker with a heavy backpack","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the most comfortable path to reach the paved area?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,5,4,1,0,3,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":307,"end_region_id":176,"start_point":[613,91],"end_point":[199,968],"distance":969.8066817670416},{"start_region_id":303,"end_region_id":176,"start_point":[395,27],"end_point":[199,968],"distance":961.1956096445717},{"start_region_id":303,"end_region_id":165,"start_point":[395,27],"end_point":[786,887],"distance":944.7121254646836},{"start_region_id":303,"end_region_id":175,"start_point":[395,27],"end_point":[654,924],"distance":933.6434008763731},{"start_region_id":339,"end_region_id":143,"start_point":[866,911],"end_point":[65,457],"distance":920.7154826546581}],"complexity_score":0.7049653769476052}
{"id":13461,"query_id":"Q02693","question":"An agricultural monitoring drone starts from a cultivated field and needs to fly to another cultivated field while prioritizing a smooth and stable flight to protect its sensors and ensure clear data capture. The drone can fly over areas with herbaceous vegetation or bushes, hard surfaces like sidewalks and parking lots, paved lanes used by vehicles, liquid bodies, and other cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or man-made structures, as these could cause turbulence or collisions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"Cultivated field","end_land_type":"Cultivated field","task_description":"What is the most comfortable path for the agricultural monitoring drone to fly from the starting cultivated field to the destination cultivated field?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"lohur_23.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":303,"start_point":[866,911],"end_point":[395,27],"distance":1001.6471434592124},{"start_region_id":303,"end_region_id":339,"start_point":[395,27],"end_point":[866,911],"distance":1001.6471434592124},{"start_region_id":339,"end_region_id":314,"start_point":[866,911],"end_point":[105,272],"distance":993.7011623219528},{"start_region_id":314,"end_region_id":339,"start_point":[105,272],"end_point":[866,911],"distance":993.7011623219528},{"start_region_id":306,"end_region_id":339,"start_point":[310,104],"end_point":[866,911],"distance":979.992346908893}],"complexity_score":0.7049653769476052}
{"id":14971,"query_id":"Q02995","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The terrain includes expanses of loose soil and rocks; flat, hard surfaces; tall, dense vegetation; and cultivated plots. The drone can fly over all these terrain types, including structures and water, but flying through dense vegetation or near structures is hazardous and should be minimized for safety. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"muenster_22.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":5,"start_point":[85,521],"end_point":[942,29],"distance":988.1867232461686},{"start_region_id":5,"end_region_id":61,"start_point":[942,29],"end_point":[85,521],"distance":988.1867232461686},{"start_region_id":61,"end_region_id":27,"start_point":[85,521],"end_point":[957,327],"distance":893.3196516365236},{"start_region_id":27,"end_region_id":61,"start_point":[957,327],"end_point":[85,521],"distance":893.3196516365236},{"start_region_id":84,"end_region_id":61,"start_point":[946,662],"end_point":[85,521],"distance":872.4689106208886}],"complexity_score":0.7049656739039182}
{"id":16984,"query_id":"Q03397","question":"A quadcopter drone is deployed from an area of natural, uncultivated grassy terrain and must reach a flat, hard-surfaced artificial area as quickly as possible. The drone can fly over open water surfaces, but must avoid any areas with tall vertical obstacles like trees or structures. The drone's path should prioritize terrains that allow for maximum and most stable flight speed.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of natural, uncultivated grassy terrain","end_land_type":"and needing to reach a flat, hard-surfaced artificial area","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"muenster_22.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":192,"start_point":[942,29],"end_point":[128,935],"distance":1217.9622325835887},{"start_region_id":5,"end_region_id":182,"start_point":[942,29],"end_point":[142,797],"distance":1108.9743008744613},{"start_region_id":7,"end_region_id":192,"start_point":[782,48],"end_point":[128,935],"distance":1102.0367507483586},{"start_region_id":5,"end_region_id":193,"start_point":[942,29],"end_point":[350,934],"distance":1081.4291470087164},{"start_region_id":84,"end_region_id":138,"start_point":[946,662],"end_point":[86,60],"distance":1049.7637829530984}],"complexity_score":0.7049656739039182}
{"id":1715,"query_id":"Q00343","question":"A quadcopter drone is positioned on a paved, hard-surfaced area. It needs to reach a location among tall, vertical structures with foliage as quickly as possible. The drone can fly over most surfaces, including open fields with crops, other paved areas, and lanes used by vehicles. However, flying directly through or very close to the dense foliage of the vertical structures requires careful navigation and slows it down significantly. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A location among tall, vertical structures with foliage","task_description":"What is the fastest path for the quadcopter drone to reach the location among the tall vertical structures?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"christchurch_51.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":336,"end_region_id":367,"start_point":[53,834],"end_point":[645,55],"distance":978.4196441200473},{"start_region_id":312,"end_region_id":414,"start_point":[932,728],"end_point":[108,253],"distance":951.1051466583492},{"start_region_id":339,"end_region_id":367,"start_point":[302,936],"end_point":[645,55],"distance":945.4152526800062},{"start_region_id":287,"end_region_id":531,"start_point":[113,129],"end_point":[640,783],"distance":839.9077330278607},{"start_region_id":333,"end_region_id":414,"start_point":[748,804],"end_point":[108,253],"distance":844.5122852866026}],"complexity_score":0.7053231408473444}
{"id":5869,"query_id":"Q01174","question":"A commuter starts from a paved, hard-surfaced area and needs to reach a vehicle lane as quickly as possible. The commuter can only travel on surfaces that are firm, stable, and provide good traction for walking. Soft, uneven, or obstructed surfaces are not allowed.","agent_category":"Pedestrian","specific_agent":"a commuter","start_land_type":"a paved, hard-surfaced area","end_land_type":"a vehicle lane","task_description":"What is the fastest path from the starting point to the destination?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"christchurch_51.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":336,"end_region_id":355,"start_point":[53,834],"end_point":[886,652],"distance":852.6505732127317},{"start_region_id":299,"end_region_id":355,"start_point":[199,426],"end_point":[886,652],"distance":723.2185008695504},{"start_region_id":339,"end_region_id":355,"start_point":[302,936],"end_point":[886,652],"distance":649.3935632572901},{"start_region_id":292,"end_region_id":354,"start_point":[898,89],"end_point":[577,539],"distance":552.7576322403879},{"start_region_id":292,"end_region_id":355,"start_point":[898,89],"end_point":[886,652],"distance":563.1278718017783}],"complexity_score":0.7053231408473444}
{"id":5577,"query_id":"Q01116","question":"A passenger vehicle starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The path must avoid any unpaved, loose, or irregular surfaces, and must only use surfaces that are solid, flat, and designed for vehicle travel to ensure stability and control. Which route minimizes risk?","agent_category":"Car","specific_agent":"A passenger vehicle","start_land_type":"A paved, hard-surfaced area","end_land_type":"A vehicle lane","task_description":"Which route minimizes risk?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"austin_46.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":119,"start_point":[559,678],"end_point":[283,221],"distance":533.8773267333986},{"start_region_id":56,"end_region_id":121,"start_point":[241,198],"end_point":[705,234],"distance":465.3944563485904},{"start_region_id":88,"end_region_id":121,"start_point":[559,678],"end_point":[705,234],"distance":467.38848937473847},{"start_region_id":63,"end_region_id":121,"start_point":[243,250],"end_point":[705,234],"distance":462.2769732530488},{"start_region_id":90,"end_region_id":121,"start_point":[436,604],"end_point":[705,234],"distance":457.4505437749528}],"complexity_score":0.7054344830347787}
{"id":10387,"query_id":"Q02078","question":"A quadcopter drone starts from a concrete pad and needs to reach another concrete pad as quickly as possible. The drone can fly over paved surfaces, unpaved ground with loose soil, and areas with sparse vegetation, but must avoid flying through dense tree canopies or close to buildings. Which flight path should the drone take to minimize travel time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"concrete pad","end_land_type":"another concrete pad","task_description":"Which flight path should the drone take to minimize travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"austin_46.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":56,"start_point":[896,391],"end_point":[241,198],"distance":682.8425880098575},{"start_region_id":56,"end_region_id":76,"start_point":[241,198],"end_point":[896,391],"distance":682.8425880098575},{"start_region_id":88,"end_region_id":52,"start_point":[559,678],"end_point":[811,53],"distance":673.8909407315103},{"start_region_id":52,"end_region_id":88,"start_point":[811,53],"end_point":[559,678],"distance":673.8909407315103},{"start_region_id":76,"end_region_id":63,"start_point":[896,391],"end_point":[243,250],"distance":668.0493993710345}],"complexity_score":0.7054344830347787}
{"id":12493,"query_id":"Q02499","question":"A delivery drone starts from an area with low vegetation and shrubs and needs to reach a flat, open surface like a paved courtyard or similar area. The drone can fly over the grassy areas, paved surfaces, and vehicle lanes, but must avoid water bodies due to safety concerns. The drone can also navigate around tall vegetation and structures, though these pose higher risks. The operator seeks the safest route to the destination.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from an area with low vegetation and shrubs,","end_land_type":"needs to reach a flat, open surface like a paved courtyard or similar area.","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"austin_46.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":52,"start_point":[42,969],"end_point":[811,53],"distance":1196.0004180601277},{"start_region_id":46,"end_region_id":76,"start_point":[42,969],"end_point":[896,391],"distance":1031.2128781197412},{"start_region_id":21,"end_region_id":76,"start_point":[45,353],"end_point":[896,391],"distance":851.8479911345686},{"start_region_id":46,"end_region_id":66,"start_point":[42,969],"end_point":[531,239],"distance":878.6472557289416},{"start_region_id":46,"end_region_id":60,"start_point":[42,969],"end_point":[627,332],"distance":864.8664636809547}],"complexity_score":0.7054344830347787}
{"id":9575,"query_id":"Q01915","question":"A hiker starts from a paved area and needs to reach a grassy field. The hiker can traverse hard surfaces, loose soil, and vegetated ground, but cannot cross water bodies or enter buildings. The hiker is allowed to walk on bare earth, grassy patches, paved surfaces, vehicle lanes, and cultivated fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved area","end_land_type":"a grassy field","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"daressalaam_32.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":286,"end_region_id":9,"start_point":[140,976],"end_point":[763,88],"distance":1084.745592293419},{"start_region_id":302,"end_region_id":58,"start_point":[971,1000],"end_point":[49,483],"distance":1057.0586549477753},{"start_region_id":286,"end_region_id":23,"start_point":[140,976],"end_point":[848,192],"distance":1056.3711468986646},{"start_region_id":257,"end_region_id":9,"start_point":[82,847],"end_point":[763,88],"distance":1019.7264339027404},{"start_region_id":303,"end_region_id":9,"start_point":[313,999],"end_point":[763,88],"distance":1016.0811975427948}],"complexity_score":0.7055620027963293}
{"id":13274,"query_id":"Q02655","question":"A hiker starts from a paved road surface and needs to reach a wooded area with tall vegetation. The hiker must avoid any structures or water bodies entirely. The terrain includes open grassy fields, maintained paved areas, vehicle lanes, cultivated crop fields, and forested zones. The hiker can traverse grassy fields, cultivated fields, and forested zones only because they are dry and accessible on foot. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"a wooded area with tall vegetation","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"daressalaam_32.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":352,"end_region_id":404,"start_point":[901,880],"end_point":[113,132],"distance":1086.4842382657928},{"start_region_id":352,"end_region_id":402,"start_point":[901,880],"end_point":[180,130],"distance":1040.356189004516},{"start_region_id":352,"end_region_id":420,"start_point":[901,880],"end_point":[102,283],"distance":997.4016242216572},{"start_region_id":352,"end_region_id":389,"start_point":[901,880],"end_point":[310,86],"distance":989.8065467554759},{"start_region_id":323,"end_region_id":564,"start_point":[927,51],"end_point":[380,766],"distance":900.2410788227785}],"complexity_score":0.7055620027963293}
{"id":12077,"query_id":"Q02416","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a paved lane used by vehicles. The drone can fly over areas with herbaceous vegetation or bushes, other paved or compacted surfaces, and bodies of liquid. The drone must avoid any vertical structures or dense vegetation that could obstruct its flight path. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved lane used by vehicles","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"monrovia_7.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":241,"start_point":[38,700],"end_point":[959,36],"distance":1135.4016910327375},{"start_region_id":221,"end_region_id":241,"start_point":[412,906],"end_point":[959,36],"distance":1027.6716401652816},{"start_region_id":166,"end_region_id":241,"start_point":[147,579],"end_point":[959,36],"distance":976.8280299008624},{"start_region_id":120,"end_region_id":252,"start_point":[660,63],"end_point":[118,840],"distance":947.3610716089194},{"start_region_id":207,"end_region_id":241,"start_point":[522,850],"end_point":[959,36],"distance":923.885815455568}],"complexity_score":0.7056065416636597}
{"id":15359,"query_id":"Q03072","question":"An aerial survey drone is currently positioned over a cultivated field with rows of crops. It needs to reach a paved, flat landing pad. The flight path must prioritize safety by avoiding areas with tall, dense vegetation that could entangle the rotors and avoiding structures that could cause signal interference or collision. The drone can fly over open sandy/rocky ground, grassy/shrubby areas, paved surfaces, water bodies, and cultivated fields. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_7.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":441,"end_region_id":194,"start_point":[177,71],"end_point":[929,787],"distance":1038.3448367474073},{"start_region_id":441,"end_region_id":206,"start_point":[177,71],"end_point":[775,903],"distance":1024.6111457523775},{"start_region_id":441,"end_region_id":169,"start_point":[177,71],"end_point":[937,569],"distance":908.6275364526435},{"start_region_id":441,"end_region_id":221,"start_point":[177,71],"end_point":[412,906],"distance":867.438758645243},{"start_region_id":441,"end_region_id":204,"start_point":[177,71],"end_point":[646,792],"distance":860.117433842612}],"complexity_score":0.7056065416636597}
{"id":1435,"query_id":"Q00287","question":"An aerial survey drone is positioned on a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over bare, rocky ground; grassy or shrub-covered areas; liquid bodies; and cultivated fields. However, it must avoid flying through dense vertical obstacles like tall vegetation or structures, as they could obstruct its path and slow it down. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route for the aerial survey drone to travel from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"houston_1.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":117,"start_point":[141,869],"end_point":[746,774],"distance":612.413259164104},{"start_region_id":117,"end_region_id":118,"start_point":[746,774],"end_point":[141,869],"distance":612.413259164104},{"start_region_id":116,"end_region_id":118,"start_point":[495,359],"end_point":[141,869],"distance":620.8188141478961},{"start_region_id":118,"end_region_id":116,"start_point":[141,869],"end_point":[495,359],"distance":620.8188141478961},{"start_region_id":116,"end_region_id":117,"start_point":[495,359],"end_point":[746,774],"distance":485.00103092673936}],"complexity_score":0.705685181351642}
{"id":10440,"query_id":"Q02088","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing operational risk. The drone can fly over loose, sandy or rocky ground; liquid surfaces; cultivated fields with crops; and areas with tall vegetation. However, flying through dense vertical obstacles like tall trees increases collision risk and should be avoided. The drone cannot land on or pass through solid vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the aerial survey drone to reach the destination paved surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_1.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":117,"start_point":[141,869],"end_point":[746,774],"distance":612.413259164104},{"start_region_id":117,"end_region_id":118,"start_point":[746,774],"end_point":[141,869],"distance":612.413259164104},{"start_region_id":116,"end_region_id":118,"start_point":[495,359],"end_point":[141,869],"distance":620.8188141478961},{"start_region_id":118,"end_region_id":116,"start_point":[141,869],"end_point":[495,359],"distance":620.8188141478961},{"start_region_id":116,"end_region_id":117,"start_point":[495,359],"end_point":[746,774],"distance":485.00103092673936}],"complexity_score":0.705685181351642}
{"id":15255,"query_id":"Q03051","question":"An aerial survey drone starts from a hard, flat paved surface, an aerial survey drone must reach another hard, flat paved surface. The drone can fly over open grassy areas, paved areas like parking lots, hard vehicle lanes, areas with tall vertical obstacles, liquid surfaces, and cultivated fields. The drone's flight path must prioritize minimizing the risk of collision or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat paved surface","end_land_type":"Another hard, flat paved surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"houston_1.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":117,"start_point":[141,869],"end_point":[746,774],"distance":612.413259164104},{"start_region_id":117,"end_region_id":118,"start_point":[746,774],"end_point":[141,869],"distance":612.413259164104},{"start_region_id":116,"end_region_id":118,"start_point":[495,359],"end_point":[141,869],"distance":620.8188141478961},{"start_region_id":118,"end_region_id":116,"start_point":[141,869],"end_point":[495,359],"distance":620.8188141478961},{"start_region_id":116,"end_region_id":117,"start_point":[495,359],"end_point":[746,774],"distance":485.00103092673936}],"complexity_score":0.705685181351642}
{"id":10271,"query_id":"Q02055","question":"An off-road vehicle starts from a grassy or shrub-covered ground and needs to reach another grassy or shrub-covered ground area. The terrain includes loose, sandy, or rocky surfaces without vegetation; grassy or shrub-covered ground; hard, flat surfaces like sidewalks, parking lots, or artificial turf; and paved lanes or streets used by vehicles. All these surfaces are traversable. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy or shrub-covered ground","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"muenster_33.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":3,"start_point":[605,873],"end_point":[226,38],"distance":916.987459020024},{"start_region_id":3,"end_region_id":71,"start_point":[226,38],"end_point":[605,873],"distance":916.987459020024},{"start_region_id":55,"end_region_id":3,"start_point":[481,809],"end_point":[226,38],"distance":812.0751196779765},{"start_region_id":3,"end_region_id":55,"start_point":[226,38],"end_point":[481,809],"distance":812.0751196779765},{"start_region_id":4,"end_region_id":71,"start_point":[277,164],"end_point":[605,873],"distance":781.1945980355983}],"complexity_score":0.7060024504744837}
{"id":12628,"query_id":"Q02526","question":"A delivery drone carrying fragile packages starts from a flat, hard landing pad and needs to reach a long, paved strip. The airspace includes open areas with low vegetation and soft ground, as well as zones with tall, dense vertical structures that can be flown through if gaps exist. You require a path that ensures stable flight with minimal turbulence and jostling of the cargo.","agent_category":"Drone","specific_agent":"A delivery drone carrying fragile packages","start_land_type":"a flat, hard landing pad","end_land_type":"a long, paved strip","task_description":"What is the most comfortable route to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"muenster_33.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":193,"start_point":[963,852],"end_point":[199,411],"distance":882.1434123769219},{"start_region_id":187,"end_region_id":199,"start_point":[152,965],"end_point":[819,451],"distance":842.0718496660484},{"start_region_id":182,"end_region_id":193,"start_point":[882,904],"end_point":[199,411],"distance":842.3407861429957},{"start_region_id":93,"end_region_id":199,"start_point":[64,95],"end_point":[819,451],"distance":834.72210944721},{"start_region_id":110,"end_region_id":193,"start_point":[938,214],"end_point":[199,411],"distance":764.8071652384018}],"complexity_score":0.7060024504744837}
{"id":1086,"query_id":"Q00218","question":"An aerial surveillance drone is currently positioned over a grassy, open field and needs to reach a flat, paved surface. The drone must avoid any tall, dense vegetation or vertical structures that could pose collision risks. It can safely fly over areas of loose soil and rocks, grassy or shrubby terrain, all types of paved and compacted surfaces, liquid bodies, and cultivated fields. The drone's primary concern is minimizing the risk of accidents or damage during flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"flat, paved surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"melbourne_47.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":188,"start_point":[180,1010],"end_point":[962,88],"distance":1208.969809383179},{"start_region_id":175,"end_region_id":184,"start_point":[180,1010],"end_point":[866,55],"distance":1175.8490549386006},{"start_region_id":154,"end_region_id":188,"start_point":[244,915],"end_point":[962,88],"distance":1095.1954163527164},{"start_region_id":163,"end_region_id":188,"start_point":[328,961],"end_point":[962,88],"distance":1078.9277084216533},{"start_region_id":154,"end_region_id":184,"start_point":[244,915],"end_point":[866,55],"distance":1061.3595055399467}],"complexity_score":0.7063994661980731}
{"id":3791,"query_id":"Q00759","question":"A hiker is standing on a grassy field and needs to reach another grassy field area. The terrain includes loose sandy or rocky ground, areas with low vegetation or bushes, hard paved surfaces like sidewalks and parking lots, vehicle lanes made of asphalt or concrete, individual trees or wooded patches, and cultivated crop fields. The hiker must avoid any water bodies or buildings entirely. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"melbourne_47.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":175,"start_point":[958,412],"end_point":[180,1010],"distance":981.2685667033261},{"start_region_id":175,"end_region_id":53,"start_point":[180,1010],"end_point":[958,412],"distance":981.2685667033261},{"start_region_id":45,"end_region_id":175,"start_point":[721,303],"end_point":[180,1010],"distance":890.2415402574742},{"start_region_id":175,"end_region_id":45,"start_point":[180,1010],"end_point":[721,303],"distance":890.2415402574742},{"start_region_id":53,"end_region_id":154,"start_point":[958,412],"end_point":[244,915],"distance":873.3870848598575}],"complexity_score":0.7063994661980731}
{"id":5379,"query_id":"Q01076","question":"A quadcopter drone starts from a paved area and needs to reach a wooded area while prioritizing a stable and comfortable flight. The drone can traverse open ground, hard surfaces, vegetated areas, and liquid surfaces without restriction. For this specific flight, areas with tall, dense vegetation are accessible but may cause turbulence. Solid vertical structures are strictly impassable due to collision risk. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved area","end_land_type":"wooded area","task_description":"What is the most comfortable path from the paved area to the wooded area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"melbourne_47.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":413,"start_point":[55,889],"end_point":[950,41],"distance":1232.9351158921543},{"start_region_id":188,"end_region_id":548,"start_point":[962,88],"end_point":[24,878],"distance":1226.3539456453834},{"start_region_id":184,"end_region_id":548,"start_point":[866,55],"end_point":[24,878],"distance":1177.4094445009348},{"start_region_id":345,"end_region_id":413,"start_point":[172,870],"end_point":[950,41],"distance":1136.8926950244688},{"start_region_id":335,"end_region_id":413,"start_point":[269,929],"end_point":[950,41],"distance":1119.0643413137602}],"complexity_score":0.7063994661980731}
{"id":8380,"query_id":"Q01676","question":"An aerial survey drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over loose, dry soil without vegetation, overgrown grassy areas, and open water bodies. It must maintain maximum speed throughout the flight. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the fastest path for the aerial survey drone to reach the hard, flat artificial surface from the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"melbourne_47.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":388,"end_region_id":377,"start_point":[212,102],"end_point":[835,976],"distance":1073.3149584348482},{"start_region_id":388,"end_region_id":364,"start_point":[212,102],"end_point":[934,882],"distance":1062.8659369835877},{"start_region_id":402,"end_region_id":188,"start_point":[68,548],"end_point":[962,88],"distance":1005.4034016254371},{"start_region_id":389,"end_region_id":377,"start_point":[354,91],"end_point":[835,976],"distance":1007.2665982747567},{"start_region_id":389,"end_region_id":364,"start_point":[354,91],"end_point":[934,882],"distance":980.8572780991126}],"complexity_score":0.7063994661980731}
{"id":10085,"query_id":"Q02017","question":"An aerial drone starts from a grassy, shrub-covered area and needs to reach another grassy, shrub-covered area. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, paved or compacted surfaces, and wooded areas with trees. However, flying through dense tree canopies is restricted due to collision risk and requires careful navigation. The drone cannot traverse liquid surfaces, vertical structures, or cultivated fields. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"grassy, shrub-covered terrain","task_description":"What is the fastest route for the aerial drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"melbourne_26.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":129,"start_point":[620,85],"end_point":[74,950],"distance":1022.9081092649525},{"start_region_id":129,"end_region_id":7,"start_point":[74,950],"end_point":[620,85],"distance":1022.9081092649525},{"start_region_id":5,"end_region_id":129,"start_point":[525,55],"end_point":[74,950],"distance":1002.210556719495},{"start_region_id":129,"end_region_id":5,"start_point":[74,950],"end_point":[525,55],"distance":1002.210556719495},{"start_region_id":129,"end_region_id":108,"start_point":[74,950],"end_point":[990,757],"distance":936.1116386414603}],"complexity_score":0.7064448089242209}
{"id":14594,"query_id":"Q02919","question":"A hiker starts from a densely wooded area with tall trees and uneven ground and needs to reach a grassy, open field with low vegetation. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered terrain, paved or compacted surfaces, wooded patches, and cultivated fields, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area with tall trees and uneven ground","end_land_type":"a grassy, open field with low vegetation","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_26.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":308,"end_region_id":129,"start_point":[982,325],"end_point":[74,950],"distance":1102.3107547329837},{"start_region_id":308,"end_region_id":59,"start_point":[982,325],"end_point":[140,420],"distance":847.3423157142572},{"start_region_id":371,"end_region_id":5,"start_point":[759,827],"end_point":[525,55],"distance":806.6845728040174},{"start_region_id":371,"end_region_id":7,"start_point":[759,827],"end_point":[620,85],"distance":754.9072790747218},{"start_region_id":371,"end_region_id":59,"start_point":[759,827],"end_point":[140,420],"distance":740.8171164329291}],"complexity_score":0.7064448089242209}
{"id":5735,"query_id":"Q01147","question":"A person on foot starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists of smooth, stable surfaces like sidewalks, parking lots, and streets, which are ideal for walking. You must avoid any rough, uneven, or soft ground, such as loose soil, vegetation, or liquid areas, as these could cause discomfort or instability. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"A person on foot","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"joplin_4.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":30,"start_point":[417,553],"end_point":[994,961],"distance":706.6774370248423},{"start_region_id":30,"end_region_id":25,"start_point":[994,961],"end_point":[417,553],"distance":706.6774370248423},{"start_region_id":21,"end_region_id":30,"start_point":[630,428],"end_point":[994,961],"distance":645.4339625399333},{"start_region_id":30,"end_region_id":21,"start_point":[994,961],"end_point":[630,428],"distance":645.4339625399333},{"start_region_id":26,"end_region_id":25,"start_point":[995,728],"end_point":[417,553],"distance":603.9114173452924}],"complexity_score":0.7066824960815138}
{"id":16558,"query_id":"Q03312","question":"An aerial survey drone starts from a grassy, open field and needs to return to another grassy, open field while prioritizing safety. The drone can fly over loose, sandy ground and rocky surfaces, as well as bodies of liquid. It can also navigate around tall, vertical obstacles with foliage, but must maintain a safe distance to avoid collisions. The drone cannot fly through solid, enclosed structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"joplin_4.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":16,"start_point":[224,35],"end_point":[963,918],"distance":1151.4382310831963},{"start_region_id":16,"end_region_id":1,"start_point":[963,918],"end_point":[224,35],"distance":1151.4382310831963},{"start_region_id":1,"end_region_id":14,"start_point":[224,35],"end_point":[910,913],"distance":1114.2172140117025},{"start_region_id":14,"end_region_id":1,"start_point":[910,913],"end_point":[224,35],"distance":1114.2172140117025},{"start_region_id":2,"end_region_id":16,"start_point":[358,145],"end_point":[963,918],"distance":981.6078646791701}],"complexity_score":0.7066824960815138}
{"id":2781,"query_id":"Q00557","question":"A delivery van starts from a paved road surface and needs to reach another paved road surface. The vehicle can only travel on hard, stable surfaces like asphalt or concrete, and may also use compacted, level ground suitable for driving. Loose, sandy, or rocky terrain without vegetation is accessible, as is cultivated land with crops that has been prepared for vehicle passage. All other terrain types, including areas with trees, water bodies, and structures, are impassable. What is the shortest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"chicago_23.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":196,"start_point":[860,556],"end_point":[16,184],"distance":922.3448378995787},{"start_region_id":196,"end_region_id":201,"start_point":[16,184],"end_point":[860,556],"distance":922.3448378995787},{"start_region_id":198,"end_region_id":196,"start_point":[880,54],"end_point":[16,184],"distance":873.7253573062876},{"start_region_id":196,"end_region_id":198,"start_point":[16,184],"end_point":[880,54],"distance":873.7253573062876},{"start_region_id":202,"end_region_id":196,"start_point":[688,639],"end_point":[16,184],"distance":811.5472875932738}],"complexity_score":0.7071452850782702}
{"id":3992,"query_id":"Q00799","question":"A delivery drone is on a paved landing pad and needs to reach a paved road surface. The drone operator wants to maximize flight comfort by avoiding areas that cause turbulence or require frequent altitude changes. The airspace covers various surface types below: hard, paved surfaces; loose, sandy or rocky ground; grassy or shrub-covered fields; cultivated crop fields; and areas with tall vegetation and tree cover. The drone cannot fly through solid vertical structures. What is the most comfortable aerial path from the landing pad to the road surface?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved landing pad","end_land_type":"a paved road surface","task_description":"What is the most comfortable aerial path from the landing pad to the road surface?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"dortmund_22.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":337,"start_point":[41,166],"end_point":[871,893],"distance":1103.3716508955629},{"start_region_id":188,"end_region_id":337,"start_point":[117,271],"end_point":[871,893],"distance":977.4456506629921},{"start_region_id":292,"end_region_id":318,"start_point":[154,829],"end_point":[895,229],"distance":953.4573928603207},{"start_region_id":173,"end_region_id":326,"start_point":[974,143],"end_point":[165,631],"distance":944.7883360838024},{"start_region_id":166,"end_region_id":337,"start_point":[484,31],"end_point":[871,893],"distance":944.8878240299216}],"complexity_score":0.707234691932182}
{"id":4953,"query_id":"Q00991","question":"An aerial drone starts from a flat, hard surface and needs to reach a paved lane. The environment includes open, stable surfaces that allow smooth flight, as well as cultivated areas with soft ground. You must avoid flying through dense vegetation or near vertical structures, and liquid areas should be minimized due to potential downdraft effects. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a flat, hard surface","end_land_type":"a paved lane","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_22.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":337,"start_point":[41,166],"end_point":[871,893],"distance":1103.3716508955629},{"start_region_id":188,"end_region_id":337,"start_point":[117,271],"end_point":[871,893],"distance":977.4456506629921},{"start_region_id":292,"end_region_id":318,"start_point":[154,829],"end_point":[895,229],"distance":953.4573928603207},{"start_region_id":173,"end_region_id":326,"start_point":[974,143],"end_point":[165,631],"distance":944.7883360838024},{"start_region_id":166,"end_region_id":337,"start_point":[484,31],"end_point":[871,893],"distance":944.8878240299216}],"complexity_score":0.707234691932182}
{"id":14323,"query_id":"Q02865","question":"A delivery drone starts from a flat, artificial surface and needs to reach another flat, artificial surface while prioritizing safety. The terrain includes open, loose ground that is traversable, and areas with tall, dense vegetation that are conditionally passable only if low-risk, but here they are risky and should be avoided. The drone must also avoid any liquid bodies or structures. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"flat, artificial surface","end_land_type":"flat, artificial surface","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"dortmund_22.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":326,"end_region_id":318,"start_point":[165,631],"end_point":[895,229],"distance":833.3690659005769},{"start_region_id":318,"end_region_id":326,"start_point":[895,229],"end_point":[165,631],"distance":833.3690659005769},{"start_region_id":326,"end_region_id":337,"start_point":[165,631],"end_point":[871,893],"distance":753.0471432785599},{"start_region_id":337,"end_region_id":326,"start_point":[871,893],"end_point":[165,631],"distance":753.0471432785599},{"start_region_id":317,"end_region_id":337,"start_point":[423,249],"end_point":[871,893],"distance":784.4998406628264}],"complexity_score":0.707234691932182}
{"id":3532,"query_id":"Q00707","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a grassy, vegetated field. The hiker can traverse bare, rocky ground; grassy fields; paved surfaces; vehicle lanes; wooded areas; and cultivated fields. The hiker cannot traverse liquid surfaces or enter structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_38.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":258,"end_region_id":3,"start_point":[76,925],"end_point":[955,77],"distance":1221.3701322694935},{"start_region_id":206,"end_region_id":3,"start_point":[54,623],"end_point":[955,77],"distance":1053.525984492077},{"start_region_id":227,"end_region_id":3,"start_point":[234,831],"end_point":[955,77],"distance":1043.243499859932},{"start_region_id":245,"end_region_id":3,"start_point":[291,822],"end_point":[955,77],"distance":997.9584159673187},{"start_region_id":258,"end_region_id":38,"start_point":[76,925],"end_point":[917,407],"distance":987.7271890557635}],"complexity_score":0.7074925991534983}
{"id":10277,"query_id":"Q02056","question":"A quadcopter drone starts from a grassy or shrub-covered ground and needs to reach another grassy or shrub-covered ground area. The terrain includes loose, sandy, or rocky surfaces without vegetation; grassy or shrub-covered ground; hard, flat surfaces like sidewalks, parking lots, or artificial turf; and paved lanes or streets used by vehicles. All these surfaces are traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy or shrub-covered ground","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"muenster_38.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":3,"start_point":[182,510],"end_point":[955,77],"distance":886.0124152629014},{"start_region_id":3,"end_region_id":49,"start_point":[955,77],"end_point":[182,510],"distance":886.0124152629014},{"start_region_id":38,"end_region_id":49,"start_point":[917,407],"end_point":[182,510],"distance":742.1819184000645},{"start_region_id":49,"end_region_id":38,"start_point":[182,510],"end_point":[917,407],"distance":742.1819184000645},{"start_region_id":71,"end_region_id":3,"start_point":[615,639],"end_point":[955,77],"distance":656.8439692956007}],"complexity_score":0.7074925991534983}
{"id":2881,"query_id":"Q00577","question":"A delivery van is starting from a paved parking lot and needs to reach a cultivated field. The van can only travel on hard, compact surfaces like asphalt or concrete, and it is also allowed to cross soft, loose soil if necessary. However, it cannot drive through areas with dense vegetation, liquid surfaces, or vertical structures. What is the shortest path to the field?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a cultivated field","task_description":"What is the shortest path to the field?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"monrovia_4.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":417,"start_point":[483,806],"end_point":[703,541],"distance":344.41980198589044}],"complexity_score":0.7077693079873081}
{"id":12118,"query_id":"Q02424","question":"An aerial survey drone starts from a hard, paved lane and needs to reach an area of uncultivated, low-growing vegetation. The drone's flight path must avoid all vertical structures and dense tree canopies, as these pose collision risks. It may fly over open liquid surfaces, but these are considered less safe due to potential downdrafts and lack of emergency landing options. The primary goal is to minimize operational risk. What is the safest flight path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved lane","end_land_type":"An area of uncultivated, low-growing vegetation","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_4.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":268,"end_region_id":27,"start_point":[337,949],"end_point":[896,115],"distance":1004.0104581128625},{"start_region_id":268,"end_region_id":10,"start_point":[337,949],"end_point":[765,76],"distance":972.2720812612074},{"start_region_id":268,"end_region_id":8,"start_point":[337,949],"end_point":[618,54],"distance":938.0756899099347},{"start_region_id":268,"end_region_id":7,"start_point":[337,949],"end_point":[572,60],"distance":919.5357524316279},{"start_region_id":268,"end_region_id":19,"start_point":[337,949],"end_point":[136,112],"distance":860.796143114036}],"complexity_score":0.7077693079873081}
{"id":16583,"query_id":"Q03317","question":"A quadcopter drone starts from a grassy, open field with low vegetation and needs to reach cultivated crop fields as quickly as possible. The drone can fly over most surfaces, but tall, dense vegetation may slow it down due to navigation challenges. The drone must avoid any built structures and cannot land on water, though it can fly over it. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop fields","task_description":"What is the fastest path for the quadcopter drone to travel from the grassy, open field to the cultivated crop fields?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"monrovia_4.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":413,"start_point":[982,927],"end_point":[166,371],"distance":987.4168319407969},{"start_region_id":19,"end_region_id":419,"start_point":[136,112],"end_point":[965,631],"distance":978.0603253378597},{"start_region_id":120,"end_region_id":412,"start_point":[982,927],"end_point":[227,318],"distance":970.0030927785746},{"start_region_id":99,"end_region_id":419,"start_point":[23,782],"end_point":[965,631],"distance":954.0256809960621},{"start_region_id":1,"end_region_id":419,"start_point":[153,206],"end_point":[965,631],"distance":916.4982269486395}],"complexity_score":0.7077693079873081}
{"id":780,"query_id":"Q00156","question":"An aerial survey drone starts from a paved lane and needs to reach a hard, flat artificial surface. The drone can fly over loose sandy or rocky ground, grassy or shrubby areas, paved areas, lanes, liquid bodies, and cultivated fields. It can also pass between vertical structures if careful, but dense overhead vegetation must be avoided to prevent entanglement. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard, flat artificial surface","task_description":"What is the fastest route for the aerial survey drone to reach the hard, flat artificial surface from the paved lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[1,1,1,1,0,1,1,1],"image_name":"santiago_51.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":299,"end_region_id":155,"start_point":[171,901],"end_point":[896,115],"distance":1069.308655159959},{"start_region_id":299,"end_region_id":149,"start_point":[171,901],"end_point":[719,130],"distance":945.9096151324396},{"start_region_id":299,"end_region_id":170,"start_point":[171,901],"end_point":[910,359],"distance":916.4523992003076},{"start_region_id":299,"end_region_id":147,"start_point":[171,901],"end_point":[410,46],"distance":887.7758726165067},{"start_region_id":299,"end_region_id":161,"start_point":[171,901],"end_point":[769,253],"distance":881.7641407995678}],"complexity_score":0.7078542118869104}
{"id":4065,"query_id":"Q00813","question":"A delivery drone starts from a densely vegetated area with tall, leafy plants and needs to reach another similar area. The drone prefers to fly over open, stable surfaces to ensure a smooth and vibration-free flight, protecting its payload. It can fly over liquid surfaces, but these are less comfortable due to potential downdraft turbulence. The drone can navigate around dense vertical obstacles and structures if necessary, but direct flight through them is uncomfortable and risky. The drone seeks the most comfortable route.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a densely vegetated area with tall, leafy plants","end_land_type":"another densely vegetated area with tall, leafy plants","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"santiago_51.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":492,"start_point":[916,200],"end_point":[106,897],"distance":1068.6014224209137},{"start_region_id":492,"end_region_id":335,"start_point":[106,897],"end_point":[916,200],"distance":1068.6014224209137},{"start_region_id":313,"end_region_id":492,"start_point":[712,57],"end_point":[106,897],"distance":1035.7779684855243},{"start_region_id":492,"end_region_id":313,"start_point":[106,897],"end_point":[712,57],"distance":1035.7779684855243},{"start_region_id":313,"end_region_id":502,"start_point":[712,57],"end_point":[238,977],"distance":1034.9280168204937}],"complexity_score":0.7078542118869104}
{"id":14282,"query_id":"Q02857","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over loose, sandy ground and liquid surfaces, but it must avoid areas with dense vertical obstacles like trees or buildings to ensure stable flight and comfort. The goal is to find a path that maximizes ride comfort by prioritizing smooth, open airspace.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_51.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":280,"end_region_id":299,"start_point":[462,489],"end_point":[171,901],"distance":504.4055907699676},{"start_region_id":299,"end_region_id":280,"start_point":[171,901],"end_point":[462,489],"distance":504.4055907699676}],"complexity_score":0.7078542118869104}
{"id":2787,"query_id":"Q00558","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The person can walk on hard surfaces like sidewalks and roads, and may also traverse loose, sandy, or rocky terrain without vegetation, as well as cultivated land with crops that is open for foot travel. All other terrain types, including water bodies and structures, are impassable. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"chicago_14.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":208,"start_point":[777,869],"end_point":[101,217],"distance":939.1911413551557},{"start_region_id":208,"end_region_id":218,"start_point":[101,217],"end_point":[777,869],"distance":939.1911413551557},{"start_region_id":218,"end_region_id":205,"start_point":[777,869],"end_point":[213,173],"distance":895.830341080274},{"start_region_id":205,"end_region_id":218,"start_point":[213,173],"end_point":[777,869],"distance":895.830341080274},{"start_region_id":203,"end_region_id":208,"start_point":[509,531],"end_point":[101,217],"distance":514.8397809027581}],"complexity_score":0.7078963556401522}
{"id":5744,"query_id":"Q01149","question":"A person on foot starts from a paved lane and needs to reach another paved lane. The terrain consists of hard, flat surfaces suitable for walking, including sidewalks, parking lots, and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a person on foot","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the shortest path from the starting paved lane to the destination paved lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"chicago_14.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":208,"start_point":[777,869],"end_point":[101,217],"distance":939.1911413551557},{"start_region_id":208,"end_region_id":218,"start_point":[101,217],"end_point":[777,869],"distance":939.1911413551557},{"start_region_id":218,"end_region_id":205,"start_point":[777,869],"end_point":[213,173],"distance":895.830341080274},{"start_region_id":205,"end_region_id":218,"start_point":[213,173],"end_point":[777,869],"distance":895.830341080274},{"start_region_id":203,"end_region_id":208,"start_point":[509,531],"end_point":[101,217],"distance":514.8397809027581}],"complexity_score":0.7078963556401522}
{"id":12412,"query_id":"Q02483","question":"A hiker starts from a wooded area with tall vegetation and uneven ground and needs to reach an open grassy field with soft, natural ground cover. The terrain includes paved, hard surfaces and vehicle lanes that are accessible, but you must avoid any liquid surfaces and vertical structures. The safest path should prioritize surfaces that are stable and low-risk for walking.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a wooded area with tall vegetation and uneven ground","end_land_type":"an open grassy field with soft, natural ground cover","task_description":"What is the safest route to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,4,3,1,0,0,0],"image_name":"vegas_30.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":8,"start_point":[71,137],"end_point":[281,293],"distance":261.6027522790997},{"start_region_id":58,"end_region_id":8,"start_point":[326,35],"end_point":[281,293],"distance":261.895017134729},{"start_region_id":83,"end_region_id":8,"start_point":[421,460],"end_point":[281,293],"distance":217.91970998512272},{"start_region_id":80,"end_region_id":8,"start_point":[98,413],"end_point":[281,293],"distance":218.8355546980426}],"complexity_score":0.7079418719490892}
{"id":1197,"query_id":"Q00240","question":"An aerial survey drone starts from a grassy, open area with low vegetation and needs to reach a cluster of tall, vertical structures with dense foliage. The drone can fly over most surfaces, including grassy fields, cultivated crop areas, and liquid bodies, but must exercise caution around tall vertical structures with dense foliage due to collision risk. The liquid bodies present drowning hazards for ground vehicles, and the tall vertical structures are completely impassable for ground-based agents. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A grassy, open area with low vegetation","end_land_type":"A cluster of tall, vertical structures with dense foliage","task_description":"What is the safest path for the aerial survey drone to reach the destination while minimizing risk?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"chisinau_8.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":103,"start_point":[974,347],"end_point":[60,153],"distance":934.3618142882339},{"start_region_id":19,"end_region_id":98,"start_point":[281,748],"end_point":[950,168],"distance":885.4157215681231},{"start_region_id":12,"end_region_id":110,"start_point":[974,347],"end_point":[90,297],"distance":885.4128980311954},{"start_region_id":12,"end_region_id":127,"start_point":[974,347],"end_point":[187,567],"distance":817.1713406624096},{"start_region_id":7,"end_region_id":103,"start_point":[866,233],"end_point":[60,153],"distance":809.9604928636952}],"complexity_score":0.7081235892789407}
{"id":3669,"query_id":"Q00734","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The hiker can traverse hard, compacted surfaces like sidewalks and parking lots, as well as natural terrain including loose soil, grassy areas, cultivated fields, and wooded patches. However, the hiker cannot cross any water bodies or enter any buildings. ","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path the hiker can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_8.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":84,"start_point":[829,379],"end_point":[169,856],"distance":814.3273297636522},{"start_region_id":84,"end_region_id":78,"start_point":[169,856],"end_point":[829,379],"distance":814.3273297636522},{"start_region_id":75,"end_region_id":84,"start_point":[563,164],"end_point":[169,856],"distance":796.3039620647382},{"start_region_id":84,"end_region_id":75,"start_point":[169,856],"end_point":[563,164],"distance":796.3039620647382},{"start_region_id":77,"end_region_id":78,"start_point":[206,478],"end_point":[829,379],"distance":630.8169306542113}],"complexity_score":0.7081235892789407}
{"id":12722,"query_id":"Q02545","question":"A hiker starts from a grassy, uneven field with scattered shrubs and needs to reach a flat, paved area with a smooth, stable surface. The hiker can only travel across surfaces that are either grassy fields, cultivated crop fields, paved walkways, or vehicle lanes. The grassy fields and crop fields are dry and firm enough to walk on without sinking. The paved walkways and vehicle lanes are available for use. The hiker must avoid any areas with standing liquid, vertical structures, or loose sandy/rocky terrain. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,4,3,0,0,2,0],"image_name":"chisinau_8.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":45,"start_point":[974,347],"end_point":[104,661],"distance":924.9302676418368},{"start_region_id":7,"end_region_id":45,"start_point":[866,233],"end_point":[104,661],"distance":873.9725396143748},{"start_region_id":12,"end_region_id":35,"start_point":[974,347],"end_point":[152,395],"distance":823.4002671848},{"start_region_id":1,"end_region_id":45,"start_point":[781,195],"end_point":[104,661],"distance":821.8789448574528},{"start_region_id":19,"end_region_id":26,"start_point":[281,748],"end_point":[903,206],"distance":825.0139392761797}],"complexity_score":0.7081235892789407}
{"id":12738,"query_id":"Q02548","question":"A quadcopter drone starts from a paved road and needs to reach a flat, hard-surfaced area. The terrain includes grassy fields, cultivated fields, and the paved road and hard surface at the start and end. You must avoid flying over water bodies, trees, and buildings to ensure a smooth and stable flight. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chisinau_45.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":105,"start_point":[584,916],"end_point":[407,28],"distance":905.468387079306},{"start_region_id":238,"end_region_id":106,"start_point":[324,898],"end_point":[586,48],"distance":889.4627591979329},{"start_region_id":231,"end_region_id":178,"start_point":[900,749],"end_point":[14,765],"distance":886.1444577494124},{"start_region_id":231,"end_region_id":105,"start_point":[900,749],"end_point":[407,28],"distance":873.4357446315098},{"start_region_id":238,"end_region_id":105,"start_point":[324,898],"end_point":[407,28],"distance":873.9502274157264}],"complexity_score":0.7086440454348601}
{"id":17097,"query_id":"Q03420","question":"A delivery drone starts from a flat, artificial surface and needs to reach a dense group of vertical obstacles with foliage. The drone can fly over most terrain types, including grassy areas and hard surfaces, but must navigate carefully around tall vertical structures and vegetation to avoid turbulence and ensure a smooth, stable flight. Liquid surfaces are permissible but may cause discomfort due to spray or reflection issues. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat, artificial surface","end_land_type":"a dense group of vertical obstacles with foliage","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"chisinau_45.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":335,"start_point":[28,27],"end_point":[940,893],"distance":1257.656550891379},{"start_region_id":103,"end_region_id":319,"start_point":[28,27],"end_point":[816,847],"distance":1137.25283028885},{"start_region_id":178,"end_region_id":249,"start_point":[14,765],"end_point":[916,82],"distance":1131.411949733606},{"start_region_id":191,"end_region_id":249,"start_point":[216,928],"end_point":[916,82],"distance":1098.0510006370378},{"start_region_id":178,"end_region_id":259,"start_point":[14,765],"end_point":[946,281],"distance":1050.1809367913702}],"complexity_score":0.7086440454348601}
{"id":3248,"query_id":"Q00650","question":"An aerial photography drone starts from a paved, hard surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over loose, sandy ground and liquid surfaces, but must avoid vertical obstacles like buildings. The goal is to find a path that maximizes ride comfort by prioritizing smooth, stable surfaces and avoiding rough or turbulent areas.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"houston_18.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":136,"start_point":[127,961],"end_point":[983,54],"distance":1247.1507527159658},{"start_region_id":73,"end_region_id":136,"start_point":[76,732],"end_point":[983,54],"distance":1132.401430588994},{"start_region_id":87,"end_region_id":133,"start_point":[127,961],"end_point":[813,64],"distance":1129.2497509408624},{"start_region_id":93,"end_region_id":129,"start_point":[955,960],"end_point":[397,45],"distance":1071.7224454120571},{"start_region_id":59,"end_region_id":136,"start_point":[70,584],"end_point":[983,54],"distance":1055.6841383671538}],"complexity_score":0.7087892105282548}
{"id":7798,"query_id":"Q01560","question":"A hiker starts from a paved, hard surface and needs to reach a shaded area with tall, vertical obstacles. The terrain includes soft, cultivated ground that is currently dry and firm enough to walk on, but the tall, vertical obstacles are dense and require careful navigation to avoid discomfort. You must avoid any liquid surfaces and solid structures. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a shaded area with tall, vertical obstacles","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"houston_18.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":136,"start_point":[70,774],"end_point":[983,54],"distance":1162.742017818226},{"start_region_id":115,"end_region_id":136,"start_point":[203,879],"end_point":[983,54],"distance":1135.3523682099756},{"start_region_id":118,"end_region_id":136,"start_point":[383,929],"end_point":[983,54],"distance":1060.9547586961473},{"start_region_id":113,"end_region_id":133,"start_point":[70,774],"end_point":[813,64],"distance":1027.6911014502364},{"start_region_id":115,"end_region_id":133,"start_point":[203,879],"end_point":[813,64],"distance":1018.0004911590171}],"complexity_score":0.7087892105282548}
{"id":10422,"query_id":"Q02085","question":"A quadcopter drone is positioned above a paved, hard-surfaced area and needs to fly to a grassy, vegetated area. The airspace includes loose, sandy ground and compacted vehicle lanes, but the drone must avoid any tall, dense vegetation or vertical structures that could pose collision risks. The grassy area is safe to fly over because the vegetation is low and open. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated area","task_description":"What is the safest path from the paved area to the grassy area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_18.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":24,"start_point":[116,301],"end_point":[1004,803],"distance":1020.0725464397128},{"start_region_id":93,"end_region_id":4,"start_point":[955,960],"end_point":[197,351],"distance":972.3399611247087},{"start_region_id":87,"end_region_id":1,"start_point":[127,961],"end_point":[537,98],"distance":955.441782632516},{"start_region_id":93,"end_region_id":1,"start_point":[955,960],"end_point":[537,98],"distance":958.0020876803975},{"start_region_id":59,"end_region_id":24,"start_point":[70,584],"end_point":[1004,803],"distance":959.3315381034859}],"complexity_score":0.7087892105282548}
{"id":12454,"query_id":"Q02491","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over areas with hard surfaces, grassy or shrub-covered ground, and around trees if the airspace is clear, but must avoid flying directly through dense tree canopies or near structures due to collision risks. Bodies of water can be overflown but pose risks if the drone malfunctions. However, loose sandy or rocky terrain and cultivated fields are not allowed due to potential landing hazards or interference. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,2,2,2,0,1,0,0],"image_name":"houston_18.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":108,"start_point":[70,774],"end_point":[951,460],"distance":935.2844487106582},{"start_region_id":108,"end_region_id":113,"start_point":[951,460],"end_point":[70,774],"distance":935.2844487106582},{"start_region_id":108,"end_region_id":115,"start_point":[951,460],"end_point":[203,879],"distance":857.3593179058591},{"start_region_id":115,"end_region_id":108,"start_point":[203,879],"end_point":[951,460],"distance":857.3593179058591},{"start_region_id":108,"end_region_id":106,"start_point":[951,460],"end_point":[168,325],"distance":794.5527043563567}],"complexity_score":0.7087892105282548}
{"id":16913,"query_id":"Q03383","question":"An aerial survey drone is positioned on a flat, paved, and stable surface. It needs to reach an area covered with low, natural vegetation. The drone can fly over open water bodies, but must avoid tall, dense vertical obstacles like trees and structures. The mission requires minimizing risk of collision or instability. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved, and stable surface","end_land_type":"An area covered with low, natural vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_64.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":80,"start_point":[52,122],"end_point":[974,890],"distance":1199.9616660543786},{"start_region_id":106,"end_region_id":97,"start_point":[817,25],"end_point":[240,982],"distance":1117.487360107487},{"start_region_id":115,"end_region_id":91,"start_point":[52,122],"end_point":[785,944],"distance":1101.3505345710782},{"start_region_id":106,"end_region_id":84,"start_point":[817,25],"end_point":[75,825],"distance":1091.1296898169346},{"start_region_id":106,"end_region_id":92,"start_point":[817,25],"end_point":[191,906],"distance":1080.7576046459262}],"complexity_score":0.7088132083582661}
{"id":8538,"query_id":"Q01708","question":"An aerial survey drone is positioned on a paved lane and needs to reach a paved open area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. It can fly over open ground with sparse vegetation, hard paved surfaces, and liquid surfaces, but must prioritize areas with the lowest risk of impact or instability. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved open area","task_description":"What is the safest path for the drone to take from the paved lane to the paved open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_5.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":44,"start_point":[103,594],"end_point":[554,50],"distance":706.6378138763874},{"start_region_id":67,"end_region_id":43,"start_point":[103,594],"end_point":[329,24],"distance":613.1688185157494},{"start_region_id":67,"end_region_id":46,"start_point":[103,594],"end_point":[491,133],"distance":602.5487532142108},{"start_region_id":67,"end_region_id":41,"start_point":[103,594],"end_point":[42,40],"distance":557.3481856075249},{"start_region_id":67,"end_region_id":42,"start_point":[103,594],"end_point":[262,110],"distance":509.4477402050185}],"complexity_score":0.7093252720197438}
{"id":14453,"query_id":"Q02891","question":"An aerial survey drone starts from a cluster of tall, leafy vegetation that provides elevated coverage and needs to reach a long, paved strip designed for high-speed ground vehicles. The drone must avoid any liquid surfaces and man-made structures. It can traverse open areas of loose soil and rocks, grassy or shrub-covered fields, and cultivated crop fields. The tall vegetation areas are passable but require careful navigation to avoid collisions. The primary objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation that provides elevated coverage.","end_land_type":"A long, paved strip designed for high-speed ground vehicles.","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[2,2,0,2,1,0,2,0],"image_name":"paris_5.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":64,"start_point":[186,555],"end_point":[437,218],"distance":420.2023322162789},{"start_region_id":75,"end_region_id":64,"start_point":[133,336],"end_point":[437,218],"distance":326.0981447355995}],"complexity_score":0.7093252720197438}
{"id":17264,"query_id":"Q03453","question":"A hiker starts from a paved, hard surface and needs to reach a cluster of tall, vertical structures with foliage. The hiker can traverse soft, grassy areas and is permitted to walk through areas with scattered bushes and low vegetation. However. The hiker must avoid any liquid surfaces and cannot pass through solid, enclosed structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall, vertical structures with foliage","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"paris_5.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":84,"start_point":[554,50],"end_point":[186,555],"distance":624.8591841367141},{"start_region_id":43,"end_region_id":84,"start_point":[329,24],"end_point":[186,555],"distance":549.9181757316264},{"start_region_id":41,"end_region_id":84,"start_point":[42,40],"end_point":[186,555],"distance":534.7532141090879},{"start_region_id":46,"end_region_id":84,"start_point":[491,133],"end_point":[186,555],"distance":520.6812844725648},{"start_region_id":44,"end_region_id":75,"start_point":[554,50],"end_point":[133,336],"distance":508.95677616080525}],"complexity_score":0.7093252720197438}
{"id":6747,"query_id":"Q01350","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over loose, sandy or rocky ground without vegetation, areas with tall vertical obstacles that require careful navigation, and cultivated fields with low, uniform vegetation. However, it cannot traverse liquid surfaces or enter enclosed structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,2,2,1,0,2,0],"image_name":"tuscaloosa_16.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":138,"start_point":[369,52],"end_point":[992,960],"distance":1101.1780055921931},{"start_region_id":138,"end_region_id":77,"start_point":[992,960],"end_point":[369,52],"distance":1101.1780055921931},{"start_region_id":134,"end_region_id":90,"start_point":[52,896],"end_point":[956,317],"distance":1073.5255003957755},{"start_region_id":90,"end_region_id":134,"start_point":[956,317],"end_point":[52,896],"distance":1073.5255003957755},{"start_region_id":134,"end_region_id":83,"start_point":[52,896],"end_point":[886,222],"distance":1072.3021962114972}],"complexity_score":0.70940922345767}
{"id":11944,"query_id":"Q02389","question":"A hiker starts from a paved surface and needs to reach another paved surface. The terrain includes areas of loose, dry soil and rock without vegetation, as well as clusters of tall, vertical obstacles with foliage. The hiker can traverse the loose soil and rock areas, and can navigate through the vertical obstacles with foliage. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the hiker to reach the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[1,0,1,1,1,0,0,0],"image_name":"tuscaloosa_16.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":138,"start_point":[369,52],"end_point":[992,960],"distance":1101.1780055921931},{"start_region_id":138,"end_region_id":77,"start_point":[992,960],"end_point":[369,52],"distance":1101.1780055921931},{"start_region_id":134,"end_region_id":90,"start_point":[52,896],"end_point":[956,317],"distance":1073.5255003957755},{"start_region_id":90,"end_region_id":134,"start_point":[956,317],"end_point":[52,896],"distance":1073.5255003957755},{"start_region_id":134,"end_region_id":83,"start_point":[52,896],"end_point":[886,222],"distance":1072.3021962114972}],"complexity_score":0.70940922345767}
{"id":15787,"query_id":"Q03158","question":"A hiker is standing in a densely vegetated area with tall, woody plants. They need to reach an open area covered with natural grasses and low shrubs. The terrain includes patches of cultivated crops, maintained grassy surfaces, and paved walkways. The hiker can traverse through the cultivated crop fields, maintained grassy surfaces, and paved walkways. They can also pass through the densely vegetated areas with tall, woody plants and the open areas with natural grasses and low shrubs. However, they cannot cross any solid structures, liquid surfaces, or bare rocky or sandy ground. What is the shortest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"an open area covered with natural grasses and low shrubs","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[0,1,1,0,1,0,1,0],"cost_vector":[0,1,1,0,1,0,1,0],"image_name":"tuscaloosa_16.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":61,"start_point":[160,359],"end_point":[700,847],"distance":727.8351461697903},{"start_region_id":177,"end_region_id":65,"start_point":[160,359],"end_point":[509,869],"distance":617.9813913055958},{"start_region_id":188,"end_region_id":61,"start_point":[202,671],"end_point":[700,847],"distance":528.1855734493323},{"start_region_id":177,"end_region_id":64,"start_point":[160,359],"end_point":[323,823],"distance":491.7977226462115},{"start_region_id":221,"end_region_id":22,"start_point":[380,872],"end_point":[367,428],"distance":444.190274544592}],"complexity_score":0.70940922345767}
{"id":12355,"query_id":"Q02471","question":"A quadcopter drone starts from a paved road surface and needs to reach a grassy field with shrubs. The drone can fly over hard surfaces, grassy areas, cultivated fields, and water bodies. However, the drone cannot fly through or near vertical structures like buildings or dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"grassy field with shrubs","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"accra_23.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":1,"start_point":[962,986],"end_point":[89,70],"distance":1265.379389748387},{"start_region_id":261,"end_region_id":51,"start_point":[962,986],"end_point":[71,379],"distance":1078.114094147739},{"start_region_id":261,"end_region_id":2,"start_point":[962,986],"end_point":[382,95],"distance":1063.1467443396514},{"start_region_id":259,"end_region_id":14,"start_point":[65,900],"end_point":[677,118],"distance":993.0095669226959},{"start_region_id":261,"end_region_id":46,"start_point":[962,986],"end_point":[313,334],"distance":919.9483681163852}],"complexity_score":0.7094811376754263}
{"id":15347,"query_id":"Q03070","question":"A quadcopter starts from a paved lane and needs to reach another paved lane. The quadcopter can fly over grassy or shrub-covered terrain, hard surfaces like sidewalks and roads, cultivated fields, and liquid surfaces. However, it cannot fly through dense wooded patches or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"accra_23.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":259,"start_point":[962,986],"end_point":[65,900],"distance":901.113200435994},{"start_region_id":259,"end_region_id":261,"start_point":[65,900],"end_point":[962,986],"distance":901.113200435994},{"start_region_id":258,"end_region_id":261,"start_point":[596,443],"end_point":[962,986],"distance":654.8320395338029},{"start_region_id":261,"end_region_id":258,"start_point":[962,986],"end_point":[596,443],"distance":654.8320395338029},{"start_region_id":258,"end_region_id":259,"start_point":[596,443],"end_point":[65,900],"distance":700.5783325224953}],"complexity_score":0.7094811376754263}
{"id":1713,"query_id":"Q00343","question":"A quadcopter drone is positioned on a paved, hard-surfaced area. It needs to reach a location among tall, vertical structures with foliage as quickly as possible. The drone can fly over most surfaces, including open fields with crops, other paved areas, and lanes used by vehicles. However, flying directly through or very close to the dense foliage of the vertical structures requires careful navigation and slows it down significantly. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A location among tall, vertical structures with foliage","task_description":"What is the fastest path for the quadcopter drone to reach the location among the tall vertical structures?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"christchurch_5.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":303,"start_point":[69,47],"end_point":[947,937],"distance":1250.1935850099376},{"start_region_id":139,"end_region_id":303,"start_point":[46,156],"end_point":[947,937],"distance":1192.3766183551236},{"start_region_id":135,"end_region_id":295,"start_point":[69,47],"end_point":[756,937],"distance":1124.3082317585333},{"start_region_id":135,"end_region_id":262,"start_point":[69,47],"end_point":[940,703],"distance":1090.4022193667802},{"start_region_id":141,"end_region_id":276,"start_point":[950,210],"end_point":[78,824],"distance":1066.4801920335885}],"complexity_score":0.709691486373167}
{"id":16307,"query_id":"Q03262","question":"A quadcopter drone starts from a paved roadway and needs to reach a grassy meadow. The environment contains sandy expanses and cultivated crop fields. The drone can fly over all these surfaces, including sandy ground and crop fields, but must avoid flying through dense tree canopies or close to buildings. What is the shortest aerial path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved roadway","end_land_type":"grassy meadow","task_description":"What is the shortest aerial path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"christchurch_5.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":106,"start_point":[138,393],"end_point":[945,846],"distance":925.4501607326026},{"start_region_id":195,"end_region_id":94,"start_point":[138,393],"end_point":[943,748],"distance":879.8011138888152},{"start_region_id":195,"end_region_id":11,"start_point":[138,393],"end_point":[940,102],"distance":853.1617666070134},{"start_region_id":195,"end_region_id":126,"start_point":[138,393],"end_point":[656,985],"distance":786.630790142364},{"start_region_id":195,"end_region_id":56,"start_point":[138,393],"end_point":[894,467],"distance":759.6130593927411}],"complexity_score":0.709691486373167}
{"id":13060,"query_id":"Q02612","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over open grassy areas, hard surfaces like sidewalks and parking lots, other paved lanes, liquid surfaces, and cultivated fields. However, it must avoid flying through dense vegetation or near vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_21.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":446,"end_region_id":485,"start_point":[304,288],"end_point":[852,963],"distance":869.441774933779},{"start_region_id":485,"end_region_id":446,"start_point":[852,963],"end_point":[304,288],"distance":869.441774933779},{"start_region_id":466,"end_region_id":485,"start_point":[78,724],"end_point":[852,963],"distance":810.0598743302868},{"start_region_id":485,"end_region_id":466,"start_point":[852,963],"end_point":[78,724],"distance":810.0598743302868},{"start_region_id":480,"end_region_id":485,"start_point":[139,936],"end_point":[852,963],"distance":713.5110370554894}],"complexity_score":0.7102684364709535}
{"id":3415,"query_id":"Q00683","question":"An off-road vehicle starts from a grassy, uneven area and needs to reach another grassy, uneven area while prioritizing a comfortable ride. The vehicle can traverse both grassy, uneven terrain and loose, rocky ground, but must avoid all paved surfaces, roads, trees, water bodies, buildings, and agricultural fields. The loose, rocky ground is traversable because the vehicle has high clearance and all-terrain tires designed for such conditions. Paved surfaces and roads are not allowed because the driver wants to avoid congested areas. Trees, water bodies, and buildings are completely impassable. Agricultural fields are not accessible in this scenario. What is the most comfortable path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland"],"traverse_vector":[1,1,0,0,0,0,0,0],"cost_vector":[1,2,0,0,0,0,0,0],"image_name":"mexico_city_35.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":45,"start_point":[436,460],"end_point":[269,189],"distance":318.3237345847777},{"start_region_id":45,"end_region_id":58,"start_point":[269,189],"end_point":[436,460],"distance":318.3237345847777}],"complexity_score":0.7107270677847136}
{"id":15141,"query_id":"Q03029","question":"An aerial surveillance drone starts from a paved lane and needs to reach a paved, hard surface area. The drone must avoid any vertical structures or dense vegetation that could pose collision risks. It can fly over open grassy areas, cultivated fields, and water bodies, but must prioritize surfaces that minimize the risk of signal interference, loss of control, or unexpected obstacles. Which path should the drone take to reach its destination with maximum safety?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved, hard surface area","task_description":"Which path should the drone take to reach its destination with maximum safety?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"mexico_city_35.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":174,"start_point":[1021,461],"end_point":[93,151],"distance":978.4089124696279},{"start_region_id":301,"end_region_id":282,"start_point":[52,272],"end_point":[674,920],"distance":898.213783016048},{"start_region_id":327,"end_region_id":174,"start_point":[467,864],"end_point":[93,151],"distance":805.1366343671116},{"start_region_id":317,"end_region_id":174,"start_point":[742,657],"end_point":[93,151],"distance":822.9441050277959},{"start_region_id":329,"end_region_id":168,"start_point":[194,868],"end_point":[339,102],"distance":779.6031041497974}],"complexity_score":0.7107270677847136}
{"id":12238,"query_id":"Q02448","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy area with scattered shrubs. The drone can fly over liquid surfaces, but must avoid any vertical structures like trees or buildings. The paved surface, grassy area, and liquid surfaces are all accessible, but the drone should not pass through dense vegetation or built structures. What is the most direct route to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area with scattered shrubs","task_description":"What is the most direct route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"christchurch_32.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":45,"start_point":[884,910],"end_point":[238,274],"distance":906.5384713292647},{"start_region_id":182,"end_region_id":123,"start_point":[262,154],"end_point":[895,793],"distance":899.4498318416653},{"start_region_id":174,"end_region_id":147,"start_point":[762,178],"end_point":[246,906],"distance":892.3228115429976},{"start_region_id":230,"end_region_id":123,"start_point":[75,498],"end_point":[895,793],"distance":871.4499411899687},{"start_region_id":263,"end_region_id":45,"start_point":[921,794],"end_point":[238,274],"distance":858.4223902019331}],"complexity_score":0.711623475695036}
{"id":15478,"query_id":"Q03096","question":"An aerial survey drone is positioned on a flat, hard, paved surface and needs to reach a natural, grassy, and shrubby area. The drone can fly over open water bodies and cultivated fields, but must avoid flying through dense tree canopies or near buildings to ensure stable flight and clear sensor readings. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, paved surface","end_land_type":"A natural, grassy, and shrubby area","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"christchurch_32.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":45,"start_point":[884,910],"end_point":[238,274],"distance":906.5384713292647},{"start_region_id":182,"end_region_id":123,"start_point":[262,154],"end_point":[895,793],"distance":899.4498318416653},{"start_region_id":174,"end_region_id":147,"start_point":[762,178],"end_point":[246,906],"distance":892.3228115429976},{"start_region_id":230,"end_region_id":123,"start_point":[75,498],"end_point":[895,793],"distance":871.4499411899687},{"start_region_id":263,"end_region_id":45,"start_point":[921,794],"end_point":[238,274],"distance":858.4223902019331}],"complexity_score":0.711623475695036}
{"id":16376,"query_id":"Q03276","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The hiker can walk across sandy or rocky ground, grassy or shrubby areas, and farm fields, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path for the hiker to travel from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"christchurch_32.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":311,"end_region_id":302,"start_point":[862,896],"end_point":[307,171],"distance":913.0443581776299},{"start_region_id":302,"end_region_id":311,"start_point":[307,171],"end_point":[862,896],"distance":913.0443581776299},{"start_region_id":304,"end_region_id":311,"start_point":[247,606],"end_point":[862,896],"distance":679.94485070482},{"start_region_id":311,"end_region_id":304,"start_point":[862,896],"end_point":[247,606],"distance":679.94485070482},{"start_region_id":304,"end_region_id":297,"start_point":[247,606],"end_point":[782,310],"distance":611.4253838368178}],"complexity_score":0.711623475695036}
{"id":12622,"query_id":"Q02525","question":"A delivery drone starts from a paved, hard surface and needs to reach another paved, hard surface while ensuring a smooth and stable flight to protect its cargo. The drone can fly over soft, grassy areas and over liquid surfaces, but must avoid dense vertical obstacles. The paved areas provide the most stable and predictable surfaces for takeoff and landing, while grassy areas and liquid surfaces are acceptable but less ideal for maintaining flight stability. Dense vertical obstacles are strictly prohibited as they pose a collision risk. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"thousand_oaks_30.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":149,"start_point":[896,909],"end_point":[456,113],"distance":909.5141560195751},{"start_region_id":149,"end_region_id":224,"start_point":[456,113],"end_point":[896,909],"distance":909.5141560195751},{"start_region_id":224,"end_region_id":169,"start_point":[896,909],"end_point":[343,221],"distance":882.6964370608958},{"start_region_id":169,"end_region_id":224,"start_point":[343,221],"end_point":[896,909],"distance":882.6964370608958},{"start_region_id":150,"end_region_id":224,"start_point":[672,80],"end_point":[896,909],"distance":858.7298760378609}],"complexity_score":0.7119173042674349}
{"id":2794,"query_id":"Q00559","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface. The drone can fly over hard surfaces, loose sandy or rocky terrain without vegetation, and cultivated land with crops. All other terrain types are accessible except areas with trees or structures, which are blocked due to flight restrictions. What is the shortest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"soriano_20.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":256,"start_point":[538,498],"end_point":[834,922],"distance":517.099603558154},{"start_region_id":256,"end_region_id":255,"start_point":[834,922],"end_point":[538,498],"distance":517.099603558154}],"complexity_score":0.7120277090795667}
{"id":12176,"query_id":"Q02436","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface like a parking lot or sidewalk. The drone can fly over areas with loose soil and sparse vegetation, as well as liquid surfaces, but must avoid dense vertical obstacles and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the shortest path for the aerial surveillance drone to travel from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_18.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":94,"start_point":[109,101],"end_point":[962,844],"distance":1131.2196957266965},{"start_region_id":106,"end_region_id":103,"start_point":[109,101],"end_point":[707,979],"distance":1062.3031582368567},{"start_region_id":106,"end_region_id":90,"start_point":[109,101],"end_point":[851,824],"distance":1035.9985521225403},{"start_region_id":106,"end_region_id":86,"start_point":[109,101],"end_point":[964,634],"distance":1007.5286596419975},{"start_region_id":106,"end_region_id":100,"start_point":[109,101],"end_point":[480,988],"distance":961.4624277630405}],"complexity_score":0.7124083154007488}
{"id":16287,"query_id":"Q03258","question":"An aerial surveillance drone starts from a paved, hard surface, an aerial surveillance drone must reach another paved, hard surface while prioritizing safety. The drone can fly over loose, sandy or rocky ground, grassy or shrub-covered areas, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"panama_city_18.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":106,"start_point":[633,545],"end_point":[109,101],"distance":686.8129294065452},{"start_region_id":106,"end_region_id":107,"start_point":[109,101],"end_point":[633,545],"distance":686.8129294065452}],"complexity_score":0.7124083154007488}
{"id":10029,"query_id":"Q02006","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over loose, sandy or rocky ground without vegetation, areas covered with low grass and shrubs, and open water bodies. However, it cannot pass through dense tree canopies or enter any structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"melbourne_25.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":172,"start_point":[441,108],"end_point":[664,959],"distance":879.7329140142479},{"start_region_id":172,"end_region_id":102,"start_point":[664,959],"end_point":[441,108],"distance":879.7329140142479},{"start_region_id":112,"end_region_id":134,"start_point":[887,290],"end_point":[113,579],"distance":826.1942870778036},{"start_region_id":134,"end_region_id":112,"start_point":[113,579],"end_point":[887,290],"distance":826.1942870778036},{"start_region_id":112,"end_region_id":172,"start_point":[887,290],"end_point":[664,959],"distance":705.1879182175486}],"complexity_score":0.7125510340284124}
{"id":12860,"query_id":"Q02572","question":"A quadcopter starts from a grassy field and needs to reach another grassy field. You can fly over grassy areas, paved surfaces, vehicle lanes, cultivated fields, and water bodies. You can also fly near buildings and wooded areas, but avoid direct contact with trees and building structures. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_25.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":2,"start_point":[719,976],"end_point":[216,15],"distance":1084.6796762178224},{"start_region_id":2,"end_region_id":93,"start_point":[216,15],"end_point":[719,976],"distance":1084.6796762178224},{"start_region_id":93,"end_region_id":23,"start_point":[719,976],"end_point":[23,218],"distance":1029.0675390857493},{"start_region_id":23,"end_region_id":93,"start_point":[23,218],"end_point":[719,976],"distance":1029.0675390857493},{"start_region_id":54,"end_region_id":10,"start_point":[62,640],"end_point":[853,85],"distance":966.2846371540841}],"complexity_score":0.7125510340284124}
{"id":7059,"query_id":"Q01412","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over cultivated fields with regular crop patterns and open water bodies, but cannot pass through areas with dense vertical obstacles like tall vegetation or structures. The drone must avoid any terrain that would require navigating around vertical barriers.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path the drone can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"thousand_oaks_19.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":124,"start_point":[118,781],"end_point":[630,249],"distance":738.3549282018777},{"start_region_id":124,"end_region_id":180,"start_point":[630,249],"end_point":[118,781],"distance":738.3549282018777},{"start_region_id":180,"end_region_id":113,"start_point":[118,781],"end_point":[409,139],"distance":704.8723288653059},{"start_region_id":113,"end_region_id":180,"start_point":[409,139],"end_point":[118,781],"distance":704.8723288653059},{"start_region_id":180,"end_region_id":157,"start_point":[118,781],"end_point":[758,558],"distance":677.7381500255095}],"complexity_score":0.7125959693907885}
{"id":10788,"query_id":"Q02158","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over open grassy areas, hard surfaces, vehicle lanes, liquid bodies, and cultivated fields, but must navigate carefully around vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the fastest path for the quadcopter drone to reach the cluster of tall vegetation with vertical structures from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"thousand_oaks_19.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":278,"start_point":[118,781],"end_point":[878,351],"distance":873.212459828649},{"start_region_id":180,"end_region_id":258,"start_point":[118,781],"end_point":[756,205],"distance":859.5463919998734},{"start_region_id":113,"end_region_id":416,"start_point":[409,139],"end_point":[604,965],"distance":848.7054848414731},{"start_region_id":180,"end_region_id":342,"start_point":[118,781],"end_point":[941,631],"distance":836.5578282462008},{"start_region_id":180,"end_region_id":244,"start_point":[118,781],"end_point":[625,140],"distance":817.2698452775558}],"complexity_score":0.7125959693907885}
{"id":10805,"query_id":"Q02161","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface while maintaining stable flight for sensor calibration. The drone can fly over loose, sandy or rocky ground; liquid surfaces; cultivated fields with low vegetation; and areas with tall, dense vertical obstacles. However. The drone must prioritize smooth, predictable airspace to minimize vibrations and ensure stable data collection. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"christchurch_40.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":128,"start_point":[454,657],"end_point":[230,80],"distance":618.9547640983144},{"start_region_id":128,"end_region_id":129,"start_point":[230,80],"end_point":[454,657],"distance":618.9547640983144},{"start_region_id":129,"end_region_id":127,"start_point":[454,657],"end_point":[81,409],"distance":447.9207519193546},{"start_region_id":127,"end_region_id":129,"start_point":[81,409],"end_point":[454,657],"distance":447.9207519193546},{"start_region_id":127,"end_region_id":128,"start_point":[81,409],"end_point":[230,80],"distance":361.1675511448945}],"complexity_score":0.7126318725651162}
{"id":15607,"query_id":"Q03122","question":"An aerial surveillance drone begins its mission perched on a tall vertical structure that requires careful takeoff to avoid collisions. It needs to reach a landing zone covered with low, soft vegetation. The drone can fly over most surfaces including loose sandy or rocky ground, grassy or shrubby areas, paved hard surfaces, vehicle lanes, cultivated fields, and liquid bodies. However, tall vertical structures are only traversable if the drone maintains sufficient altitude to clear them, and solid vertical obstacles like buildings are completely impassable and must be avoided. The drone prioritizes terrains that allow maximum flight speed and stable forward movement.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall, vertical structures that create obstacles and require careful navigation.","end_land_type":"The destination is an area covered with low, soft vegetation that provides a stable landing surface.","task_description":"What is the fastest path for the drone to reach its destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"christchurch_40.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":252,"end_region_id":1,"start_point":[986,905],"end_point":[34,78],"distance":1261.0444084170867},{"start_region_id":252,"end_region_id":2,"start_point":[986,905],"end_point":[105,95],"distance":1196.7710725113639},{"start_region_id":137,"end_region_id":66,"start_point":[806,73],"end_point":[156,971],"distance":1108.5594255609394},{"start_region_id":252,"end_region_id":21,"start_point":[986,905],"end_point":[147,281],"distance":1045.6084353140998},{"start_region_id":137,"end_region_id":74,"start_point":[806,73],"end_point":[355,998],"distance":1029.0898891739243}],"complexity_score":0.7126318725651162}
{"id":2508,"query_id":"Q00502","question":"An aerial drone starts from a paved, hard surface and needs to reach another paved, hard surface. The area consists only of smooth, stable, and well-defined artificial surfaces, such as sports courts or parking lots. All other terrain types, including loose soil, vegetation, water bodies, and vertical structures, are impassable due to physical barriers or restrictions. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"an aerial drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"aachen_43.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":167,"start_point":[170,863],"end_point":[663,89],"distance":917.6736892817621},{"start_region_id":167,"end_region_id":224,"start_point":[663,89],"end_point":[170,863],"distance":917.6736892817621},{"start_region_id":232,"end_region_id":167,"start_point":[379,906],"end_point":[663,89],"distance":864.9537559893014},{"start_region_id":167,"end_region_id":232,"start_point":[663,89],"end_point":[379,906],"distance":864.9537559893014},{"start_region_id":232,"end_region_id":156,"start_point":[379,906],"end_point":[298,47],"distance":862.8105238115725}],"complexity_score":0.7130683758566556}
{"id":5933,"query_id":"Q01187","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The only traversable surfaces are paved, hard areas and liquid bodies. The liquid bodies are calm and shallow enough to allow safe low-altitude flight over them without risk of submersion or signal interference. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the fastest path from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Developed space","Road","Water"],"traverse_vector":[0,0,1,1,0,1,0,0],"cost_vector":[0,0,1,1,0,1,0,0],"image_name":"aachen_43.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":167,"start_point":[170,863],"end_point":[663,89],"distance":917.6736892817621},{"start_region_id":167,"end_region_id":224,"start_point":[663,89],"end_point":[170,863],"distance":917.6736892817621},{"start_region_id":232,"end_region_id":167,"start_point":[379,906],"end_point":[663,89],"distance":864.9537559893014},{"start_region_id":167,"end_region_id":232,"start_point":[663,89],"end_point":[379,906],"distance":864.9537559893014},{"start_region_id":232,"end_region_id":156,"start_point":[379,906],"end_point":[298,47],"distance":862.8105238115725}],"complexity_score":0.7130683758566556}
{"id":6975,"query_id":"Q01395","question":"A quadcopter starts from a paved area and needs to reach another paved area. The terrain includes hard, flat surfaces, areas with tall vertical obstacles that can be flown over or around, and soft, cultivated ground. All other surfaces are not traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved area","end_land_type":"another paved area","task_description":"What is the shortest path from the starting paved area to the destination paved area?","task_type":"Shortest","input_classes":["Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[0,0,1,1,1,0,1,1],"cost_vector":[0,0,2,2,1,0,2,2],"image_name":"aachen_43.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":163,"start_point":[170,863],"end_point":[939,104],"distance":1080.4822997161962},{"start_region_id":163,"end_region_id":224,"start_point":[939,104],"end_point":[170,863],"distance":1080.4822997161962},{"start_region_id":163,"end_region_id":204,"start_point":[939,104],"end_point":[64,639],"distance":1025.597386892147},{"start_region_id":204,"end_region_id":163,"start_point":[64,639],"end_point":[939,104],"distance":1025.597386892147},{"start_region_id":232,"end_region_id":163,"start_point":[379,906],"end_point":[939,104],"distance":978.1635855009121}],"complexity_score":0.7130683758566556}
{"id":16199,"query_id":"Q03240","question":"A quadcopter drone is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for landing. The drone can fly over loose, sandy or rocky ground without vegetation, grassy or shrub-covered areas that are not cultivated, cultivated fields with crops or grazing vegetation, and paved lanes or streets. The drone cannot fly through areas with dense tree canopies or close to structures with walls and roofs. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface suitable for landing","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"aachen_43.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":255,"start_point":[68,849],"end_point":[911,66],"distance":1150.5381349612016},{"start_region_id":144,"end_region_id":255,"start_point":[305,976],"end_point":[911,66],"distance":1093.3142274753402},{"start_region_id":134,"end_region_id":255,"start_point":[531,961],"end_point":[911,66],"distance":972.3296766015116},{"start_region_id":112,"end_region_id":255,"start_point":[277,779],"end_point":[911,66],"distance":954.1095324961385},{"start_region_id":47,"end_region_id":255,"start_point":[41,400],"end_point":[911,66],"distance":931.9098668862778}],"complexity_score":0.7130683758566556}
{"id":1074,"query_id":"Q00215","question":"A quadcopter starts from a grassy, uneven area with scattered vegetation and needs to reach a paved, hard surface suitable for vehicles. The trees are spaced widely enough to allow safe flight between them at low altitude. You must avoid any water bodies, structures, cultivated fields, and bare rocky or sandy ground. What is the safest route to take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven terrain with scattered vegetation","end_land_type":"paved, hard surface suitable for vehicles","task_description":"What is the safest route to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,2,2,1,0,0,0],"image_name":"melbourne_13.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":157,"start_point":[450,982],"end_point":[726,49],"distance":972.9671114688307},{"start_region_id":13,"end_region_id":156,"start_point":[903,101],"end_point":[164,589],"distance":885.5873757004443},{"start_region_id":66,"end_region_id":157,"start_point":[52,669],"end_point":[726,49],"distance":915.7925529288825},{"start_region_id":92,"end_region_id":157,"start_point":[878,912],"end_point":[726,49],"distance":876.2836298824714},{"start_region_id":31,"end_region_id":156,"start_point":[923,263],"end_point":[164,589],"distance":826.0490300218263}],"complexity_score":0.7131805204206313}
{"id":3811,"query_id":"Q00763","question":"A quadcopter drone launches from a grassy, open field and needs to reach a wooded area with tall vegetation. The environment contains loose, sandy ground; grassy and shrubby areas; paved surfaces and parking lots; vehicle lanes; cultivated crop fields; and vertical structures. The drone can fly over all these terrain types, but areas with tall trees and vertical structures are only traversable if the drone can navigate between them at a safe altitude to avoid collisions. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a wooded area with tall vegetation","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"melbourne_13.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":158,"start_point":[878,912],"end_point":[83,46],"distance":1175.5768796637674},{"start_region_id":1,"end_region_id":253,"start_point":[37,31],"end_point":[979,690],"distance":1149.6282007675352},{"start_region_id":92,"end_region_id":162,"start_point":[878,912],"end_point":[202,44],"distance":1100.1818031580053},{"start_region_id":91,"end_region_id":158,"start_point":[751,874],"end_point":[83,46],"distance":1063.8646530456776},{"start_region_id":2,"end_region_id":253,"start_point":[165,54],"end_point":[979,690],"distance":1033.001452080296}],"complexity_score":0.7131805204206313}
{"id":8433,"query_id":"Q01687","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over areas with loose, dry soil and rocks; areas covered with low vegetation and shrubs; all paved, hard surfaces; and open water bodies. The drone must avoid any areas with tall, dense vegetation or vertical structures that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the fastest route for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"melbourne_13.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":157,"start_point":[70,874],"end_point":[726,49],"distance":1054.0213470324024},{"start_region_id":109,"end_region_id":156,"start_point":[872,31],"end_point":[164,589],"distance":901.4588176949627},{"start_region_id":114,"end_region_id":156,"start_point":[929,173],"end_point":[164,589],"distance":870.7933164649347},{"start_region_id":130,"end_region_id":156,"start_point":[1004,456],"end_point":[164,589],"distance":850.4639910072618},{"start_region_id":142,"end_region_id":157,"start_point":[423,875],"end_point":[726,49],"distance":879.8210045230791}],"complexity_score":0.7131805204206313}
{"id":1353,"query_id":"Q00271","question":"An aerial photography drone starts from a paved surface and needs to return to another paved surface while maintaining stable flight for clear image capture. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, other paved or compacted artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid areas with tall vertical obstacles that could cause turbulence and sudden movements, and it should minimize flying directly over liquid surfaces where downdrafts or spray might affect stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the aerial photography drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_5.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":239,"start_point":[474,122],"end_point":[448,905],"distance":783.4315541258215},{"start_region_id":239,"end_region_id":213,"start_point":[448,905],"end_point":[474,122],"distance":783.4315541258215},{"start_region_id":213,"end_region_id":230,"start_point":[474,122],"end_point":[878,763],"distance":757.6918898866478},{"start_region_id":230,"end_region_id":213,"start_point":[878,763],"end_point":[474,122],"distance":757.6918898866478},{"start_region_id":230,"end_region_id":229,"start_point":[878,763],"end_point":[208,586],"distance":692.9855698353322}],"complexity_score":0.7138104238549342}
{"id":3510,"query_id":"Q00702","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. You can fly over areas with loose soil and rocks, grassy or shrubby vegetation, hard paved surfaces, vehicle lanes, cultivated crop areas, and tall vertical vegetation. However, you must avoid flying over any liquid surfaces or enclosed vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the fastest route from the starting grassy field to the destination grassy field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"monrovia_5.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":27,"start_point":[988,757],"end_point":[21,264],"distance":1085.4206557828168},{"start_region_id":27,"end_region_id":59,"start_point":[21,264],"end_point":[988,757],"distance":1085.4206557828168},{"start_region_id":7,"end_region_id":94,"start_point":[843,143],"end_point":[167,945],"distance":1048.894656292995},{"start_region_id":94,"end_region_id":7,"start_point":[167,945],"end_point":[843,143],"distance":1048.894656292995},{"start_region_id":7,"end_region_id":85,"start_point":[843,143],"end_point":[94,857],"distance":1034.793216058165}],"complexity_score":0.7138104238549342}
{"id":8095,"query_id":"Q01619","question":"A quadcopter drone takes off from a paved, hard surface and needs to land on another paved, hard surface across a body of liquid. The drone can fly over most surfaces, but must avoid areas with dense vertical obstacles like trees or buildings for safety and comfort. The objective is to find a path that minimizes vibration and provides the smoothest flight experience.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_5.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":239,"start_point":[474,122],"end_point":[448,905],"distance":783.4315541258215},{"start_region_id":239,"end_region_id":213,"start_point":[448,905],"end_point":[474,122],"distance":783.4315541258215},{"start_region_id":213,"end_region_id":230,"start_point":[474,122],"end_point":[878,763],"distance":757.6918898866478},{"start_region_id":230,"end_region_id":213,"start_point":[878,763],"end_point":[474,122],"distance":757.6918898866478},{"start_region_id":230,"end_region_id":229,"start_point":[878,763],"end_point":[208,586],"distance":692.9855698353322}],"complexity_score":0.7138104238549342}
{"id":188,"query_id":"Q00038","question":"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 buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the shortest path for the aerial survey drone to reach the destination grassy, open field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_27.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[345,182],"end_point":[24,151],"distance":322.49341078539885},{"start_region_id":7,"end_region_id":3,"start_point":[24,151],"end_point":[345,182],"distance":322.49341078539885},{"start_region_id":22,"end_region_id":1,"start_point":[214,312],"end_point":[213,35],"distance":277.0018050482704},{"start_region_id":1,"end_region_id":22,"start_point":[213,35],"end_point":[214,312],"distance":277.0018050482704},{"start_region_id":7,"end_region_id":2,"start_point":[24,151],"end_point":[269,101],"distance":250.04999500099976}],"complexity_score":0.7144448071977357}
{"id":4432,"query_id":"Q00887","question":"A delivery drone is on a paved area like a parking lot or sidewalk and needs to reach a paved street or asphalt lane. The drone can fly over all terrain types except areas with dense vertical obstacles like tall structures or thick tree canopies, which must be avoided. Liquid surfaces are traversable but may cause signal interference or stability issues. What is the fastest route for the delivery drone to reach the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved area like a parking lot or sidewalk","end_land_type":"paved street or asphalt lane","task_description":"What is the fastest route for the delivery drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_27.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":89,"start_point":[267,332],"end_point":[340,53],"distance":288.39209420509434}],"complexity_score":0.7144448071977357}
{"id":13664,"query_id":"Q02733","question":"A hiker is standing on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation. The terrain includes only the following types: paved or compacted surfaces, loose or rocky ground without vegetation, areas of natural grass and shrubs, and cultivated fields with crops. All other surface types are impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the shortest path from the paved surface to the natural vegetation area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"rio_27.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":7,"start_point":[267,332],"end_point":[24,151],"distance":303.00165016052307},{"start_region_id":69,"end_region_id":1,"start_point":[267,332],"end_point":[213,35],"distance":301.8691769624716},{"start_region_id":69,"end_region_id":2,"start_point":[267,332],"end_point":[269,101],"distance":231.00865784641059}],"complexity_score":0.7144448071977357}
{"id":14595,"query_id":"Q02919","question":"A hiker starts from a densely wooded area with tall trees and uneven ground and needs to reach a grassy, open field with low vegetation. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered terrain, paved or compacted surfaces, wooded patches, and cultivated fields, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a densely wooded area with tall trees and uneven ground","end_land_type":"a grassy, open field with low vegetation","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_27.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":404,"end_region_id":2,"start_point":[813,866],"end_point":[355,18],"distance":963.7779827325378},{"start_region_id":300,"end_region_id":148,"start_point":[538,46],"end_point":[331,974],"distance":950.8064997674343},{"start_region_id":304,"end_region_id":148,"start_point":[281,71],"end_point":[331,974],"distance":904.3832152356655},{"start_region_id":404,"end_region_id":46,"start_point":[813,866],"end_point":[99,322],"distance":897.6257572061978},{"start_region_id":304,"end_region_id":123,"start_point":[281,71],"end_point":[809,784],"distance":887.2164335718766}],"complexity_score":0.7146229061192609}
{"id":5156,"query_id":"Q01032","question":"A jogger starts from a paved, hard-surfaced area like a sidewalk or parking lot and needs to reach a vehicle lane or street as quickly as possible. The jogger can traverse paved surfaces and vehicle lanes without restriction, and cultivated fields with crops are accessible because the crops are low and sparse, allowing passage. However, loose sandy or rocky ground, grassy or shrubby areas, wooded areas with trees, liquid bodies, and vertical structures are not traversable due to physical barriers or safety concerns. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved, hard-surfaced area like a sidewalk or parking lot","end_land_type":"a vehicle lane or street","task_description":"What is the fastest path for the jogger to reach the vehicle lane or street?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"paris_25.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":68,"start_point":[202,621],"end_point":[333,245],"distance":398.16705036956535},{"start_region_id":36,"end_region_id":68,"start_point":[599,72],"end_point":[333,245],"distance":317.3089976663126},{"start_region_id":35,"end_region_id":68,"start_point":[440,35],"end_point":[333,245],"distance":235.68835355188853},{"start_region_id":58,"end_region_id":68,"start_point":[281,452],"end_point":[333,245],"distance":213.43148783626094}],"complexity_score":0.7153170271071039}
{"id":9976,"query_id":"Q01996","question":"A hiker starts from a grassy, uneven terrain with scattered low vegetation and needs to reach a paved lane used by vehicles. The area includes hard, flat surfaces like sidewalks and parking lots, as well as individual trees or groups of trees that are passable on foot. However, all other surfaces such as loose sand or rocks, cultivated fields, liquid bodies, and vertical structures are completely impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path from the grassy, uneven terrain to the paved lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"paris_25.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":69,"start_point":[34,50],"end_point":[587,545],"distance":742.1819184000645},{"start_region_id":4,"end_region_id":69,"start_point":[151,52],"end_point":[587,545],"distance":658.1375236225329},{"start_region_id":8,"end_region_id":69,"start_point":[72,166],"end_point":[587,545],"distance":639.4263053706815},{"start_region_id":21,"end_region_id":69,"start_point":[46,407],"end_point":[587,545],"distance":558.3233829959122},{"start_region_id":7,"end_region_id":69,"start_point":[250,114],"end_point":[587,545],"distance":547.1105921109552}],"complexity_score":0.7153170271071039}
{"id":12962,"query_id":"Q02593","question":"An aerial surveillance drone starts from a vegetated area with tall, vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open, dry ground with loose soil or rocks, flat artificial surfaces like parking lots or sports fields, paved lanes used by vehicles, vegetated areas with tall structures, liquid surfaces, and cultivated fields with crops. However, the drone must avoid any built structures with solid roofs and walls. The mission requires minimizing risk to the drone's operation.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"paris_25.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":36,"start_point":[115,565],"end_point":[599,72],"distance":690.8726365980925},{"start_region_id":112,"end_region_id":35,"start_point":[115,565],"end_point":[440,35],"distance":621.7113478134366},{"start_region_id":84,"end_region_id":36,"start_point":[46,274],"end_point":[599,72],"distance":588.7384818406217},{"start_region_id":84,"end_region_id":60,"start_point":[46,274],"end_point":[597,407],"distance":566.8244878266993},{"start_region_id":70,"end_region_id":66,"start_point":[260,70],"end_point":[202,621],"distance":554.0442220617412}],"complexity_score":0.7153170271071039}
{"id":722,"query_id":"Q00145","question":"A hiker starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The hiker can traverse bare, sandy or rocky ground without vegetation, as well as areas with individual trees or groups of trees, provided there is enough space to walk between them. However, the hiker cannot cross any water bodies or enter any buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[1,0,1,1,1,0,0,0],"image_name":"shanghai_52.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":49,"start_point":[293,476],"end_point":[79,310],"distance":270.83574357901875}],"complexity_score":0.7155444102953663}
{"id":14975,"query_id":"Q02995","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The terrain includes expanses of loose soil and rocks; flat, hard surfaces; tall, dense vegetation; and cultivated plots. The drone can fly over all these terrain types, including structures and water, but flying through dense vegetation or near structures is hazardous and should be minimized for safety. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"shanghai_52.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":31,"start_point":[539,620],"end_point":[37,463],"distance":525.9781364277417},{"start_region_id":31,"end_region_id":40,"start_point":[37,463],"end_point":[539,620],"distance":525.9781364277417},{"start_region_id":35,"end_region_id":40,"start_point":[173,554],"end_point":[539,620],"distance":371.9032132154816},{"start_region_id":40,"end_region_id":35,"start_point":[539,620],"end_point":[173,554],"distance":371.9032132154816},{"start_region_id":40,"end_region_id":42,"start_point":[539,620],"end_point":[197,623],"distance":342.01315764163223}],"complexity_score":0.7155444102953663}
{"id":8537,"query_id":"Q01708","question":"An aerial survey drone is positioned on a paved lane and needs to reach a paved open area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. It can fly over open ground with sparse vegetation, hard paved surfaces, and liquid surfaces, but must prioritize areas with the lowest risk of impact or instability. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved open area","task_description":"What is the safest path for the drone to take from the paved lane to the paved open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"paris_49.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":39,"start_point":[507,99],"end_point":[67,632],"distance":691.1504901249799},{"start_region_id":45,"end_region_id":20,"start_point":[309,588],"end_point":[85,41],"distance":591.0879799150039},{"start_region_id":45,"end_region_id":22,"start_point":[309,588],"end_point":[566,81],"distance":568.4171003761235},{"start_region_id":41,"end_region_id":32,"start_point":[507,99],"end_point":[244,536],"distance":510.03725354134673},{"start_region_id":45,"end_region_id":25,"start_point":[309,588],"end_point":[561,158],"distance":498.4014446206993}],"complexity_score":0.7165313900282191}
{"id":17258,"query_id":"Q03452","question":"A quadcopter drone is on a flat, artificial surface and must reach another flat, artificial surface. The environment includes soft, vegetated ground and areas with tall, vertical obstacles. The drone can fly over the vegetated ground, and the vertical obstacles are spaced widely enough to navigate between them safely. All liquid areas and solid vertical structures must be avoided due to safety protocols. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, artificial surface","end_land_type":"another flat, artificial surface","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"paris_49.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":39,"start_point":[566,81],"end_point":[67,632],"distance":743.3720468244686},{"start_region_id":39,"end_region_id":22,"start_point":[67,632],"end_point":[566,81],"distance":743.3720468244686},{"start_region_id":37,"end_region_id":20,"start_point":[566,549],"end_point":[85,41],"distance":699.5891651533777},{"start_region_id":20,"end_region_id":37,"start_point":[85,41],"end_point":[566,549],"distance":699.5891651533777},{"start_region_id":25,"end_region_id":39,"start_point":[561,158],"end_point":[67,632],"distance":684.6254450427621}],"complexity_score":0.7165313900282191}
{"id":401,"query_id":"Q00081","question":"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 also navigate around solid vertical structures if necessary, but must avoid areas with dense, tall vertical obstacles that could pose collision risks. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface area","end_land_type":"Another paved, hard surface area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"rio_19.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":16,"start_point":[152,255],"end_point":[334,117],"distance":228.40315234251912},{"start_region_id":16,"end_region_id":21,"start_point":[334,117],"end_point":[152,255],"distance":228.40315234251912},{"start_region_id":18,"end_region_id":16,"start_point":[141,149],"end_point":[334,117],"distance":195.63486396856774},{"start_region_id":16,"end_region_id":18,"start_point":[334,117],"end_point":[141,149],"distance":195.63486396856774}],"complexity_score":0.71664329615489}
{"id":4411,"query_id":"Q00883","question":"A quadcopter drone is currently on a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over most surfaces, including hard ground, soft soil, and liquid, but must avoid areas with tall vertical obstacles like trees and buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"A paved surface","task_description":"What is the fastest path for the quadcopter drone to travel from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_19.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":31,"start_point":[437,87],"end_point":[173,287],"distance":331.20386471175124}],"complexity_score":0.71664329615489}
{"id":4608,"query_id":"Q00922","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over areas with tall, vertical obstacles that require careful navigation to avoid collisions, and it can also cross over liquid surfaces that are stable for aerial passage. However. The drone must avoid any terrain that is not explicitly mentioned here, as those are unsuitable for flight. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the fastest path for the quadcopter drone to travel from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"rio_19.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":16,"start_point":[152,255],"end_point":[334,117],"distance":228.40315234251912},{"start_region_id":16,"end_region_id":21,"start_point":[334,117],"end_point":[152,255],"distance":228.40315234251912},{"start_region_id":18,"end_region_id":16,"start_point":[141,149],"end_point":[334,117],"distance":195.63486396856774},{"start_region_id":16,"end_region_id":18,"start_point":[334,117],"end_point":[141,149],"distance":195.63486396856774}],"complexity_score":0.71664329615489}
{"id":13388,"query_id":"Q02678","question":"An aerial survey drone starts from a paved lane and needs to reach another paved lane. The drone can fly over areas with loose soil and sparse vegetation, hard artificial surfaces, paved vehicle lanes, liquid bodies, and cultivated fields with organized vegetation. However, it cannot pass through dense vertical obstacles like tall trees or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path for the aerial survey drone to travel from the starting paved lane to the destination paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_19.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":31,"start_point":[164,62],"end_point":[307,380],"distance":348.67319942892084}],"complexity_score":0.71664329615489}
{"id":7223,"query_id":"Q01445","question":"An aerial drone starts from a paved, hard surface and needs to reach a tall, vertical structure with foliage. The drone can fly over most surfaces, but must navigate carefully around the vertical structures. The drone's primary objective is to minimize travel time.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"A paved, hard surface","end_land_type":"A tall, vertical structure with foliage","task_description":"What is the fastest path for the aerial drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"palu_32.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":279,"end_region_id":286,"start_point":[477,959],"end_point":[963,34],"distance":1044.9023877855768},{"start_region_id":256,"end_region_id":413,"start_point":[93,309],"end_point":[918,732],"distance":927.1213512804028},{"start_region_id":256,"end_region_id":286,"start_point":[93,309],"end_point":[963,34],"distance":912.428079357491},{"start_region_id":279,"end_region_id":304,"start_point":[477,959],"end_point":[926,152],"distance":923.4987818075343},{"start_region_id":256,"end_region_id":304,"start_point":[93,309],"end_point":[926,152],"distance":847.6662078908183}],"complexity_score":0.7166446932693996}
{"id":10676,"query_id":"Q02136","question":"A quadcopter drone is on a paved road surface and needs to reach a grassy or shrub-covered area as quickly as possible. The drone can traverse paved surfaces, compacted gravel or dirt areas, open ground with loose soil or rocks, and grassy areas, but must avoid tall vegetation and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved road surface","end_land_type":"grassy or shrub-covered area","task_description":"What is the fastest path for the quadcopter drone to reach the grassy or shrub-covered area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"palu_32.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":279,"end_region_id":1,"start_point":[477,959],"end_point":[212,20],"distance":975.6772007175324},{"start_region_id":269,"end_region_id":1,"start_point":[856,630],"end_point":[212,20],"distance":887.0377669524562},{"start_region_id":279,"end_region_id":6,"start_point":[477,959],"end_point":[260,128],"distance":858.8655308021157},{"start_region_id":279,"end_region_id":5,"start_point":[477,959],"end_point":[540,107],"distance":854.3260501705423},{"start_region_id":269,"end_region_id":6,"start_point":[856,630],"end_point":[260,128],"distance":779.2432226205115}],"complexity_score":0.7166446932693996}
{"id":12282,"query_id":"Q02457","question":"A hiker starts from a paved lane and needs to reach a flat, hard-surfaced area like a parking lot or sidewalk. The hiker can walk on grassy or shrub-covered ground if it is dry and firm, and can pass through wooded areas if the trees are spaced widely enough to allow passage. However, the hiker cannot enter any structures or cross any water bodies. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"palu_32.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":256,"end_region_id":229,"start_point":[93,309],"end_point":[990,968],"distance":1113.0543562647783},{"start_region_id":256,"end_region_id":243,"start_point":[93,309],"end_point":[899,1019],"distance":1074.1210360103744},{"start_region_id":256,"end_region_id":205,"start_point":[93,309],"end_point":[977,788],"distance":1005.4337372497504},{"start_region_id":249,"end_region_id":243,"start_point":[509,110],"end_point":[899,1019],"distance":989.1314371710162},{"start_region_id":249,"end_region_id":229,"start_point":[509,110],"end_point":[990,968],"distance":983.6284867774011}],"complexity_score":0.7166446932693996}
{"id":13158,"query_id":"Q02632","question":"A quadcopter drone starts from a hard, flat surface and needs to reach a group of tall, leafy plants. The drone can fly over soft grassy areas, paved surfaces, vehicle lanes, cultivated fields, and tall vegetation, but must avoid liquid surfaces and vertical structures unless explicitly permitted. The drone seeks to minimize risk of collision, signal interference, or unstable flight conditions.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, flat surface","end_land_type":"a group of tall, leafy plants","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_2.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":404,"start_point":[933,229],"end_point":[78,983],"distance":1139.974122513314},{"start_region_id":134,"end_region_id":404,"start_point":[913,315],"end_point":[78,983],"distance":1069.3217476512857},{"start_region_id":108,"end_region_id":404,"start_point":[696,145],"end_point":[78,983],"distance":1041.2338834286945},{"start_region_id":185,"end_region_id":230,"start_point":[873,843],"end_point":[180,91],"distance":1022.6206530282869},{"start_region_id":112,"end_region_id":349,"start_point":[933,229],"end_point":[48,724],"distance":1014.0266268693342}],"complexity_score":0.7169889084202017}
{"id":17403,"query_id":"Q03481","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface destination. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. While the drone can fly over most surfaces, it must avoid areas with dense vertical obstacles like tall vegetation or structures that could cause turbulence. The drone is permitted to fly over open grassy areas with low vegetation, as these provide stable airspace. It can also fly over liquid surfaces, though these may cause minor airflow disturbances. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_2.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":172,"start_point":[933,229],"end_point":[83,600],"distance":927.4378685389119},{"start_region_id":172,"end_region_id":112,"start_point":[83,600],"end_point":[933,229],"distance":927.4378685389119},{"start_region_id":185,"end_region_id":115,"start_point":[873,843],"end_point":[324,124],"distance":904.6336274978948},{"start_region_id":115,"end_region_id":185,"start_point":[324,124],"end_point":[873,843],"distance":904.6336274978948},{"start_region_id":115,"end_region_id":200,"start_point":[324,124],"end_point":[670,936],"distance":882.6437559967214}],"complexity_score":0.7169889084202017}
{"id":978,"query_id":"Q00196","question":"A quadcopter drone is positioned above a paved, hard-surfaced lane and needs to reach a point above a cluster of tall, vertical structures with significant height and canopy. The area includes open spaces with natural vegetation and bushes, which are freely traversable. The paved lane is available. The vertical structures and built-up areas are accessible but require careful navigation to avoid collisions. The objective is to find the path that minimizes risk while moving between these points.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A cluster of tall, vertical structures with significant height and canopy","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"paris_3.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":89,"start_point":[375,63],"end_point":[159,513],"distance":499.15528645903373},{"start_region_id":59,"end_region_id":94,"start_point":[375,63],"end_point":[473,558],"distance":504.60776846972936},{"start_region_id":59,"end_region_id":86,"start_point":[375,63],"end_point":[117,437],"distance":454.35668807666957},{"start_region_id":59,"end_region_id":80,"start_point":[375,63],"end_point":[143,335],"distance":357.5024475440693},{"start_region_id":60,"end_region_id":89,"start_point":[317,420],"end_point":[159,513],"distance":183.33848477611022}],"complexity_score":0.717707861532024}
{"id":3882,"query_id":"Q00777","question":"An aerial surveillance drone starts from a paved surface and needs to reach another paved surface. The drone can fly over loose, dry ground; hard, flat surfaces; and liquid areas, but must avoid vertical obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"paris_3.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":59,"start_point":[317,420],"end_point":[375,63],"distance":361.6807984950266},{"start_region_id":59,"end_region_id":60,"start_point":[375,63],"end_point":[317,420],"distance":361.6807984950266}],"complexity_score":0.717707861532024}
{"id":5158,"query_id":"Q01032","question":"A jogger starts from a paved, hard-surfaced area like a sidewalk or parking lot and needs to reach a vehicle lane or street as quickly as possible. The jogger can traverse paved surfaces and vehicle lanes without restriction, and cultivated fields with crops are accessible because the crops are low and sparse, allowing passage. However, loose sandy or rocky ground, grassy or shrubby areas, wooded areas with trees, liquid bodies, and vertical structures are not traversable due to physical barriers or safety concerns. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved, hard-surfaced area like a sidewalk or parking lot","end_land_type":"a vehicle lane or street","task_description":"What is the fastest path for the jogger to reach the vehicle lane or street?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"paris_3.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":59,"start_point":[331,529],"end_point":[375,63],"distance":468.0726439346782},{"start_region_id":42,"end_region_id":60,"start_point":[532,59],"end_point":[317,420],"distance":420.1737735746961},{"start_region_id":41,"end_region_id":60,"start_point":[335,239],"end_point":[317,420],"distance":181.89282558693733}],"complexity_score":0.717707861532024}
{"id":9978,"query_id":"Q01996","question":"A hiker starts from a grassy, uneven terrain with scattered low vegetation and needs to reach a paved lane used by vehicles. The area includes hard, flat surfaces like sidewalks and parking lots, as well as individual trees or groups of trees that are passable on foot. However, all other surfaces such as loose sand or rocks, cultivated fields, liquid bodies, and vertical structures are completely impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path from the grassy, uneven terrain to the paved lane?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"paris_3.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":59,"start_point":[357,610],"end_point":[375,63],"distance":547.296080746062},{"start_region_id":30,"end_region_id":59,"start_point":[130,540],"end_point":[375,63],"distance":536.2406176335396},{"start_region_id":26,"end_region_id":59,"start_point":[497,540],"end_point":[375,63],"distance":492.35454704917674},{"start_region_id":1,"end_region_id":60,"start_point":[68,64],"end_point":[317,420],"distance":434.43871834816935},{"start_region_id":3,"end_region_id":60,"start_point":[525,72],"end_point":[317,420],"distance":405.4232356439379}],"complexity_score":0.717707861532024}
{"id":12964,"query_id":"Q02593","question":"An aerial surveillance drone starts from a vegetated area with tall, vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open, dry ground with loose soil or rocks, flat artificial surfaces like parking lots or sports fields, paved lanes used by vehicles, vegetated areas with tall structures, liquid surfaces, and cultivated fields with crops. However, the drone must avoid any built structures with solid roofs and walls. The mission requires minimizing risk to the drone's operation.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"paris_3.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":42,"start_point":[159,513],"end_point":[532,59],"distance":587.5755270601389},{"start_region_id":86,"end_region_id":42,"start_point":[117,437],"end_point":[532,59],"distance":561.3457045350931},{"start_region_id":94,"end_region_id":45,"start_point":[473,558],"end_point":[33,309],"distance":505.5699753743294},{"start_region_id":94,"end_region_id":42,"start_point":[473,558],"end_point":[532,59],"distance":502.4758700674093},{"start_region_id":80,"end_region_id":42,"start_point":[143,335],"end_point":[532,59],"distance":476.96645584359493}],"complexity_score":0.717707861532024}
{"id":8100,"query_id":"Q01620","question":"A quadcopter drone starts from a hard paved launch pad and needs to reach another hard paved landing pad. The drone can fly over liquid surfaces, but must avoid vertical structures and dense vegetation that could cause collisions or signal interference. The objective is to minimize risk of crashing or losing control.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"hard paved surface","end_land_type":"hard paved surface","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_38.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":202,"start_point":[532,370],"end_point":[583,872],"distance":504.5839870626098},{"start_region_id":202,"end_region_id":198,"start_point":[583,872],"end_point":[532,370],"distance":504.5839870626098},{"start_region_id":198,"end_region_id":201,"start_point":[532,370],"end_point":[223,749],"distance":489.00102249381854},{"start_region_id":201,"end_region_id":198,"start_point":[223,749],"end_point":[532,370],"distance":489.00102249381854},{"start_region_id":201,"end_region_id":202,"start_point":[223,749],"end_point":[583,872],"distance":380.4326484412188}],"complexity_score":0.7180663747685198}
{"id":12601,"query_id":"Q02521","question":"A delivery drone starts from a paved lane and needs to reach a grassy area with shrubs while prioritizing safety. The drone can fly over hard surfaces like sidewalks and parking areas, the paved lane itself, and the grassy area with shrubs. Passage near trees or buildings is permitted only if maintaining a safe altitude to avoid collisions. All other terrain types—including loose sandy or rocky ground, cultivated fields, and liquid surfaces—are impassable due to safety risks such as signal interference or unpredictable wind conditions.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"a grassy area with shrubs","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Building"],"traverse_vector":[0,1,1,1,1,0,0,1],"cost_vector":[0,2,2,2,1,0,0,1],"image_name":"monrovia_38.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":5,"start_point":[223,749],"end_point":[978,76],"distance":1011.4118844466877},{"start_region_id":202,"end_region_id":1,"start_point":[583,872],"end_point":[101,57],"distance":946.8627144417505},{"start_region_id":201,"end_region_id":4,"start_point":[223,749],"end_point":[767,37],"distance":896.0357135739624},{"start_region_id":201,"end_region_id":9,"start_point":[223,749],"end_point":[875,139],"distance":892.8628114105773},{"start_region_id":202,"end_region_id":5,"start_point":[583,872],"end_point":[978,76],"distance":888.6174655047018}],"complexity_score":0.7180663747685198}
{"id":6602,"query_id":"Q01321","question":"An agricultural monitoring drone starts from a flat artificial surface and needs to reach a cultivated vegetation area. The drone can fly over most terrain types but must avoid areas with tall vertical obstacles or dense overhead canopy. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"flat artificial surface","end_land_type":"cultivated vegetation area","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"palu_26.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":483,"start_point":[896,44],"end_point":[426,936],"distance":1008.247985368679},{"start_region_id":253,"end_region_id":477,"start_point":[981,757],"end_point":[268,169],"distance":924.1823413158249},{"start_region_id":253,"end_region_id":476,"start_point":[981,757],"end_point":[377,115],"distance":881.464690160644},{"start_region_id":115,"end_region_id":482,"start_point":[896,44],"end_point":[720,898],"distance":871.9472461106807},{"start_region_id":246,"end_region_id":477,"start_point":[797,790],"end_point":[268,169],"distance":815.7708011445371}],"complexity_score":0.718233385572157}
{"id":11155,"query_id":"Q02231","question":"A family SUV is parked on a paved parking area and needs to reach a cultivated field. The vehicle can only travel on surfaces that provide stable traction and predictable handling to minimize risk. Hard, compact surfaces like paved roads and parking lots are available. Softer, unpaved surfaces like loose soil, grassy areas, and cultivated earth are also accessible, but they must offer sufficient stability for safe vehicle operation. The goal is to find the safest path from the paved parking area to the cultivated field.","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a paved parking area","end_land_type":"a cultivated field","task_description":"What is the safest path for the family SUV to take from the paved parking area to the cultivated field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"palu_26.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":483,"start_point":[896,44],"end_point":[426,936],"distance":1008.247985368679},{"start_region_id":253,"end_region_id":477,"start_point":[981,757],"end_point":[268,169],"distance":924.1823413158249},{"start_region_id":253,"end_region_id":476,"start_point":[981,757],"end_point":[377,115],"distance":881.464690160644},{"start_region_id":115,"end_region_id":482,"start_point":[896,44],"end_point":[720,898],"distance":871.9472461106807},{"start_region_id":246,"end_region_id":477,"start_point":[797,790],"end_point":[268,169],"distance":815.7708011445371}],"complexity_score":0.718233385572157}
{"id":10208,"query_id":"Q02042","question":"An off-road vehicle starts from a paved street and needs to reach a grassy meadow. The available terrain includes firm, compacted surfaces, loose sandy areas, and vegetated patches with low bushes. You cannot drive through wooded areas, across water, or into any buildings. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved street","end_land_type":"grassy meadow","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_54.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":52,"start_point":[449,285],"end_point":[521,985],"distance":703.6931149300808},{"start_region_id":152,"end_region_id":31,"start_point":[449,285],"end_point":[583,754],"distance":487.7673625817947},{"start_region_id":160,"end_region_id":52,"start_point":[925,794],"end_point":[521,985],"distance":446.87470279710396},{"start_region_id":159,"end_region_id":52,"start_point":[735,619],"end_point":[521,985],"distance":423.9716971685728},{"start_region_id":160,"end_region_id":31,"start_point":[925,794],"end_point":[583,754],"distance":344.33123587615455}],"complexity_score":0.7182871508524953}
{"id":7950,"query_id":"Q01590","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with dense tree trunks and roots. The drone seeks a path that maximizes comfort by avoiding vibrations and instability, preferring open, clear spaces over cluttered ones. All surfaces except vertical structures are traversable, but flying over liquid areas may cause discomfort due to spray or reflections, and navigating through dense trees requires careful maneuvering. Buildings are accessible but may pose obstacles.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a wooded area with dense tree trunks and roots","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"lohur_15.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":388,"end_region_id":373,"start_point":[974,66],"end_point":[256,1000],"distance":1178.0831889132448},{"start_region_id":410,"end_region_id":258,"start_point":[975,772],"end_point":[58,102],"distance":1135.688777790817},{"start_region_id":387,"end_region_id":373,"start_point":[814,38],"end_point":[256,1000],"distance":1112.1186987008177},{"start_region_id":422,"end_region_id":275,"start_point":[103,980],"end_point":[820,190],"distance":1066.8594096693341},{"start_region_id":416,"end_region_id":258,"start_point":[858,812],"end_point":[58,102],"distance":1069.6261028976435}],"complexity_score":0.718346194133146}
{"id":1312,"query_id":"Q00263","question":"An aerial surveillance drone starts from a grassy, shrub-covered ground and needs to reach a paved lane or street. The drone can fly over most surfaces, including loose sandy or rocky areas, hard paved surfaces, water bodies, and cultivated fields, but must avoid dense tree canopies and vertical structures like buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, shrub-covered ground","end_land_type":"paved lane or street","task_description":"What is the shortest path from the grassy, shrub-covered ground to the paved lane or street?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"thousand_oaks_25.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":241,"start_point":[974,40],"end_point":[42,875],"distance":1251.338882956971},{"start_region_id":9,"end_region_id":242,"start_point":[974,40],"end_point":[223,954],"distance":1182.9611151682036},{"start_region_id":9,"end_region_id":240,"start_point":[974,40],"end_point":[16,704],"distance":1165.6157171212133},{"start_region_id":15,"end_region_id":241,"start_point":[968,181],"end_point":[42,875],"distance":1157.2000691323865},{"start_region_id":15,"end_region_id":240,"start_point":[968,181],"end_point":[16,704],"distance":1086.2011784195413}],"complexity_score":0.7183872338500538}
{"id":3524,"query_id":"Q00705","question":"A hiker is standing on a grassy, uneven field and needs to reach a paved lane. The hiker can traverse hard artificial surfaces like sidewalks or courts, paved lanes, areas with loose soil and rocks, grassy or shrub-covered terrain, areas with tall vertical obstacles, and cultivated fields with crops. The hiker cannot travel on liquid surfaces or through solid structures. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"thousand_oaks_25.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":241,"start_point":[974,40],"end_point":[42,875],"distance":1251.338882956971},{"start_region_id":9,"end_region_id":242,"start_point":[974,40],"end_point":[223,954],"distance":1182.9611151682036},{"start_region_id":9,"end_region_id":240,"start_point":[974,40],"end_point":[16,704],"distance":1165.6157171212133},{"start_region_id":15,"end_region_id":241,"start_point":[968,181],"end_point":[42,875],"distance":1157.2000691323865},{"start_region_id":15,"end_region_id":240,"start_point":[968,181],"end_point":[16,704],"distance":1086.2011784195413}],"complexity_score":0.7183872338500538}
{"id":8108,"query_id":"Q01622","question":"A quadcopter drone is currently positioned on a hard, paved surface. It needs to reach another hard, paved surface. The drone can fly over most terrain types, including liquid surfaces and solid ground, but it cannot fly through dense vertical obstacles like tall structures or thick tree canopies. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the shortest path for the drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"thousand_oaks_25.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":242,"end_region_id":225,"start_point":[223,954],"end_point":[464,118],"distance":870.044251748151},{"start_region_id":225,"end_region_id":242,"start_point":[464,118],"end_point":[223,954],"distance":870.044251748151},{"start_region_id":241,"end_region_id":225,"start_point":[42,875],"end_point":[464,118],"distance":866.6792947797934},{"start_region_id":225,"end_region_id":241,"start_point":[464,118],"end_point":[42,875],"distance":866.6792947797934},{"start_region_id":242,"end_region_id":222,"start_point":[223,954],"end_point":[125,176],"distance":784.1479452246241}],"complexity_score":0.7183872338500538}
{"id":14988,"query_id":"Q02998","question":"A delivery drone starts from a grassy, uneven field and needs to reach a paved lane while prioritizing a smooth and stable flight. The drone can traverse areas with loose soil, rocks, grassy patches, and paved surfaces, but must avoid flying through dense tree canopies or near vertical structures. Which path should the drone take to maximize comfort?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved lane","task_description":"Which path should the drone take to maximize comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"thousand_oaks_25.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":241,"start_point":[974,40],"end_point":[42,875],"distance":1251.338882956971},{"start_region_id":9,"end_region_id":242,"start_point":[974,40],"end_point":[223,954],"distance":1182.9611151682036},{"start_region_id":9,"end_region_id":240,"start_point":[974,40],"end_point":[16,704],"distance":1165.6157171212133},{"start_region_id":15,"end_region_id":241,"start_point":[968,181],"end_point":[42,875],"distance":1157.2000691323865},{"start_region_id":15,"end_region_id":240,"start_point":[968,181],"end_point":[16,704],"distance":1086.2011784195413}],"complexity_score":0.7183872338500538}
{"id":8391,"query_id":"Q01679","question":"An aerial survey drone starts from a hard, paved surface and needs to reach another hard, paved surface as quickly as possible. The drone can fly over any terrain except areas with tall vertical obstacles or structures. The drone can traverse loose, sandy or rocky ground without vegetation, areas covered with low grass and shrubs, flat artificial surfaces like parking lots and sports fields, vehicle lanes, and open water bodies. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the fastest path for the aerial survey drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water"],"traverse_vector":[1,1,1,1,0,1,0,0],"cost_vector":[1,1,1,1,0,1,0,0],"image_name":"melbourne_45.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":226,"start_point":[175,630],"end_point":[919,144],"distance":888.66866716454},{"start_region_id":226,"end_region_id":230,"start_point":[919,144],"end_point":[175,630],"distance":888.66866716454},{"start_region_id":222,"end_region_id":232,"start_point":[227,124],"end_point":[845,481],"distance":713.7037200407464},{"start_region_id":232,"end_region_id":222,"start_point":[845,481],"end_point":[227,124],"distance":713.7037200407464},{"start_region_id":228,"end_region_id":222,"start_point":[671,706],"end_point":[227,124],"distance":732.0245897509182}],"complexity_score":0.7190064975139363}
{"id":17200,"query_id":"Q03440","question":"An off-road vehicle starts from a paved street and needs to reach a grassy field. The vehicle can drive on hard surfaces like parking lots and lanes, and is equipped to handle grassy terrain, but cannot pass through wooded areas, liquid bodies, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a grassy field","task_description":"What is the shortest path from the paved street to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"melbourne_45.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":45,"start_point":[227,124],"end_point":[993,443],"distance":829.7692450314123},{"start_region_id":222,"end_region_id":43,"start_point":[227,124],"end_point":[942,496],"distance":805.9832504463104},{"start_region_id":230,"end_region_id":45,"start_point":[175,630],"end_point":[993,443],"distance":839.1024967189646},{"start_region_id":230,"end_region_id":8,"start_point":[175,630],"end_point":[746,87],"distance":787.9657352956409},{"start_region_id":230,"end_region_id":43,"start_point":[175,630],"end_point":[942,496],"distance":778.6173643067563}],"complexity_score":0.7190064975139363}
{"id":17330,"query_id":"Q03466","question":"A quadcopter drone starts from a grassy, uneven ground and needs to reach another patch of grassy, uneven ground as quickly as possible. The drone can fly over grassy areas, paved hard surfaces like sidewalks and parking lots, and vehicle lanes like streets, all of which allow high-speed flight without obstruction. However. The drone must avoid flying through dense tree canopies or close to buildings, as these areas are restricted due to potential obstacles. Water bodies and other surfaces are not restricted. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"grassy, uneven ground","task_description":"What is the fastest path for the quadcopter drone to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_55.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":141,"start_point":[108,42],"end_point":[946,756],"distance":1100.9268822224299},{"start_region_id":141,"end_region_id":2,"start_point":[946,756],"end_point":[108,42],"distance":1100.9268822224299},{"start_region_id":41,"end_region_id":141,"start_point":[79,270],"end_point":[946,756],"distance":993.9240413633227},{"start_region_id":141,"end_region_id":41,"start_point":[946,756],"end_point":[79,270],"distance":993.9240413633227},{"start_region_id":60,"end_region_id":153,"start_point":[950,363],"end_point":[88,805],"distance":968.7146122568813}],"complexity_score":0.7191613493227674}
{"id":5478,"query_id":"Q01096","question":"A quadcopter drone starts from a grassy field and needs to reach another grassy field area. The terrain includes open grassy areas and hard, flat surfaces. The drone can fly over grassy fields and hard surfaces, but must avoid trees and buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_16.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":17,"start_point":[950,942],"end_point":[140,195],"distance":1101.866144320625},{"start_region_id":17,"end_region_id":80,"start_point":[140,195],"end_point":[950,942],"distance":1101.866144320625},{"start_region_id":9,"end_region_id":80,"start_point":[420,109],"end_point":[950,942],"distance":987.3140331221875},{"start_region_id":80,"end_region_id":9,"start_point":[950,942],"end_point":[420,109],"distance":987.3140331221875},{"start_region_id":2,"end_region_id":80,"start_point":[804,38],"end_point":[950,942],"distance":915.7139291285243}],"complexity_score":0.7192026546808934}
{"id":17080,"query_id":"Q03416","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain. The area includes hard, paved surfaces and vehicle lanes, but these are currently unsafe due to heavy traffic and slippery conditions, so they must be avoided. You can only travel across grassy, uneven terrain and stable, flat surfaces like sidewalks or parking lots. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Rangeland","Developed space"],"traverse_vector":[0,1,1,0,0,0,0,0],"cost_vector":[0,1,2,0,0,0,0,0],"image_name":"chisinau_16.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":17,"start_point":[950,942],"end_point":[140,195],"distance":1101.866144320625},{"start_region_id":17,"end_region_id":80,"start_point":[140,195],"end_point":[950,942],"distance":1101.866144320625},{"start_region_id":9,"end_region_id":80,"start_point":[420,109],"end_point":[950,942],"distance":987.3140331221875},{"start_region_id":80,"end_region_id":9,"start_point":[950,942],"end_point":[420,109],"distance":987.3140331221875},{"start_region_id":80,"end_region_id":54,"start_point":[950,942],"end_point":[221,463],"distance":872.2855037199689}],"complexity_score":0.7192026546808934}
{"id":3443,"query_id":"Q00689","question":"A delivery drone has taken off from a patch of loose, sandy ground. It needs to fly to a crop field. The drone operator wants to minimize vibrations and ensure a smooth flight for the payload's safety. The drone can fly over sandy ground, hard paved surfaces, and the crop field. It must avoid flying through dense tree canopies or close to buildings, as these pose collision risks and discomfort.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a crop field","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,1,1,0,0,1,0],"image_name":"ica_31.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":16,"start_point":[662,476],"end_point":[282,526],"distance":383.275357934736},{"start_region_id":1,"end_region_id":16,"start_point":[617,442],"end_point":[282,526],"distance":345.37081521170836},{"start_region_id":1,"end_region_id":17,"start_point":[617,442],"end_point":[696,748],"distance":316.03322610130726},{"start_region_id":2,"end_region_id":17,"start_point":[662,476],"end_point":[696,748],"distance":274.11676344215067}],"complexity_score":0.7192267217319832}
{"id":5058,"query_id":"Q01012","question":"A delivery drone starts from an open area of loose soil and gravel, a delivery drone must fly to a crop field. The drone can freely fly over most surfaces including sandy ground, paved areas, roads, and farmland. However, it must avoid flying directly through dense tree canopies or near buildings to prevent collisions, and water surfaces should be avoided due to risk of signal interference or splash damage. What is the safest flight path to the crop field?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the safest flight path to the crop field?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"ica_31.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":16,"start_point":[662,476],"end_point":[282,526],"distance":383.275357934736},{"start_region_id":1,"end_region_id":16,"start_point":[617,442],"end_point":[282,526],"distance":345.37081521170836},{"start_region_id":1,"end_region_id":17,"start_point":[617,442],"end_point":[696,748],"distance":316.03322610130726},{"start_region_id":2,"end_region_id":17,"start_point":[662,476],"end_point":[696,748],"distance":274.11676344215067}],"complexity_score":0.7192267217319832}
{"id":7282,"query_id":"Q01457","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a flat, hard, artificial surface like a paved area or parking lot. The drone can fly over open water bodies and cultivated fields with low crops, but must avoid tall vegetation and vertical structures. The drone's priority is to minimize risk of collision, signal interference, or unstable flight conditions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is a flat, hard, artificial surface like a paved area or parking lot.","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"ica_31.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":7,"start_point":[662,476],"end_point":[162,72],"distance":642.8187925068775},{"start_region_id":1,"end_region_id":7,"start_point":[617,442],"end_point":[162,72],"distance":586.4511914899654},{"start_region_id":2,"end_region_id":8,"start_point":[662,476],"end_point":[491,165],"distance":354.9112565135121},{"start_region_id":1,"end_region_id":8,"start_point":[617,442],"end_point":[491,165],"distance":304.31069649291004}],"complexity_score":0.7192267217319832}
{"id":7287,"query_id":"Q01458","question":"An aerial surveillance drone starts from a loose, sandy ground and needs to reach cultivated fields with crops. The drone can fly over open, flat surfaces like sand, paved areas, and water, as well as agricultural fields, but must avoid tall vertical structures and dense vegetation clusters due to collision risks. The drone's flight path should prioritize terrains that minimize the risk of loss of control or damage.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, sandy ground","end_land_type":"cultivated fields with crops","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"ica_31.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":16,"start_point":[662,476],"end_point":[282,526],"distance":383.275357934736},{"start_region_id":1,"end_region_id":16,"start_point":[617,442],"end_point":[282,526],"distance":345.37081521170836},{"start_region_id":1,"end_region_id":17,"start_point":[617,442],"end_point":[696,748],"distance":316.03322610130726},{"start_region_id":2,"end_region_id":17,"start_point":[662,476],"end_point":[696,748],"distance":274.11676344215067}],"complexity_score":0.7192267217319832}
{"id":2261,"query_id":"Q00453","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over loose, sandy or rocky ground without vegetation, as well as over liquid surfaces. However, it must avoid any areas with tall, dense vegetation or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"san_tome_46.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":148,"start_point":[426,211],"end_point":[479,874],"distance":665.1150276455945},{"start_region_id":148,"end_region_id":147,"start_point":[479,874],"end_point":[426,211],"distance":665.1150276455945}],"complexity_score":0.7196929967996394}
{"id":11184,"query_id":"Q02237","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a flat, paved area with a hard, stable surface. The terrain includes soft, uneven ground covered with grass and shrubs, cultivated fields with loose soil, areas with tall, dense vegetation that must be navigated around, and hard, flat surfaces. The hiker must find the fastest route.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from a grassy, open field with scattered low vegetation.","end_land_type":"needs to reach a flat, paved area with a hard, stable surface.","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"san_tome_46.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":86,"start_point":[180,942],"end_point":[767,62],"distance":1057.8133105609893},{"start_region_id":4,"end_region_id":141,"start_point":[978,81],"end_point":[479,978],"distance":1026.4550647739043},{"start_region_id":4,"end_region_id":132,"start_point":[978,81],"end_point":[314,844],"distance":1011.4667567448769},{"start_region_id":58,"end_region_id":86,"start_point":[66,781],"end_point":[767,62],"distance":1004.1722959731562},{"start_region_id":4,"end_region_id":96,"start_point":[978,81],"end_point":[9,229],"distance":980.237216188}],"complexity_score":0.7196929967996394}
{"id":1424,"query_id":"Q00285","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a grassy, open field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, areas with low vegetation and shrubs, the paved surface it starts on, bodies of liquid, and cultivated fields with crops. However, it must avoid flying directly through dense, tall vegetation or near vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest path to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_54.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":417,"end_region_id":22,"start_point":[51,946],"end_point":[891,128],"distance":1172.486247254099},{"start_region_id":416,"end_region_id":22,"start_point":[81,913],"end_point":[891,128],"distance":1127.9738472145532},{"start_region_id":417,"end_region_id":21,"start_point":[51,946],"end_point":[584,74],"distance":1021.9946183811342},{"start_region_id":417,"end_region_id":79,"start_point":[51,946],"end_point":[939,492],"distance":997.326426001036},{"start_region_id":416,"end_region_id":21,"start_point":[81,913],"end_point":[584,74],"distance":978.2279897856123}],"complexity_score":0.7197959833678569}
{"id":10425,"query_id":"Q02085","question":"A quadcopter drone is positioned above a paved, hard-surfaced area and needs to fly to a grassy, vegetated area. The airspace includes loose, sandy ground and compacted vehicle lanes, but the drone must avoid any tall, dense vegetation or vertical structures that could pose collision risks. The grassy area is safe to fly over because the vegetation is low and open. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated area","task_description":"What is the safest path from the paved area to the grassy area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"koeln_54.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":142,"start_point":[39,211],"end_point":[984,852],"distance":1141.887034693012},{"start_region_id":334,"end_region_id":29,"start_point":[859,864],"end_point":[23,177],"distance":1082.0651551547162},{"start_region_id":308,"end_region_id":29,"start_point":[938,690],"end_point":[23,177],"distance":1048.996663483731},{"start_region_id":326,"end_region_id":22,"start_point":[130,841],"end_point":[891,128],"distance":1042.8278860866735},{"start_region_id":334,"end_region_id":38,"start_point":[859,864],"end_point":[46,283],"distance":999.2647296887848}],"complexity_score":0.7197959833678569}
{"id":15205,"query_id":"Q03041","question":"A quadcopter drone is starting from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over areas with soft, natural ground cover, hard, flat surfaces, tall vertical obstacles, and liquid surfaces. However, the tall vertical obstacles are densely packed, requiring careful navigation to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"koeln_54.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":142,"start_point":[23,177],"end_point":[984,852],"distance":1174.370469655977},{"start_region_id":142,"end_region_id":29,"start_point":[984,852],"end_point":[23,177],"distance":1174.370469655977},{"start_region_id":38,"end_region_id":142,"start_point":[46,283],"end_point":[984,852],"distance":1097.0893309115718},{"start_region_id":142,"end_region_id":38,"start_point":[984,852],"end_point":[46,283],"distance":1097.0893309115718},{"start_region_id":134,"end_region_id":22,"start_point":[118,864],"end_point":[891,128],"distance":1067.3448364984954}],"complexity_score":0.7197959833678569}
{"id":5908,"query_id":"Q01182","question":"A jogger starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The jogger can only use surfaces that are firm and stable, such as sidewalks, parking lots, or streets, to maintain a steady running pace. Surfaces that are soft, uneven, or obstructed by vegetation or water are not allowed because they would slow down movement. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"wallace_12.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":221,"start_point":[898,894],"end_point":[101,847],"distance":798.3846190903229},{"start_region_id":221,"end_region_id":232,"start_point":[101,847],"end_point":[898,894],"distance":798.3846190903229},{"start_region_id":232,"end_region_id":223,"start_point":[898,894],"end_point":[138,826],"distance":763.0360410884928},{"start_region_id":223,"end_region_id":232,"start_point":[138,826],"end_point":[898,894],"distance":763.0360410884928},{"start_region_id":236,"end_region_id":178,"start_point":[230,936],"end_point":[567,261],"distance":754.4494681554226}],"complexity_score":0.7199456941964231}
{"id":7056,"query_id":"Q01412","question":"An aerial survey drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over cultivated fields with regular crop patterns and open water bodies, but cannot pass through areas with dense vertical obstacles like tall vegetation or structures. The drone must avoid any terrain that would require navigating around vertical barriers.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the shortest path the drone can take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"wallace_12.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":221,"start_point":[898,894],"end_point":[101,847],"distance":798.3846190903229},{"start_region_id":221,"end_region_id":232,"start_point":[101,847],"end_point":[898,894],"distance":798.3846190903229},{"start_region_id":232,"end_region_id":223,"start_point":[898,894],"end_point":[138,826],"distance":763.0360410884928},{"start_region_id":223,"end_region_id":232,"start_point":[138,826],"end_point":[898,894],"distance":763.0360410884928},{"start_region_id":236,"end_region_id":178,"start_point":[230,936],"end_point":[567,261],"distance":754.4494681554226}],"complexity_score":0.7199456941964231}
{"id":10786,"query_id":"Q02158","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over open grassy areas, hard surfaces, vehicle lanes, liquid bodies, and cultivated fields, but must navigate carefully around vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall vegetation with vertical structures","task_description":"What is the fastest path for the quadcopter drone to reach the cluster of tall vegetation with vertical structures from the paved, hard surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"wallace_12.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":271,"start_point":[898,894],"end_point":[117,130],"distance":1092.5461088668067},{"start_region_id":221,"end_region_id":305,"start_point":[101,847],"end_point":[970,166],"distance":1104.0480062026288},{"start_region_id":236,"end_region_id":305,"start_point":[230,936],"end_point":[970,166],"distance":1067.9419459877022},{"start_region_id":223,"end_region_id":305,"start_point":[138,826],"end_point":[970,166],"distance":1061.9905837623985},{"start_region_id":236,"end_region_id":276,"start_point":[230,936],"end_point":[707,28],"distance":1025.6670999890755}],"complexity_score":0.7199456941964231}
{"id":3208,"query_id":"Q00642","question":"An aerial survey drone starts from a vegetated area with tall, vertical structures and needs to reach another vegetated area with tall, vertical structures. The only available terrain consists of loose, dry earth and rocks without vegetation, and vegetated areas with tall, vertical structures. The aerial survey drone must avoid any liquid surfaces, artificial hard surfaces, cultivated fields, and man-made structures. The drone can fly over the loose, dry earth and rocks, but must navigate carefully around the vegetated vertical structures to avoid collisions. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"another vegetated area with tall, vertical structures","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Tree"],"traverse_vector":[1,0,0,0,1,0,0,0],"cost_vector":[2,0,0,0,1,0,0,0],"image_name":"houston_10.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":317,"end_region_id":317,"start_point":[224,755],"end_point":[472,769],"distance":248.39484696748443}],"complexity_score":0.72048105545964}
{"id":16711,"query_id":"Q03343","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open field. The drone can fly over most surfaces including loose soil, grassy areas, hard compacted surfaces, and cultivated fields, but must avoid dense vegetation and vertical structures. Liquid surfaces are allowed but pose a risk. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"houston_10.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":204,"end_region_id":1,"start_point":[851,575],"end_point":[54,82],"distance":937.1542028929924},{"start_region_id":211,"end_region_id":1,"start_point":[324,932],"end_point":[54,82],"distance":891.8520056601319},{"start_region_id":211,"end_region_id":4,"start_point":[324,932],"end_point":[551,85],"distance":876.8910992820032},{"start_region_id":211,"end_region_id":3,"start_point":[324,932],"end_point":[262,73],"distance":861.2345789620852},{"start_region_id":211,"end_region_id":24,"start_point":[324,932],"end_point":[787,248],"distance":825.9691277523634}],"complexity_score":0.72048105545964}
{"id":550,"query_id":"Q00110","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The terrain includes hard, flat surfaces suitable for walking, loose and uneven ground composed of sand or rocks, and areas with tall vertical obstacles that require careful navigation. The hiker can traverse the loose ground if it's compact enough to walk on without sinking, and can pass through areas with vertical obstacles if there are clear gaps between them. However, the hiker cannot cross any liquid surfaces or enter any solid structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,4,3,1,0,0,0],"image_name":"duesseldorf_36.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":307,"start_point":[158,146],"end_point":[900,946],"distance":1091.1296898169346},{"start_region_id":307,"end_region_id":203,"start_point":[900,946],"end_point":[158,146],"distance":1091.1296898169346},{"start_region_id":294,"end_region_id":199,"start_point":[111,844],"end_point":[836,21],"distance":1096.7925966197986},{"start_region_id":199,"end_region_id":294,"start_point":[836,21],"end_point":[111,844],"distance":1096.7925966197986},{"start_region_id":203,"end_region_id":313,"start_point":[158,146],"end_point":[788,991],"distance":1054.0042694410683}],"complexity_score":0.720566136380893}
{"id":9524,"query_id":"Q01905","question":"A hiker is standing on a grassy, uneven field covered with shrubs and wild vegetation. They need to reach a flat, hard-surfaced area made of concrete or asphalt. The terrain includes patches of loose, sandy soil without vegetation, compacted dirt paths, and cultivated fields with planted crops. However, all vertical structures and liquid surfaces are completely impassable. What is the shortest possible route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"duesseldorf_36.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":307,"start_point":[118,24],"end_point":[900,946],"distance":1208.969809383179},{"start_region_id":1,"end_region_id":313,"start_point":[118,24],"end_point":[788,991],"distance":1176.4306184386735},{"start_region_id":1,"end_region_id":298,"start_point":[118,24],"end_point":[909,772],"distance":1088.662022851904},{"start_region_id":166,"end_region_id":203,"start_point":[941,854],"end_point":[158,146],"distance":1055.629196261642},{"start_region_id":84,"end_region_id":307,"start_point":[51,423],"end_point":[900,946],"distance":997.1609699541996}],"complexity_score":0.720566136380893}
{"id":13321,"query_id":"Q02665","question":"A quadcopter drone is starting from a densely vegetated area with tall, woody plants and needs to reach another such area. The terrain includes open grassy fields, hard paved surfaces, vehicle lanes, cultivated crop fields, and densely vegetated areas with tall, woody plants. The densely vegetated areas are passable as the drone can fly above the tree canopy. Solid vertical structures are passable as the drone can fly around them. Liquid surfaces are passable as the drone can fly over them. ","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"another densely vegetated area with tall, woody plants","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"duesseldorf_36.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":333,"end_region_id":496,"start_point":[63,75],"end_point":[872,843],"distance":1115.4841997984552},{"start_region_id":496,"end_region_id":333,"start_point":[872,843],"end_point":[63,75],"distance":1115.4841997984552},{"start_region_id":352,"end_region_id":473,"start_point":[947,181],"end_point":[30,768],"distance":1088.7873988984259},{"start_region_id":473,"end_region_id":352,"start_point":[30,768],"end_point":[947,181],"distance":1088.7873988984259},{"start_region_id":352,"end_region_id":502,"start_point":[947,181],"end_point":[196,906],"distance":1043.8515220087577}],"complexity_score":0.720566136380893}
{"id":3390,"query_id":"Q00678","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures providing overhead cover and needs to reach another similar vegetated area. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open, dry ground with loose or rocky surfaces; flat, hard artificial surfaces; vegetated areas with tall, leafy structures; and bodies of liquid. However, flying directly through dense clusters of tall, leafy structures is only possible if they are widely spaced, as navigating tight gaps risks damaging the equipment. The drone cannot land on or pass through solid vertical structures. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A vegetated area with tall, leafy structures providing overhead cover.","end_land_type":"Another vegetated area with tall, leafy structures providing overhead cover.","task_description":"What is the most comfortable route for the aerial survey drone to travel from the starting vegetated area to the destination vegetated area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"koeln_16.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":472,"start_point":[284,68],"end_point":[767,916],"distance":975.906245496974},{"start_region_id":472,"end_region_id":340,"start_point":[767,916],"end_point":[284,68],"distance":975.906245496974},{"start_region_id":340,"end_region_id":454,"start_point":[284,68],"end_point":[905,767],"distance":935.0090908648964},{"start_region_id":454,"end_region_id":340,"start_point":[905,767],"end_point":[284,68],"distance":935.0090908648964},{"start_region_id":343,"end_region_id":477,"start_point":[721,65],"end_point":[506,927],"distance":888.4081269326615}],"complexity_score":0.7212749107462708}
{"id":5593,"query_id":"Q01119","question":"A quadcopter drone is launched from a grassy, open field and needs to reach another grassy, open field. The terrain includes grassy areas with low vegetation and a paved, hard surface lane. The drone must avoid any areas with dense vertical obstacles or standing liquid. The operator's priority is to minimize risk of collision or signal interference.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, open field","end_land_type":"Another grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_16.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":6,"start_point":[558,454],"end_point":[630,52],"distance":408.3968658057992},{"start_region_id":6,"end_region_id":47,"start_point":[630,52],"end_point":[558,454],"distance":408.3968658057992}],"complexity_score":0.7212749107462708}
{"id":15174,"query_id":"Q03035","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a flat, hard-paved area as quickly as possible. The drone can fly over areas with tall vegetation and liquid surfaces, but must avoid vertical obstacles like structures or dense tree canopies that could obstruct its path. Which route allows the drone to achieve the fastest travel time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a flat, hard-paved area","task_description":"Which route allows the drone to achieve the fastest travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_16.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":263,"start_point":[630,52],"end_point":[91,978],"distance":1071.4462189022836},{"start_region_id":6,"end_region_id":208,"start_point":[630,52],"end_point":[121,812],"distance":914.702683936152},{"start_region_id":6,"end_region_id":197,"start_point":[630,52],"end_point":[309,867],"distance":875.937212361708},{"start_region_id":6,"end_region_id":149,"start_point":[630,52],"end_point":[108,555],"distance":724.9089598011601},{"start_region_id":47,"end_region_id":263,"start_point":[558,454],"end_point":[91,978],"distance":701.9009901688414}],"complexity_score":0.7212749107462708}
{"id":7387,"query_id":"Q01478","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and overhead canopy and needs to reach a flat, paved lane used by ground vehicles. The drone can fly over most surfaces, but must navigate carefully through areas with dense vertical obstacles that could cause turbulence and instability. The drone's operator prioritizes a smooth, stable flight path that minimizes vibration and sudden movements to protect sensitive onboard equipment. Which route provides the most comfortable flight?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and overhead canopy","end_land_type":"A flat, paved lane used by ground vehicles","task_description":"Which route provides the most comfortable flight?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"joplin_41.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":293,"start_point":[940,26],"end_point":[671,932],"distance":945.0910009094363},{"start_region_id":304,"end_region_id":293,"start_point":[880,124],"end_point":[671,932],"distance":834.5927150412948},{"start_region_id":306,"end_region_id":293,"start_point":[968,162],"end_point":[671,932],"distance":825.2932812037185},{"start_region_id":326,"end_region_id":293,"start_point":[122,315],"end_point":[671,932],"distance":825.8874015263824},{"start_region_id":322,"end_region_id":293,"start_point":[199,263],"end_point":[671,932],"distance":818.7459923566039}],"complexity_score":0.7214212048233845}
{"id":15365,"query_id":"Q03073","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a paved lane while prioritizing safety. The drone can fly over grassy areas, cultivated fields, bare earth, and liquid surfaces. However. The drone must exercise caution when flying near vertical structures or dense vegetation. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard surface","end_land_type":"a paved lane","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"joplin_41.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":293,"start_point":[179,17],"end_point":[671,932],"distance":1038.8883481876192},{"start_region_id":183,"end_region_id":293,"start_point":[27,146],"end_point":[671,932],"distance":1016.1358176936782},{"start_region_id":184,"end_region_id":293,"start_point":[147,110],"end_point":[671,932],"distance":974.8128025421086},{"start_region_id":181,"end_region_id":293,"start_point":[855,45],"end_point":[671,932],"distance":905.883546599672},{"start_region_id":180,"end_region_id":293,"start_point":[672,32],"end_point":[671,932],"distance":900.000555555384}],"complexity_score":0.7214212048233845}
{"id":1560,"query_id":"Q00312","question":"An aerial surveillance drone starts from a location with tall vertical obstacles that require careful navigation, and aiming to reach a flat, hard surface area. The aerial surveillance drone must avoid any liquid surfaces entirely, as they pose a significant risk of equipment failure if contact occurs. The drone is permitted to fly over areas with tall vertical obstacles only when absolutely necessary, as they increase collision risk. The drone can freely traverse open ground with loose or compacted soil, areas with low vegetation, and all hard, paved surfaces. The primary objective is to minimize risk of collision, damage, or loss of control during the flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall vertical obstacles that require careful navigation","end_land_type":"and aiming to reach a flat, hard surface area","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"chicago_10.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":178,"start_point":[116,229],"end_point":[901,903],"distance":1034.6501824288246},{"start_region_id":283,"end_region_id":178,"start_point":[18,910],"end_point":[901,903],"distance":883.0277458834462},{"start_region_id":197,"end_region_id":178,"start_point":[374,196],"end_point":[901,903],"distance":881.8038330603922},{"start_region_id":198,"end_region_id":183,"start_point":[615,205],"end_point":[108,906],"distance":865.1300480274627},{"start_region_id":278,"end_region_id":170,"start_point":[735,900],"end_point":[215,227],"distance":850.4875072568674}],"complexity_score":0.7215182159742883}
{"id":12316,"query_id":"Q02464","question":"A sedan starts from a paved lane and needs to reach a paved parking lot. The sedan can traverse areas with hard, stable surfaces like pavement and asphalt, as well as areas with soft, vegetated ground like grassy fields and cultivated soil, provided the ground is firm enough to support vehicle weight. However, the sedan cannot pass through any areas with dense vertical obstacles or liquid surfaces. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"A sedan","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chicago_10.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":112,"start_point":[901,903],"end_point":[48,142],"distance":1143.1229155257101},{"start_region_id":183,"end_region_id":104,"start_point":[108,906],"end_point":[806,22],"distance":1126.3480811898248},{"start_region_id":183,"end_region_id":108,"start_point":[108,906],"end_point":[867,119],"distance":1093.3663612897553},{"start_region_id":178,"end_region_id":127,"start_point":[901,903],"end_point":[10,311],"distance":1069.740622767968},{"start_region_id":178,"end_region_id":111,"start_point":[901,903],"end_point":[199,133],"distance":1041.9712088152917}],"complexity_score":0.7215182159742883}
{"id":15383,"query_id":"Q03077","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The drone can fly over grassy or shrub-covered areas, cultivated fields, and wooded patches, but must avoid vertical structures and liquid surfaces due to safety protocols. Which aerial path allows the drone to maintain the highest speed?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"Which aerial path allows the drone to maintain the highest speed?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,2,2,1,0,2,0],"image_name":"chicago_10.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":104,"start_point":[105,941],"end_point":[806,22],"distance":1155.8382239742723},{"start_region_id":104,"end_region_id":167,"start_point":[806,22],"end_point":[105,941],"distance":1155.8382239742723},{"start_region_id":108,"end_region_id":167,"start_point":[867,119],"end_point":[105,941],"distance":1120.860383812364},{"start_region_id":167,"end_region_id":108,"start_point":[105,941],"end_point":[867,119],"distance":1120.860383812364},{"start_region_id":104,"end_region_id":151,"start_point":[806,22],"end_point":[47,824],"distance":1104.2123889904515}],"complexity_score":0.7215182159742883}
{"id":16551,"query_id":"Q03311","question":"An aerial surveillance drone starts from a paved, hard surface and needs to complete a surveillance loop and return to another paved, hard surface. The drone must avoid any areas with tall, dense vegetation that could entangle its rotors. The drone is also prohibited from flying over any vertical structures that could cause collisions. The drone is permitted to fly over open grassy fields, cultivated crop fields, and bodies of water, as these present minimal collision risk. The primary objective is to minimize the risk of damage or loss of control during the flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chicago_10.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":178,"start_point":[215,227],"end_point":[901,903],"distance":963.1053940249737},{"start_region_id":178,"end_region_id":170,"start_point":[901,903],"end_point":[215,227],"distance":963.1053940249737},{"start_region_id":178,"end_region_id":183,"start_point":[901,903],"end_point":[108,906],"distance":793.005674632912},{"start_region_id":183,"end_region_id":178,"start_point":[108,906],"end_point":[901,903],"distance":793.005674632912},{"start_region_id":170,"end_region_id":179,"start_point":[215,227],"end_point":[567,934],"distance":789.7803492110955}],"complexity_score":0.7215182159742883}
{"id":5594,"query_id":"Q01119","question":"A quadcopter drone is launched from a grassy, open field and needs to reach another grassy, open field. The terrain includes grassy areas with low vegetation and a paved, hard surface lane. The drone must avoid any areas with dense vertical obstacles or standing liquid. The operator's priority is to minimize risk of collision or signal interference.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, open field","end_land_type":"Another grassy, open field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"koeln_18.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":86,"start_point":[830,161],"end_point":[46,898],"distance":1076.0227692758178},{"start_region_id":86,"end_region_id":12,"start_point":[46,898],"end_point":[830,161],"distance":1076.0227692758178},{"start_region_id":86,"end_region_id":43,"start_point":[46,898],"end_point":[948,336],"distance":1062.7549105979233},{"start_region_id":43,"end_region_id":86,"start_point":[948,336],"end_point":[46,898],"distance":1062.7549105979233},{"start_region_id":86,"end_region_id":5,"start_point":[46,898],"end_point":[757,119],"distance":1054.6857351837086}],"complexity_score":0.7218255093302933}
{"id":15175,"query_id":"Q03035","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach a flat, hard-paved area as quickly as possible. The drone can fly over areas with tall vegetation and liquid surfaces, but must avoid vertical obstacles like structures or dense tree canopies that could obstruct its path. Which route allows the drone to achieve the fastest travel time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"a flat, hard-paved area","task_description":"Which route allows the drone to achieve the fastest travel time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"koeln_18.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":129,"start_point":[948,336],"end_point":[43,744],"distance":992.7179861370499},{"start_region_id":12,"end_region_id":129,"start_point":[830,161],"end_point":[43,744],"distance":979.4171736292967},{"start_region_id":86,"end_region_id":109,"start_point":[46,898],"end_point":[605,108],"distance":967.7711506342808},{"start_region_id":5,"end_region_id":129,"start_point":[757,119],"end_point":[43,744],"distance":948.9051585906781},{"start_region_id":7,"end_region_id":111,"start_point":[23,55],"end_point":[850,511],"distance":944.3860439460126}],"complexity_score":0.7218255093302933}
{"id":1585,"query_id":"Q00317","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over hard surfaces, vehicle lanes, cultivated fields with low crops, and open grassy areas, but must avoid any dense vegetation or vertical structures that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,1,1,0,0,1,0],"image_name":"chicago_44.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":183,"start_point":[96,185],"end_point":[613,913],"distance":892.9014503292062},{"start_region_id":183,"end_region_id":176,"start_point":[613,913],"end_point":[96,185],"distance":892.9014503292062},{"start_region_id":178,"end_region_id":183,"start_point":[263,132],"end_point":[613,913],"distance":855.839354084632},{"start_region_id":183,"end_region_id":178,"start_point":[613,913],"end_point":[263,132],"distance":855.839354084632},{"start_region_id":177,"end_region_id":176,"start_point":[596,548],"end_point":[96,185],"distance":617.8745827431325}],"complexity_score":0.722182722329291}
{"id":2758,"query_id":"Q00552","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial grass area. The environment includes loose, sandy ground and cultivated fields, but the drone can fly over these areas. You must avoid tall vegetation and vertical structures unless flying at a safe altitude. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or artificial grass area","task_description":"What is the shortest path from the paved lane to the hard, flat surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chicago_44.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":163,"start_point":[96,185],"end_point":[835,880],"distance":1014.4683336605436},{"start_region_id":176,"end_region_id":159,"start_point":[96,185],"end_point":[885,787],"distance":992.4338768905463},{"start_region_id":183,"end_region_id":102,"start_point":[613,913],"end_point":[64,166],"distance":927.0436882909025},{"start_region_id":178,"end_region_id":163,"start_point":[263,132],"end_point":[835,880],"distance":941.6411205974387},{"start_region_id":176,"end_region_id":152,"start_point":[96,185],"end_point":[860,643],"distance":890.7637172673795}],"complexity_score":0.722182722329291}
{"id":5755,"query_id":"Q01151","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The terrain consists of hard, flat surfaces, including parking lots and vehicle lanes. All other surfaces are not traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the shortest path from the starting paved lane to the destination paved lane?","task_type":"Shortest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,1,0,0,0,0],"image_name":"chicago_44.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":183,"start_point":[96,185],"end_point":[613,913],"distance":892.9014503292062},{"start_region_id":183,"end_region_id":176,"start_point":[613,913],"end_point":[96,185],"distance":892.9014503292062},{"start_region_id":178,"end_region_id":183,"start_point":[263,132],"end_point":[613,913],"distance":855.839354084632},{"start_region_id":183,"end_region_id":178,"start_point":[613,913],"end_point":[263,132],"distance":855.839354084632},{"start_region_id":177,"end_region_id":176,"start_point":[596,548],"end_point":[96,185],"distance":617.8745827431325}],"complexity_score":0.722182722329291}
{"id":2643,"query_id":"Q00529","question":"A quadcopter drone is starting from a paved road surface and needs to reach a hard, flat paved area like a parking lot or sidewalk. The drone can fly over paved surfaces, compacted dirt areas, and open ground, but must avoid trees and buildings. The goal is to reach the destination as quickly as possible. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santa_rosa_50.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":288,"end_region_id":241,"start_point":[473,794],"end_point":[106,849],"distance":371.098369708087},{"start_region_id":287,"end_region_id":160,"start_point":[464,302],"end_point":[873,239],"distance":413.82363393117123},{"start_region_id":286,"end_region_id":182,"start_point":[633,105],"end_point":[350,308],"distance":348.2786240928375},{"start_region_id":287,"end_region_id":196,"start_point":[464,302],"end_point":[782,390],"distance":329.95151158920305},{"start_region_id":286,"end_region_id":196,"start_point":[633,105],"end_point":[782,390],"distance":321.5991293520553}],"complexity_score":0.7222384572805891}
{"id":5826,"query_id":"Q01166","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface. The drone can fly over liquid areas, but cannot pass through dense vertical obstacles like trees or structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_50.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":219,"start_point":[106,849],"end_point":[735,723],"distance":641.4959080150084},{"start_region_id":219,"end_region_id":241,"start_point":[735,723],"end_point":[106,849],"distance":641.4959080150084},{"start_region_id":160,"end_region_id":182,"start_point":[873,239],"end_point":[350,308],"distance":527.5319895513446},{"start_region_id":182,"end_region_id":160,"start_point":[350,308],"end_point":[873,239],"distance":527.5319895513446},{"start_region_id":241,"end_region_id":201,"start_point":[106,849],"end_point":[487,601],"distance":454.60422347356166}],"complexity_score":0.7222384572805891}
{"id":10743,"query_id":"Q02149","question":"A delivery drone starts from a paved road surface and needs to reach another paved road surface while prioritizing flight comfort. The drone can only travel over surfaces that allow stable and smooth aerial movement without turbulence or obstacles. Hard, flat surfaces like asphalt or concrete areas are allowed, as they provide a clear and predictable airspace. Soft, open ground such as sandy or rocky expanses without vegetation is also permitted if it is free of obstructions. Areas with low, even grass or shrubs are allowed only if the vegetation is short enough to avoid interference. All other surfaces, including those with tall trees, buildings, or water bodies, are impassable due to comfort and safety concerns, as they may cause instability or collisions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved road surface","end_land_type":"another paved road surface","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"santa_rosa_50.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":287,"end_region_id":286,"start_point":[464,302],"end_point":[633,105],"distance":259.5573154430443},{"start_region_id":286,"end_region_id":287,"start_point":[633,105],"end_point":[464,302],"distance":259.5573154430443}],"complexity_score":0.7222384572805891}
{"id":15472,"query_id":"Q03095","question":"An aerial surveillance drone starts from a hard, paved surface and needs to reach another hard, paved surface as quickly as possible. The drone can fly over all terrain types except for dense vertical obstacles, which must be avoided due to collision risk. The drone can traverse areas with loose soil and rocks, grassy and shrubby vegetation, all artificial hard surfaces, liquid bodies, and cultivated vegetation fields. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved surface","end_land_type":"Another hard, paved surface","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"santa_rosa_50.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":287,"end_region_id":286,"start_point":[464,302],"end_point":[633,105],"distance":259.5573154430443},{"start_region_id":286,"end_region_id":287,"start_point":[633,105],"end_point":[464,302],"distance":259.5573154430443}],"complexity_score":0.7222384572805891}
{"id":5546,"query_id":"Q01110","question":"A quadcopter starts from a paved vehicle lane and needs to reach a vegetated open area. The paved surface provides stable air currents below, while the vegetated area has turbulent air flow that may cause vibration. You must avoid all wooded areas, structures, and water bodies due to increased risk factors. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved vehicle lane","end_land_type":"vegetated open area","task_description":"What is the most comfortable flight path from the paved vehicle lane to the vegetated open area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"thousand_oaks_33.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":116,"start_point":[44,179],"end_point":[953,1006],"distance":1228.9060175619616},{"start_region_id":200,"end_region_id":53,"start_point":[44,179],"end_point":[981,744],"distance":1094.163607510321},{"start_region_id":201,"end_region_id":116,"start_point":[498,214],"end_point":[953,1006],"distance":913.3942193817519},{"start_region_id":205,"end_region_id":8,"start_point":[159,1004],"end_point":[724,237],"distance":952.6352922288781},{"start_region_id":205,"end_region_id":5,"start_point":[159,1004],"end_point":[463,118],"distance":936.7027276569659}],"complexity_score":0.7239918236978911}
{"id":12581,"query_id":"Q02517","question":"A quadcopter drone starts from a densely vegetated area with tall plants casting shadows and needs to reach another similar vegetated area. The terrain includes areas with loose, uneven ground covered by natural grasses and shrubs, hard-packed artificial surfaces like sidewalks and parking lots, smooth paved lanes designed for vehicles, and additional densely vegetated areas with tall plants. You must avoid all water bodies, buildings, bare sandy/rocky ground, and cultivated crop fields. Vertical obstacles like trees are passable only with careful navigation to avoid collisions. Given that you're prioritizing safety and minimizing risk of drone crash or damage, what is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall plants casting shadows","end_land_type":"another densely vegetated area with tall plants casting shadows","task_description":"What is the safest path from the starting vegetated area to the destination vegetated area?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,2,2,1,0,0,0],"image_name":"thousand_oaks_33.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":209,"end_region_id":363,"start_point":[711,99],"end_point":[890,984],"distance":902.9208160187692},{"start_region_id":363,"end_region_id":209,"start_point":[890,984],"end_point":[711,99],"distance":902.9208160187692},{"start_region_id":209,"end_region_id":341,"start_point":[711,99],"end_point":[270,880],"distance":896.906907097944},{"start_region_id":341,"end_region_id":209,"start_point":[270,880],"end_point":[711,99],"distance":896.906907097944},{"start_region_id":209,"end_region_id":351,"start_point":[711,99],"end_point":[937,923],"distance":854.4308046881268}],"complexity_score":0.7239918236978911}
{"id":5251,"query_id":"Q01051","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight and minimizing vibrations. The drone can fly over hard, flat surfaces, cultivated fields with low vegetation, and open water bodies. However, it must avoid areas with dense vertical obstacles that could cause turbulence or collisions. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,0,1,1,0,1,1,0],"cost_vector":[0,0,2,2,0,1,2,0],"image_name":"bogota_6.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":182,"start_point":[716,742],"end_point":[770,50],"distance":694.1037386443038},{"start_region_id":182,"end_region_id":193,"start_point":[770,50],"end_point":[716,742],"distance":694.1037386443038},{"start_region_id":190,"end_region_id":182,"start_point":[360,471],"end_point":[770,50],"distance":587.6572130077193},{"start_region_id":182,"end_region_id":190,"start_point":[770,50],"end_point":[360,471],"distance":587.6572130077193},{"start_region_id":183,"end_region_id":193,"start_point":[726,216],"end_point":[716,742],"distance":526.0950484465711}],"complexity_score":0.724084673706402}
{"id":10010,"query_id":"Q02002","question":"A quadcopter drone starts from a patch of grassy, shrub-covered terrain and needs to reach a paved roadway. The area includes open ground with low plants, hard flat surfaces, vehicle lanes, and trees that can be flown around if you maintain a safe distance. Buildings and water bodies are accessible but may pose risks. What is the fastest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of grassy, shrub-covered terrain","end_land_type":"a paved roadway","task_description":"What is the fastest flight path from the grassy shrub-covered start to the paved roadway?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"bogota_6.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":182,"start_point":[215,857],"end_point":[770,50],"distance":979.4253417182955},{"start_region_id":82,"end_region_id":182,"start_point":[421,936],"end_point":[770,50],"distance":952.2588933688149},{"start_region_id":72,"end_region_id":182,"start_point":[113,740],"end_point":[770,50],"distance":952.7586263057397},{"start_region_id":74,"end_region_id":183,"start_point":[215,857],"end_point":[726,216],"distance":819.7572811509514},{"start_region_id":7,"end_region_id":193,"start_point":[258,90],"end_point":[716,742],"distance":796.7860440544877}],"complexity_score":0.724084673706402}
{"id":12920,"query_id":"Q02584","question":"A passenger car starts from a paved parking lot and needs to reach another paved parking lot while prioritizing a smooth and comfortable ride. The car can travel on hard, paved surfaces like roads and parking areas, as well as on firm, vegetated ground such as grassy fields and cultivated land, provided the terrain is flat and solid enough to support vehicle weight without causing excessive bumpiness or instability. However, sandy or rocky areas, tree-covered zones, water bodies, and buildings are not traversable. What is the most comfortable path?","agent_category":"Car","specific_agent":"a passenger car","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","task_description":"What is the most comfortable path for the passenger car to take?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[0,1,1,1,0,0,1,0],"cost_vector":[0,1,3,4,0,0,2,0],"image_name":"bogota_6.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":105,"start_point":[130,827],"end_point":[931,75],"distance":1098.6833028675735},{"start_region_id":105,"end_region_id":158,"start_point":[931,75],"end_point":[130,827],"distance":1098.6833028675735},{"start_region_id":158,"end_region_id":104,"start_point":[130,827],"end_point":[828,139],"distance":980.0755072952287},{"start_region_id":104,"end_region_id":158,"start_point":[828,139],"end_point":[130,827],"distance":980.0755072952287},{"start_region_id":168,"end_region_id":105,"start_point":[546,944],"end_point":[931,75],"distance":950.4662013980297}],"complexity_score":0.724084673706402}
{"id":14579,"query_id":"Q02916","question":"A hiker is standing in a wooded area with tall vegetation. They need to reach another wooded area. The hiker can walk on hard, paved surfaces and vehicle lanes. They are also permitted to traverse open, loose soil areas; low, natural vegetation patches; cultivated crop fields; and wooded areas, provided they stay on established trails. The hiker cannot cross liquid bodies or enter solid structures. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a wooded area with tall vegetation","end_land_type":"another wooded area with tall vegetation","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"bogota_6.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":204,"start_point":[95,912],"end_point":[900,141],"distance":1114.6595892917262},{"start_region_id":204,"end_region_id":246,"start_point":[900,141],"end_point":[95,912],"distance":1114.6595892917262},{"start_region_id":246,"end_region_id":217,"start_point":[95,912],"end_point":[994,362],"distance":1053.898002654906},{"start_region_id":217,"end_region_id":246,"start_point":[994,362],"end_point":[95,912],"distance":1053.898002654906},{"start_region_id":246,"end_region_id":200,"start_point":[95,912],"end_point":[715,100],"distance":1021.637900628202}],"complexity_score":0.724084673706402}
{"id":17046,"query_id":"Q03410","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, grassy or shrub-covered areas, and open ground, but it must avoid flying through dense vertical obstacles or entering enclosed structures. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path for the quadcopter drone to take?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"accra_22.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":316,"end_region_id":313,"start_point":[570,515],"end_point":[106,61],"distance":649.1625374280312},{"start_region_id":313,"end_region_id":316,"start_point":[106,61],"end_point":[570,515],"distance":649.1625374280312},{"start_region_id":316,"end_region_id":314,"start_point":[570,515],"end_point":[245,451],"distance":331.2416036671722},{"start_region_id":314,"end_region_id":316,"start_point":[245,451],"end_point":[570,515],"distance":331.2416036671722},{"start_region_id":314,"end_region_id":313,"start_point":[245,451],"end_point":[106,61],"distance":414.03019213579097}],"complexity_score":0.7244210415435051}
{"id":5487,"query_id":"Q01098","question":"An off-road vehicle is starting from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The vehicle can traverse across soft, vegetated ground with scattered shrubs and bushes, as well as across hard, flat surfaces like paved parking lots or compacted artificial areas. The vehicle must avoid all trees, water bodies, and buildings, which are completely impassable. What is the fastest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest route for the off-road vehicle to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,2,3,0,0,0,0],"image_name":"chisinau_35.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":3,"start_point":[844,507],"end_point":[369,69],"distance":646.1184102004833},{"start_region_id":3,"end_region_id":60,"start_point":[369,69],"end_point":[844,507],"distance":646.1184102004833},{"start_region_id":72,"end_region_id":3,"start_point":[629,655],"end_point":[369,69],"distance":641.0896973123184},{"start_region_id":3,"end_region_id":72,"start_point":[369,69],"end_point":[629,655],"distance":641.0896973123184},{"start_region_id":72,"end_region_id":5,"start_point":[629,655],"end_point":[694,41],"distance":617.4309678012595}],"complexity_score":0.7244477529528718}
{"id":8257,"query_id":"Q01652","question":"An off-road vehicle starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, hard surface such as a parking lot or construction site. The terrain includes loose, sandy ground and rocky patches that are traversable with off-road capability, while trees, water bodies, and buildings are completely impassable. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface like a parking lot or construction site","task_description":"What is the shortest path from the grassy, uneven starting point to the paved destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_35.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":225,"start_point":[369,69],"end_point":[885,947],"distance":1018.4007069911136},{"start_region_id":5,"end_region_id":225,"start_point":[694,41],"end_point":[885,947],"distance":925.9141428879893},{"start_region_id":60,"end_region_id":174,"start_point":[844,507],"end_point":[28,493],"distance":816.1200892025633},{"start_region_id":5,"end_region_id":174,"start_point":[694,41],"end_point":[28,493],"distance":804.8975090034755},{"start_region_id":3,"end_region_id":188,"start_point":[369,69],"end_point":[876,648],"distance":769.6037941694415}],"complexity_score":0.7244477529528718}
{"id":14804,"query_id":"Q02961","question":"A quadcopter drone starts from a paved lane and needs to reach a grassy area. The terrain includes loose, sandy ground and areas with scattered trees. The drone can fly over all surfaces except it must avoid flying directly through dense tree canopies or close to vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"paved lane","end_land_type":"grassy area","task_description":"What is the shortest path from the paved lane to the grassy area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_35.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":3,"start_point":[946,717],"end_point":[369,69],"distance":867.6594954243283},{"start_region_id":243,"end_region_id":3,"start_point":[636,774],"end_point":[369,69],"distance":753.8660358445657},{"start_region_id":243,"end_region_id":5,"start_point":[636,774],"end_point":[694,41],"distance":735.2910988173323},{"start_region_id":241,"end_region_id":5,"start_point":[946,717],"end_point":[694,41],"distance":721.4429984413183},{"start_region_id":233,"end_region_id":5,"start_point":[248,529],"end_point":[694,41],"distance":661.1051353604811}],"complexity_score":0.7244477529528718}
{"id":17072,"query_id":"Q03415","question":"A quadcopter drone starts from a flat paved surface and needs to reach another flat paved surface as quickly as possible. The environment includes open grassy areas, hard artificial surfaces, and vehicle lanes. The drone can fly over all these terrains without restriction, as they are all clear of permanent vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat paved surface","end_land_type":"flat paved surface","task_description":"What is the fastest path for the quadcopter drone to reach the destination flat paved surface?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"chisinau_35.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":174,"start_point":[954,120],"end_point":[28,493],"distance":998.3010567959948},{"start_region_id":174,"end_region_id":143,"start_point":[28,493],"end_point":[954,120],"distance":998.3010567959948},{"start_region_id":174,"end_region_id":225,"start_point":[28,493],"end_point":[885,947],"distance":969.8273042145183},{"start_region_id":225,"end_region_id":174,"start_point":[885,947],"end_point":[28,493],"distance":969.8273042145183},{"start_region_id":167,"end_region_id":174,"start_point":[884,400],"end_point":[28,493],"distance":861.0371652838221}],"complexity_score":0.7244477529528718}
{"id":3655,"query_id":"Q00731","question":"A quadcopter drone is positioned on a paved lane and needs to reach a paved open area. The drone can fly over loose, dry ground without vegetation, as well as over liquid surfaces. However, it must avoid flying through dense vertical obstacles that could entangle its rotors. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved lane","end_land_type":"paved open area","task_description":"What is the fastest route for the quadcopter drone to travel from the paved lane to the paved open area?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"kitsap_26.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":206,"start_point":[224,218],"end_point":[932,842],"distance":943.7372515695245},{"start_region_id":225,"end_region_id":148,"start_point":[810,508],"end_point":[102,17],"distance":861.5944521641258},{"start_region_id":222,"end_region_id":213,"start_point":[224,218],"end_point":[613,961],"distance":838.6715686131253},{"start_region_id":222,"end_region_id":196,"start_point":[224,218],"end_point":[819,710],"distance":772.0680021863359},{"start_region_id":225,"end_region_id":173,"start_point":[810,508],"end_point":[74,428],"distance":740.3350592805936}],"complexity_score":0.7246179668281149}
{"id":5515,"query_id":"Q01103","question":"A quadcopter starts from a paved vehicle lane and needs to reach another paved vehicle lane. The quadcopter can fly over grassy terrain and paved surfaces, but cannot fly through dense tree canopies or inside buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved vehicle lane","end_land_type":"paved vehicle lane","task_description":"What is the shortest path for the quadcopter to reach the destination paved vehicle lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"kitsap_26.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":225,"start_point":[224,218],"end_point":[810,508],"distance":653.8317826474942},{"start_region_id":225,"end_region_id":222,"start_point":[810,508],"end_point":[224,218],"distance":653.8317826474942},{"start_region_id":221,"end_region_id":222,"start_point":[444,502],"end_point":[224,218],"distance":359.2436499090833},{"start_region_id":222,"end_region_id":221,"start_point":[224,218],"end_point":[444,502],"distance":359.2436499090833},{"start_region_id":221,"end_region_id":225,"start_point":[444,502],"end_point":[810,508],"distance":366.04917702407147}],"complexity_score":0.7246179668281149}
{"id":10246,"query_id":"Q02050","question":"An off-road vehicle starts from a hard, paved surface and needs to reach a paved lane. The vehicle can drive on paved roads and hard surfaces, and is also equipped to handle loose soil and areas with sparse vegetation. However, the vehicle cannot drive through dense vegetation, structures, or bodies of water. What is the shortest path to the paved lane?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"paved lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"kitsap_26.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":222,"start_point":[932,842],"end_point":[224,218],"distance":943.7372515695245},{"start_region_id":148,"end_region_id":225,"start_point":[102,17],"end_point":[810,508],"distance":861.5944521641258},{"start_region_id":213,"end_region_id":222,"start_point":[613,961],"end_point":[224,218],"distance":838.6715686131253},{"start_region_id":196,"end_region_id":222,"start_point":[819,710],"end_point":[224,218],"distance":772.0680021863359},{"start_region_id":173,"end_region_id":225,"start_point":[74,428],"end_point":[810,508],"distance":740.3350592805936}],"complexity_score":0.7246179668281149}
{"id":14936,"query_id":"Q02988","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area while prioritizing a smooth and stable journey. The drone can traverse most surfaces, including soft ground and vegetated patches, but must avoid dense vertical obstacles and liquid surfaces to ensure comfort. Which path should the quadcopter drone take to maximize ride comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"Which path should the quadcopter drone take to maximize ride comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"kitsap_26.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":115,"start_point":[224,218],"end_point":[887,861],"distance":923.5897357593359},{"start_region_id":222,"end_region_id":116,"start_point":[224,218],"end_point":[620,832],"distance":730.6243905044506},{"start_region_id":222,"end_region_id":32,"start_point":[224,218],"end_point":[970,295],"distance":749.9633324369933},{"start_region_id":225,"end_region_id":18,"start_point":[810,508],"end_point":[142,228],"distance":724.309326185988},{"start_region_id":225,"end_region_id":52,"start_point":[810,508],"end_point":[99,394],"distance":720.0812454160989}],"complexity_score":0.7246179668281149}
{"id":1171,"query_id":"Q00235","question":"A quadcopter drone starts from a grassy field and needs to reach another grassy field area while prioritizing safety. The drone can fly over paved lanes used by vehicles, and can navigate around individual trees or groups of trees that are identifiable by their shape and height, maintaining a safe distance to avoid collisions. However, the drone must avoid all hard artificial surfaces like sidewalks, parking lots, and construction sites; all natural areas covered by sand or rocks without vegetation; all cultivated crop fields and grazing pastures; all water bodies; and all buildings. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"chisinau_28.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":37,"start_point":[743,970],"end_point":[167,406],"distance":806.1463886912848},{"start_region_id":37,"end_region_id":87,"start_point":[167,406],"end_point":[743,970],"distance":806.1463886912848},{"start_region_id":42,"end_region_id":87,"start_point":[82,560],"end_point":[743,970],"distance":777.8309584993387},{"start_region_id":87,"end_region_id":42,"start_point":[743,970],"end_point":[82,560],"distance":777.8309584993387},{"start_region_id":87,"end_region_id":21,"start_point":[743,970],"end_point":[616,217],"distance":763.6347294354808}],"complexity_score":0.7246861345325143}
{"id":10209,"query_id":"Q02042","question":"An off-road vehicle starts from a paved street and needs to reach a grassy meadow. The available terrain includes firm, compacted surfaces, loose sandy areas, and vegetated patches with low bushes. You cannot drive through wooded areas, across water, or into any buildings. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved street","end_land_type":"grassy meadow","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_28.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":87,"start_point":[190,57],"end_point":[743,970],"distance":1067.4165072735198},{"start_region_id":218,"end_region_id":91,"start_point":[190,57],"end_point":[608,973],"distance":1006.8664260963318},{"start_region_id":232,"end_region_id":33,"start_point":[102,869],"end_point":[940,313],"distance":1005.6739034100467},{"start_region_id":226,"end_region_id":34,"start_point":[835,758],"end_point":[45,346],"distance":890.9792365706397},{"start_region_id":232,"end_region_id":21,"start_point":[102,869],"end_point":[616,217],"distance":830.2409288875127}],"complexity_score":0.7246861345325143}
{"id":14799,"query_id":"Q02960","question":"A hiker starts from a paved lane and needs to reach a grassy area. The terrain includes loose, sandy ground and areas with scattered trees. You cannot cross any water bodies or enter any structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved lane","end_land_type":"grassy area","task_description":"What is the shortest path from the paved lane to the grassy area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"chisinau_28.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":87,"start_point":[190,57],"end_point":[743,970],"distance":1067.4165072735198},{"start_region_id":218,"end_region_id":91,"start_point":[190,57],"end_point":[608,973],"distance":1006.8664260963318},{"start_region_id":232,"end_region_id":33,"start_point":[102,869],"end_point":[940,313],"distance":1005.6739034100467},{"start_region_id":226,"end_region_id":34,"start_point":[835,758],"end_point":[45,346],"distance":890.9792365706397},{"start_region_id":232,"end_region_id":21,"start_point":[102,869],"end_point":[616,217],"distance":830.2409288875127}],"complexity_score":0.7246861345325143}
{"id":17079,"query_id":"Q03416","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain. The area includes hard, paved surfaces and vehicle lanes, but these are currently unsafe due to heavy traffic and slippery conditions, so they must be avoided. You can only travel across grassy, uneven terrain and stable, flat surfaces like sidewalks or parking lots. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path?","task_type":"Safest","input_classes":["Rangeland","Developed space"],"traverse_vector":[0,1,1,0,0,0,0,0],"cost_vector":[0,1,2,0,0,0,0,0],"image_name":"chisinau_28.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":45,"start_point":[82,560],"end_point":[289,555],"distance":207.06037766796427},{"start_region_id":45,"end_region_id":42,"start_point":[289,555],"end_point":[82,560],"distance":207.06037766796427}],"complexity_score":0.7246861345325143}
{"id":3716,"query_id":"Q00744","question":"A quadcopter drone is starting from a paved, hard surface and needs to reach a wooded area with tall vegetation. The terrain includes loose, sandy ground; grassy and shrubby areas; artificial hard surfaces like parking lots and sidewalks; vehicle lanes; and cultivated fields. The drone can navigate through the wooded area by flying between tree canopies. The drone must find the safest path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a wooded area with tall vegetation","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"ngaoundere_53.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":132,"start_point":[79,855],"end_point":[984,274],"distance":1075.4468838580547},{"start_region_id":86,"end_region_id":132,"start_point":[194,977],"end_point":[984,274],"distance":1057.5013002356072},{"start_region_id":64,"end_region_id":162,"start_point":[966,160],"end_point":[38,553],"distance":1007.7861876410095},{"start_region_id":72,"end_region_id":162,"start_point":[995,486],"end_point":[38,553],"distance":959.3424831622959},{"start_region_id":58,"end_region_id":132,"start_point":[69,334],"end_point":[984,274],"distance":916.9651029346754}],"complexity_score":0.7257352972193982}
{"id":8338,"query_id":"Q01668","question":"An off-road vehicle starts from a paved surface and needs to reach a grassy or shrub-covered ground. The terrain includes only hard, flat surfaces, loose sandy or rocky ground, and vegetated areas. The hard, flat surfaces are traversable by default. The loose sandy or rocky ground is traversable because it is compacted and firm. The grassy or shrub-covered ground is traversable because the vegetation is short and sparse. All other terrain types, such as vertical obstacles, liquid bodies, and cultivated fields, are not allowed due to physical barriers or restrictions.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved surface","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"ngaoundere_53.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":9,"start_point":[194,977],"end_point":[988,90],"distance":1190.4641951776625},{"start_region_id":80,"end_region_id":9,"start_point":[79,855],"end_point":[988,90],"distance":1188.0681798617452},{"start_region_id":86,"end_region_id":2,"start_point":[194,977],"end_point":[868,111],"distance":1097.375049834832},{"start_region_id":80,"end_region_id":2,"start_point":[79,855],"end_point":[868,111],"distance":1084.4616175780498},{"start_region_id":86,"end_region_id":1,"start_point":[194,977],"end_point":[625,25],"distance":1045.0191385807248}],"complexity_score":0.7257352972193982}
{"id":10166,"query_id":"Q02034","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas of loose soil and rocks, patches of grass and shrubs, and other hard surfaces like sidewalks and roads. You must avoid any trees or buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"another paved, hard surface","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"ngaoundere_53.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":64,"start_point":[79,855],"end_point":[966,160],"distance":1126.8513655314084},{"start_region_id":64,"end_region_id":80,"start_point":[966,160],"end_point":[79,855],"distance":1126.8513655314084},{"start_region_id":86,"end_region_id":64,"start_point":[194,977],"end_point":[966,160],"distance":1124.043148637987},{"start_region_id":64,"end_region_id":86,"start_point":[966,160],"end_point":[194,977],"distance":1124.043148637987},{"start_region_id":61,"end_region_id":86,"start_point":[798,147],"end_point":[194,977],"distance":1026.5066974939814}],"complexity_score":0.7257352972193982}
{"id":17110,"query_id":"Q03422","question":"A quadcopter drone is starting from a cluster of tall, vertical obstacles that rise above the ground. It needs to reach a flat expanse covered with low-growing natural plants. The environment includes open areas with firm, level surfaces and scattered tall obstacles that can be flown around with caution. The drone must avoid any liquid surfaces and man-made vertical structures, as these pose collision risks. What is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cluster of tall, vertical obstacles that rise above the ground","end_land_type":"a flat expanse covered with low-growing natural plants","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"ngaoundere_53.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":9,"start_point":[38,553],"end_point":[988,90],"distance":1056.8202306920512},{"start_region_id":162,"end_region_id":18,"start_point":[38,553],"end_point":[983,390],"distance":958.9546391774743},{"start_region_id":162,"end_region_id":2,"start_point":[38,553],"end_point":[868,111],"distance":940.3531251609685},{"start_region_id":132,"end_region_id":54,"start_point":[984,274],"end_point":[294,911],"distance":939.0788039350052},{"start_region_id":162,"end_region_id":50,"start_point":[38,553],"end_point":[849,937],"distance":897.3165550684997}],"complexity_score":0.7257352972193982}
{"id":39,"query_id":"Q00008","question":"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 clustered tall vegetation, though these may slow it down due to the need for careful navigation. The cultivated field is traversable. However, the drone cannot use any hard, paved surfaces like sidewalks or roads, any liquid surfaces such as rivers or lakes, or any solid, vertical structures like buildings. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a grassy, shrub-covered area","task_description":"What is the fastest path for the drone?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Agriculture land"],"traverse_vector":[1,1,0,0,1,0,1,0],"cost_vector":[2,2,0,0,1,0,2,0],"image_name":"lohur_14.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":423,"end_region_id":52,"start_point":[993,738],"end_point":[399,637],"distance":602.5255181318049},{"start_region_id":423,"end_region_id":28,"start_point":[993,738],"end_point":[572,361],"distance":565.1283040159996},{"start_region_id":424,"end_region_id":28,"start_point":[826,733],"end_point":[572,361],"distance":450.4442251822083},{"start_region_id":424,"end_region_id":52,"start_point":[826,733],"end_point":[399,637],"distance":437.65854270195615},{"start_region_id":409,"end_region_id":1,"start_point":[66,425],"end_point":[55,54],"distance":371.16303695276554}],"complexity_score":0.7261085241303386}
{"id":7847,"query_id":"Q01570","question":"A quadcopter drone is deployed from a paved lane and needs to reach a cultivated field. The drone can fly over hard surfaces, loose sandy or rocky ground, liquid bodies, and planted areas, but cannot pass through dense vertical obstacles like tall trees or solid structures. What is the shortest path to the field?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a cultivated field","task_description":"What is the shortest path to the field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"lohur_14.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":409,"start_point":[699,849],"end_point":[66,425],"distance":761.8825368782251},{"start_region_id":250,"end_region_id":407,"start_point":[699,849],"end_point":[951,148],"distance":744.9194587336272},{"start_region_id":249,"end_region_id":407,"start_point":[336,619],"end_point":[951,148],"distance":774.6392708867786},{"start_region_id":249,"end_region_id":423,"start_point":[336,619],"end_point":[993,738],"distance":667.6900478515462},{"start_region_id":249,"end_region_id":438,"start_point":[336,619],"end_point":[787,979],"distance":577.0623883082313}],"complexity_score":0.7261085241303386}
{"id":7949,"query_id":"Q01590","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with dense tree trunks and roots. The drone seeks a path that maximizes comfort by avoiding vibrations and instability, preferring open, clear spaces over cluttered ones. All surfaces except vertical structures are traversable, but flying over liquid areas may cause discomfort due to spray or reflections, and navigating through dense trees requires careful maneuvering. Buildings are accessible but may pose obstacles.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a wooded area with dense tree trunks and roots","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"lohur_14.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":402,"end_region_id":389,"start_point":[883,54],"end_point":[184,998],"distance":1174.6220668793858},{"start_region_id":407,"end_region_id":389,"start_point":[951,148],"end_point":[184,998],"distance":1144.8969385931644},{"start_region_id":423,"end_region_id":259,"start_point":[993,738],"end_point":[25,135],"distance":1140.4529801793672},{"start_region_id":438,"end_region_id":259,"start_point":[787,979],"end_point":[25,135],"distance":1137.0927842528947},{"start_region_id":436,"end_region_id":259,"start_point":[669,961],"end_point":[25,135],"distance":1047.383406399013}],"complexity_score":0.7261085241303386}
{"id":4201,"query_id":"Q00841","question":"A delivery drone is on a concrete landing pad and needs to fly to a tree canopy while ensuring a smooth and stable flight for the safety of its package. The drone can fly over various surfaces including loose soil, grassy areas, paved zones, roads, and cultivated fields. Flying near buildings or through dense tree branches is possible but may cause turbulence. Flying over water is allowed but may be less comfortable due to wind patterns. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a concrete landing pad","end_land_type":"a tree canopy","task_description":"What is the most comfortable flight path for the delivery drone to travel from the concrete landing pad to the tree canopy?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"shanghai_11.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":94,"start_point":[75,611],"end_point":[600,54],"distance":765.4240654695932},{"start_region_id":80,"end_region_id":94,"start_point":[36,518],"end_point":[600,54],"distance":730.3369085565921},{"start_region_id":85,"end_region_id":94,"start_point":[353,619],"end_point":[600,54],"distance":616.6311701495473},{"start_region_id":71,"end_region_id":94,"start_point":[52,299],"end_point":[600,54],"distance":600.2741040558055},{"start_region_id":81,"end_region_id":94,"start_point":[221,516],"end_point":[600,54],"distance":597.5658959478862}],"complexity_score":0.7266251134670527}
{"id":8774,"query_id":"Q01755","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cluster of tall, vertical structures with overhead canopy. The drone can traverse loose, sandy or rocky ground without vegetation, areas with low, natural vegetation like grass and shrubs, paved hard surfaces, vehicle lanes, and tall vertical structures with canopy, as aerial movement allows passage. However, the drone must avoid any liquid surfaces and man-made structures with walls and roofs, as these are restricted for safety. The goal is to find a path that provides the smoothest and most stable flying experience.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface area","end_land_type":"A cluster of tall, vertical structures with overhead canopy","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"shanghai_11.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":94,"start_point":[75,611],"end_point":[600,54],"distance":765.4240654695932},{"start_region_id":80,"end_region_id":94,"start_point":[36,518],"end_point":[600,54],"distance":730.3369085565921},{"start_region_id":85,"end_region_id":94,"start_point":[353,619],"end_point":[600,54],"distance":616.6311701495473},{"start_region_id":71,"end_region_id":94,"start_point":[52,299],"end_point":[600,54],"distance":600.2741040558055},{"start_region_id":81,"end_region_id":94,"start_point":[221,516],"end_point":[600,54],"distance":597.5658959478862}],"complexity_score":0.7266251134670527}
{"id":13246,"query_id":"Q02650","question":"A hiker is standing on a grassy, uneven field and needs to reach a smooth, paved walkway. The hiker can traverse grassy fields, cultivated crop areas, and wooded patches with trees, but must avoid any liquid surfaces and vertical structures. The hiker prefers surfaces that provide stable footing and minimal discomfort. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a grassy, uneven field","end_land_type":"a smooth, paved walkway","task_description":"What is the most comfortable path?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"shanghai_11.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":84,"start_point":[552,84],"end_point":[75,611],"distance":710.8150251647752},{"start_region_id":1,"end_region_id":80,"start_point":[552,84],"end_point":[36,518],"distance":674.2492120870443},{"start_region_id":2,"end_region_id":84,"start_point":[442,161],"end_point":[75,611],"distance":580.679774057957},{"start_region_id":1,"end_region_id":85,"start_point":[552,84],"end_point":[353,619],"distance":570.8117027531933},{"start_region_id":1,"end_region_id":71,"start_point":[552,84],"end_point":[52,299],"distance":544.2655601817921}],"complexity_score":0.7266251134670527}
{"id":2014,"query_id":"Q00403","question":"A quadcopter drone starts from a paved road surface and needs to reach a wooded area with tall trees. The drone can fly over hard surfaces, vehicle lanes, cultivated fields, and forested zones. However, flying near vertical structures or through dense tree canopies increases collision risk, and flying over liquid surfaces or near buildings is hazardous due to potential signal interference or physical obstacles. The drone operator seeks the path that minimizes risk of damage or loss.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a wooded area with tall trees","task_description":"What is the safest route for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"tonga_4.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":278,"end_region_id":390,"start_point":[293,50],"end_point":[761,941],"distance":1006.4318158722924},{"start_region_id":282,"end_region_id":305,"start_point":[917,832],"end_point":[112,239],"distance":999.8369867133342},{"start_region_id":278,"end_region_id":398,"start_point":[293,50],"end_point":[74,999],"distance":973.9414766812224},{"start_region_id":281,"end_region_id":390,"start_point":[120,306],"end_point":[761,941],"distance":902.2782275994473},{"start_region_id":281,"end_region_id":357,"start_point":[120,306],"end_point":[962,622],"distance":899.3442055186657}],"complexity_score":0.7279112885112327}
{"id":12091,"query_id":"Q02419","question":"A surveillance drone is positioned on a paved, hard surface and needs to reach a grassy, open area. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles and solid structures. It should prioritize terrains that minimize the risk of collisions or instability. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, open area","task_description":"What is the safest path for the surveillance drone to take from the paved, hard surface to the grassy, open area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"tonga_4.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":127,"start_point":[869,69],"end_point":[152,965],"distance":1147.5648129844344},{"start_region_id":258,"end_region_id":23,"start_point":[36,890],"end_point":[959,204],"distance":1150.0108695138495},{"start_region_id":258,"end_region_id":4,"start_point":[36,890],"end_point":[793,59],"distance":1124.104087707184},{"start_region_id":150,"end_region_id":127,"start_point":[915,178],"end_point":[152,965],"distance":1096.146887967119},{"start_region_id":267,"end_region_id":4,"start_point":[207,957],"end_point":[793,59],"distance":1072.2872749408155}],"complexity_score":0.7279112885112327}
{"id":15676,"query_id":"Q03136","question":"A delivery drone starts from a flat, artificial hard surface and needs to reach a cluster of tall vertical obstacles. The drone can fly over grassy or shrub-covered terrain, cultivated fields, the hard surface, and the vertical obstacles themselves, but must navigate carefully around the obstacles to avoid collisions. The drone cannot land on or traverse through any liquid surfaces. The goal is to minimize risk during the flight.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat, artificial hard surface","end_land_type":"cluster of tall vertical obstacles","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[0,1,1,1,1,0,1,1],"cost_vector":[0,2,2,2,1,0,2,1],"image_name":"tonga_4.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":398,"start_point":[869,69],"end_point":[74,999],"distance":1223.488863864318},{"start_region_id":150,"end_region_id":398,"start_point":[915,178],"end_point":[74,999],"distance":1175.2965583204948},{"start_region_id":179,"end_region_id":398,"start_point":[1002,341],"end_point":[74,999],"distance":1137.606258773219},{"start_region_id":143,"end_region_id":398,"start_point":[699,66],"end_point":[74,999],"distance":1122.993321440515},{"start_region_id":153,"end_region_id":390,"start_point":[92,152],"end_point":[761,941],"distance":1034.447678715555}],"complexity_score":0.7279112885112327}
{"id":11897,"query_id":"Q02380","question":"A hiker starts from a paved, hard surface area and needs to reach a vehicle lane. The hiker can traverse hard, compacted surfaces like sidewalks and parking lots, as well as loose, sandy or rocky ground without vegetation, and vehicle lanes. The hiker cannot traverse areas with standing liquid, vertical structures, cultivated crops, dense vegetation, or grassy fields. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the shortest path for the hiker to take?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"san_tome_33.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":220,"start_point":[432,936],"end_point":[662,188],"distance":782.5624575712791},{"start_region_id":191,"end_region_id":220,"start_point":[429,830],"end_point":[662,188],"distance":682.9736451723448},{"start_region_id":181,"end_region_id":220,"start_point":[319,743],"end_point":[662,188],"distance":652.4369701358132},{"start_region_id":131,"end_region_id":227,"start_point":[360,155],"end_point":[665,739],"distance":658.8482374568516},{"start_region_id":137,"end_region_id":227,"start_point":[920,174],"end_point":[665,739],"distance":619.8790204547981}],"complexity_score":0.7279814169192319}
{"id":15862,"query_id":"Q03173","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open grassy area. The drone can fly over areas with loose soil and vegetation, as well as liquid surfaces, but must avoid tall vertical obstacles that could cause collisions. The paved areas and grassy fields are generally safe for flight, while liquid surfaces and vertical structures pose higher risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open grassy area","task_description":"What is the safest path to the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"san_tome_33.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":111,"start_point":[75,182],"end_point":[993,982],"distance":1217.6715484891647},{"start_region_id":156,"end_region_id":111,"start_point":[79,285],"end_point":[993,982],"distance":1149.436818620319},{"start_region_id":144,"end_region_id":102,"start_point":[989,243],"end_point":[135,922],"distance":1091.0348298748304},{"start_region_id":137,"end_region_id":102,"start_point":[920,174],"end_point":[135,922],"distance":1084.3103799189603},{"start_region_id":146,"end_region_id":91,"start_point":[75,182],"end_point":[942,825],"distance":1079.4155826186686}],"complexity_score":0.7279814169192319}
{"id":1096,"query_id":"Q00220","question":"An aerial surveillance drone starts from an area of low, wild vegetation and grass and needs to reach a cluster of tall, vertical structures with distinct shadows and height. The drone can fly over open sandy or rocky ground, areas with wild vegetation, hard paved surfaces, vehicle lanes, liquid bodies, and cultivated fields. However. The tall vertical structures themselves can only be approached if there is sufficient clearance between them to avoid collision. The liquid bodies present a risk of spray or downdraft turbulence, and the tall structures present a collision risk if flown too close. The drone must find a path that minimizes the risk of loss of control, collision, or damage.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of low, wild vegetation and grass.","end_land_type":"The destination is a cluster of tall, vertical structures with distinct shadows and height.","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"melbourne_60.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":104,"start_point":[982,570],"end_point":[37,937],"distance":1013.7622995554727},{"start_region_id":15,"end_region_id":100,"start_point":[982,570],"end_point":[30,833],"distance":987.6603667253232},{"start_region_id":29,"end_region_id":100,"start_point":[951,998],"end_point":[30,833],"distance":935.6634010155575},{"start_region_id":29,"end_region_id":104,"start_point":[951,998],"end_point":[37,937],"distance":916.0332963380753},{"start_region_id":25,"end_region_id":100,"start_point":[912,930],"end_point":[30,833],"distance":887.3178686355865}],"complexity_score":0.7282749769896278}
{"id":3787,"query_id":"Q00758","question":"A hiker starts from a densely vegetated area with tall, woody plants and overhead canopy and needs to reach an open area covered with low, natural grasses and shrubs. The terrain includes loose, sandy or rocky surfaces without vegetation; open spaces with low grasses and shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes made of asphalt or concrete; cultivated fields with crops; and densely vegetated areas with tall, woody plants. You must avoid any liquid surfaces and vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants and overhead canopy","end_land_type":"an open area covered with low, natural grasses and shrubs","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"melbourne_60.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":15,"start_point":[37,937],"end_point":[982,570],"distance":1013.7622995554727},{"start_region_id":100,"end_region_id":15,"start_point":[30,833],"end_point":[982,570],"distance":987.6603667253232},{"start_region_id":100,"end_region_id":29,"start_point":[30,833],"end_point":[951,998],"distance":935.6634010155575},{"start_region_id":104,"end_region_id":29,"start_point":[37,937],"end_point":[951,998],"distance":916.0332963380753},{"start_region_id":100,"end_region_id":25,"start_point":[30,833],"end_point":[912,930],"distance":887.3178686355865}],"complexity_score":0.7282749769896278}
{"id":5389,"query_id":"Q01078","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight for sensor calibration. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid dense vertical obstacles that could cause turbulence. The drone cannot land on or traverse through solid vertical structures or natural accumulations of loose earth materials. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable path for the aerial survey drone to travel from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,1,1,1,0,1,1,0],"cost_vector":[0,2,2,2,0,1,2,0],"image_name":"melbourne_60.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":59,"start_point":[353,155],"end_point":[917,944],"distance":969.854112740674},{"start_region_id":59,"end_region_id":53,"start_point":[917,944],"end_point":[353,155],"distance":969.854112740674},{"start_region_id":54,"end_region_id":59,"start_point":[864,211],"end_point":[917,944],"distance":734.9136003640156},{"start_region_id":59,"end_region_id":54,"start_point":[917,944],"end_point":[864,211],"distance":734.9136003640156},{"start_region_id":56,"end_region_id":54,"start_point":[401,756],"end_point":[864,211],"distance":715.1181720527035}],"complexity_score":0.7282749769896278}
{"id":1184,"query_id":"Q00237","question":"An aerial survey drone starts from a hard, flat, paved surface and needs to reach an area of natural, uncultivated vegetation. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. While the drone can fly over most surfaces, it must avoid dense vertical obstacles like trees, as navigating through them would cause turbulence and jostling. It can safely fly over open water, but the drone's sensors are susceptible to moisture interference, making water crossings less desirable. The drone can traverse bare, rocky ground and open grassy areas, but these offer less predictable airflow than paved or developed surfaces. The drone cannot enter solid structures. Given these constraints, what is the most comfortable route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, paved surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the most comfortable route for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"chisinau_59.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":45,"start_point":[983,44],"end_point":[72,759],"distance":1158.078581098882},{"start_region_id":128,"end_region_id":40,"start_point":[983,44],"end_point":[49,675],"distance":1127.1721252763484},{"start_region_id":128,"end_region_id":59,"start_point":[983,44],"end_point":[562,906],"distance":959.3148596785104},{"start_region_id":130,"end_region_id":2,"start_point":[263,757],"end_point":[722,39],"distance":852.1766248847712},{"start_region_id":127,"end_region_id":42,"start_point":[121,208],"end_point":[775,738],"distance":841.7933238034143}],"complexity_score":0.728765615645325}
{"id":10230,"query_id":"Q02046","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area. The terrain includes loose, sandy or rocky surfaces without vegetation, and vehicle lanes with hard surfaces like asphalt or concrete. However, areas with tall vegetation or trees are blocked due to dense growth, and water bodies or buildings are strictly impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, hard-paved area","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"chisinau_59.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":118,"start_point":[722,39],"end_point":[179,929],"distance":1042.56846297977},{"start_region_id":45,"end_region_id":77,"start_point":[72,759],"end_point":[916,213],"distance":1005.2124153630416},{"start_region_id":2,"end_region_id":120,"start_point":[722,39],"end_point":[399,969],"distance":984.4942864232377},{"start_region_id":40,"end_region_id":77,"start_point":[49,675],"end_point":[916,213],"distance":982.4118281046905},{"start_region_id":45,"end_region_id":74,"start_point":[72,759],"end_point":[761,83],"distance":965.2445286040216}],"complexity_score":0.728765615645325}
{"id":14865,"query_id":"Q02973","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved, hard-surfaced area. The terrain includes loose, sandy or rocky ground without vegetation; areas with grass and shrubs that are not cultivated; smooth, artificial surfaces like sidewalks and parking lots; individual trees or groups of trees; and cultivated crop fields. You cannot travel over liquid surfaces or enter any structures. As a hiker, you can walk on the paved surfaces and roads by default. You can also traverse the loose ground, grassy areas, crop fields, and wooded areas because you have appropriate footwear for varied terrain. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"paved, hard-surfaced area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"chisinau_59.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":118,"start_point":[722,39],"end_point":[179,929],"distance":1042.56846297977},{"start_region_id":45,"end_region_id":77,"start_point":[72,759],"end_point":[916,213],"distance":1005.2124153630416},{"start_region_id":2,"end_region_id":120,"start_point":[722,39],"end_point":[399,969],"distance":984.4942864232377},{"start_region_id":40,"end_region_id":77,"start_point":[49,675],"end_point":[916,213],"distance":982.4118281046905},{"start_region_id":45,"end_region_id":74,"start_point":[72,759],"end_point":[761,83],"distance":965.2445286040216}],"complexity_score":0.728765615645325}
{"id":9974,"query_id":"Q01995","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial turf as quickly as possible. The drone can traverse areas with loose soil and sparse vegetation, as well as patches of trees and buildings, but must avoid water bodies. Which path should the drone take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or artificial turf","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"paris_19.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":43,"start_point":[561,149],"end_point":[109,534],"distance":593.7415262553227},{"start_region_id":59,"end_region_id":40,"start_point":[119,566],"end_point":[571,315],"distance":517.0154736562533},{"start_region_id":51,"end_region_id":35,"start_point":[561,149],"end_point":[49,113],"distance":513.264064590538},{"start_region_id":59,"end_region_id":28,"start_point":[119,566],"end_point":[465,389],"distance":388.6450823051798},{"start_region_id":59,"end_region_id":35,"start_point":[119,566],"end_point":[49,113],"distance":458.3764828173452}],"complexity_score":0.729024318819371}
{"id":14455,"query_id":"Q02891","question":"An aerial survey drone starts from a cluster of tall, leafy vegetation that provides elevated coverage and needs to reach a long, paved strip designed for high-speed ground vehicles. The drone must avoid any liquid surfaces and man-made structures. It can traverse open areas of loose soil and rocks, grassy or shrub-covered fields, and cultivated crop fields. The tall vegetation areas are passable but require careful navigation to avoid collisions. The primary objective is to minimize risk during flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation that provides elevated coverage.","end_land_type":"A long, paved strip designed for high-speed ground vehicles.","task_description":"What is the safest path for the aerial survey drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[1,1,0,1,1,0,1,0],"cost_vector":[2,2,0,2,1,0,2,0],"image_name":"paris_19.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":50,"start_point":[60,29],"end_point":[305,275],"distance":347.1901496298534},{"start_region_id":85,"end_region_id":50,"start_point":[293,509],"end_point":[305,275],"distance":234.30749027719963}],"complexity_score":0.729024318819371}
{"id":3852,"query_id":"Q00771","question":"A quadcopter drone takes off from a vegetated, open area with low plants and must land on a flat, artificial surface. The airspace includes regions of exposed earth and rocks, hard-surfaced lanes, cultivated vegetation zones, and tall, dense vegetation. The drone is permitted to fly over liquid areas but should avoid vertical obstacles and dense overhead vegetation for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated, open area with low plants","end_land_type":"a flat, artificial surface","task_description":"What is the safest flight path?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"abancay_50.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":117,"start_point":[78,31],"end_point":[894,888],"distance":1183.3448356248487},{"start_region_id":1,"end_region_id":114,"start_point":[78,31],"end_point":[989,738],"distance":1153.1565375091102},{"start_region_id":1,"end_region_id":136,"start_point":[78,31],"end_point":[723,941],"distance":1115.403514428747},{"start_region_id":12,"end_region_id":114,"start_point":[61,180],"end_point":[989,738],"distance":1082.8425554991825},{"start_region_id":12,"end_region_id":117,"start_point":[61,180],"end_point":[894,888],"distance":1093.230533785075}],"complexity_score":0.7293104459667471}
{"id":5252,"query_id":"Q01051","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight and minimizing vibrations. The drone can fly over hard, flat surfaces, cultivated fields with low vegetation, and open water bodies. However, it must avoid areas with dense vertical obstacles that could cause turbulence or collisions. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the most comfortable route?","task_type":"Comfort","input_classes":["Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,0,1,1,0,1,1,0],"cost_vector":[0,0,2,2,0,1,2,0],"image_name":"abancay_50.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":147,"start_point":[312,629],"end_point":[932,549],"distance":625.1399843235114},{"start_region_id":147,"end_region_id":148,"start_point":[932,549],"end_point":[312,629],"distance":625.1399843235114}],"complexity_score":0.7293104459667471}
{"id":14580,"query_id":"Q02916","question":"A hiker is standing in a wooded area with tall vegetation. They need to reach another wooded area. The hiker can walk on hard, paved surfaces and vehicle lanes. They are also permitted to traverse open, loose soil areas; low, natural vegetation patches; cultivated crop fields; and wooded areas, provided they stay on established trails. The hiker cannot cross liquid bodies or enter solid structures. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a wooded area with tall vegetation","end_land_type":"another wooded area with tall vegetation","task_description":"What is the shortest route to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"abancay_50.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":170,"start_point":[920,146],"end_point":[323,221],"distance":601.6926125522899},{"start_region_id":170,"end_region_id":169,"start_point":[323,221],"end_point":[920,146],"distance":601.6926125522899},{"start_region_id":149,"end_region_id":169,"start_point":[329,140],"end_point":[920,146],"distance":591.0304560680439},{"start_region_id":169,"end_region_id":149,"start_point":[920,146],"end_point":[329,140],"distance":591.0304560680439},{"start_region_id":170,"end_region_id":168,"start_point":[323,221],"end_point":[783,192],"distance":460.91322393700096}],"complexity_score":0.7293104459667471}
{"id":16914,"query_id":"Q03383","question":"An aerial survey drone is positioned on a flat, paved, and stable surface. It needs to reach an area covered with low, natural vegetation. The drone can fly over open water bodies, but must avoid tall, dense vertical obstacles like trees and structures. The mission requires minimizing risk of collision or instability. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved, and stable surface","end_land_type":"An area covered with low, natural vegetation","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"monrovia_67.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":110,"start_point":[265,41],"end_point":[817,993],"distance":1100.4580864349173},{"start_region_id":119,"end_region_id":70,"start_point":[988,67],"end_point":[193,823],"distance":1097.0692776666385},{"start_region_id":119,"end_region_id":108,"start_point":[988,67],"end_point":[406,973],"distance":1076.8286771812868},{"start_region_id":119,"end_region_id":44,"start_point":[988,67],"end_point":[20,446],"distance":1039.5503835793627},{"start_region_id":127,"end_region_id":110,"start_point":[49,302],"end_point":[817,993],"distance":1033.1045445645857}],"complexity_score":0.7299540524677287}
{"id":8329,"query_id":"Q01666","question":"A quadcopter drone starts from a grassy, open field with low vegetation and needs to reach another grassy, open field with low vegetation. The drone can fly over hard, flat surfaces like paved areas and roads, as well as soft, loose ground like sandy or rocky expanses. It can also traverse liquid surfaces such as rivers or lakes. However. The drone must avoid tall, dense vegetation like trees and cannot pass through solid vertical structures like buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"another grassy, open field with low vegetation","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"chisinau_43.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":115,"start_point":[52,155],"end_point":[713,810],"distance":930.5621956645348},{"start_region_id":115,"end_region_id":13,"start_point":[713,810],"end_point":[52,155],"distance":930.5621956645348},{"start_region_id":115,"end_region_id":40,"start_point":[713,810],"end_point":[26,241],"distance":892.0369947485362},{"start_region_id":40,"end_region_id":115,"start_point":[26,241],"end_point":[713,810],"distance":892.0369947485362}],"complexity_score":0.7300827898704538}
{"id":10196,"query_id":"Q02040","question":"A hiker is standing on a paved, hard surface and wants to reach a grassy, open field. The hiker can walk across loose, sandy patches and low vegetation areas, but must avoid dense clusters of tall vertical obstacles due to difficult navigation. The hiker cannot travel over liquid surfaces or enter solid structures. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open field","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"chisinau_43.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":13,"start_point":[850,987],"end_point":[52,155],"distance":1152.8347669982893},{"start_region_id":230,"end_region_id":40,"start_point":[850,987],"end_point":[26,241],"distance":1111.526877767695},{"start_region_id":228,"end_region_id":13,"start_point":[505,943],"end_point":[52,155],"distance":908.9295902323788},{"start_region_id":228,"end_region_id":40,"start_point":[505,943],"end_point":[26,241],"distance":849.8499867623698},{"start_region_id":217,"end_region_id":13,"start_point":[546,815],"end_point":[52,155],"distance":824.4003881609955}],"complexity_score":0.7300827898704538}
{"id":12737,"query_id":"Q02548","question":"A quadcopter drone starts from a paved road and needs to reach a flat, hard-surfaced area. The terrain includes grassy fields, cultivated fields, and the paved road and hard surface at the start and end. You must avoid flying over water bodies, trees, and buildings to ensure a smooth and stable flight. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"chisinau_43.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":295,"end_region_id":200,"start_point":[889,877],"end_point":[47,590],"distance":889.5689967619151},{"start_region_id":295,"end_region_id":194,"start_point":[889,877],"end_point":[116,518],"distance":852.2968966269912},{"start_region_id":281,"end_region_id":230,"start_point":[107,638],"end_point":[850,987],"distance":820.8836701993773},{"start_region_id":295,"end_region_id":178,"start_point":[889,877],"end_point":[280,364],"distance":796.2725663992198},{"start_region_id":295,"end_region_id":202,"start_point":[889,877],"end_point":[198,606],"distance":742.2412006888327}],"complexity_score":0.7300827898704538}
{"id":17096,"query_id":"Q03420","question":"A delivery drone starts from a flat, artificial surface and needs to reach a dense group of vertical obstacles with foliage. The drone can fly over most terrain types, including grassy areas and hard surfaces, but must navigate carefully around tall vertical structures and vegetation to avoid turbulence and ensure a smooth, stable flight. Liquid surfaces are permissible but may cause discomfort due to spray or reflection issues. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat, artificial surface","end_land_type":"a dense group of vertical obstacles with foliage","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[3,3,3,3,1,2,3,3],"image_name":"chisinau_43.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":312,"start_point":[850,987],"end_point":[143,79],"distance":1150.7879909001483},{"start_region_id":230,"end_region_id":298,"start_point":[850,987],"end_point":[216,51],"distance":1130.5096195964013},{"start_region_id":230,"end_region_id":327,"start_point":[850,987],"end_point":[99,218],"distance":1074.8776674580229},{"start_region_id":140,"end_region_id":409,"start_point":[1000,45],"end_point":[364,895],"distance":1061.6006782213358},{"start_region_id":140,"end_region_id":391,"start_point":[1000,45],"end_point":[292,754],"distance":1001.9705584496982}],"complexity_score":0.7300827898704538}
{"id":4347,"query_id":"Q00870","question":"A hiker starts from a paved area and needs to reach a wooded area. The hiker can traverse paved surfaces, vehicle lanes, and wooded areas. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"wooded area","task_description":"What is the shortest path from the paved area to the wooded area?","task_type":"Shortest","input_classes":["Developed space","Road","Tree"],"traverse_vector":[0,0,1,1,1,0,0,0],"cost_vector":[0,0,1,1,1,0,0,0],"image_name":"mexico_city_24.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":346,"end_region_id":495,"start_point":[85,924],"end_point":[981,94],"distance":1221.3582602987544},{"start_region_id":145,"end_region_id":643,"start_point":[134,145],"end_point":[899,927],"distance":1093.9602369373395},{"start_region_id":346,"end_region_id":520,"start_point":[85,924],"end_point":[957,283],"distance":1082.2499711249707},{"start_region_id":138,"end_region_id":643,"start_point":[379,41],"end_point":[899,927],"distance":1027.3246809066743},{"start_region_id":346,"end_region_id":511,"start_point":[85,924],"end_point":[733,130],"distance":1024.8609661802911}],"complexity_score":0.7305418638240272}
{"id":4733,"query_id":"Q00947","question":"A delivery van begins on an asphalt roadway and must reach a flat, paved area such as a parking lot or construction site in the shortest time. It can also drive over plowed fields if needed, though these are uneven and slower. The van cannot go through wooded areas, water bodies, buildings, bare rocky ground, or natural grassy patches.","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the fastest route for the delivery van?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,2,3,0,0,1,0],"image_name":"mexico_city_24.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":452,"end_region_id":138,"start_point":[856,750],"end_point":[379,41],"distance":854.5232588993701},{"start_region_id":381,"end_region_id":358,"start_point":[427,115],"end_point":[641,911],"distance":824.2645206485597},{"start_region_id":381,"end_region_id":359,"start_point":[427,115],"end_point":[458,935],"distance":820.5857663888644},{"start_region_id":452,"end_region_id":160,"start_point":[856,750],"end_point":[245,348],"distance":731.3856711749281},{"start_region_id":402,"end_region_id":359,"start_point":[701,239],"end_point":[458,935],"distance":737.2007867602964}],"complexity_score":0.7305418638240272}
{"id":9528,"query_id":"Q01906","question":"An off-road vehicle is positioned on a bumpy, vegetated surface with scattered bushes. It must get to a smooth, paved area. The environment consists of sandy, rocky ground, unpaved compacted surfaces, and tilled agricultural plots. However, all areas with tall vegetation, liquid bodies, and man-made structures are blocked and cannot be crossed. What is the shortest possible route?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest possible route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"mexico_city_24.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":240,"start_point":[76,127],"end_point":[55,470],"distance":343.64225584174017}],"complexity_score":0.7305418638240272}
{"id":1897,"query_id":"Q00380","question":"A hiker is standing in a densely vegetated area with tall, woody plants and needs to reach a hard, paved surface designed for vehicles. The hiker seeks a path that provides a smooth and stable walking experience. The terrain includes areas of loose, sandy soil and rocks; open fields covered with natural grasses and shrubs; cultivated fields with crops; and the aforementioned vegetated areas. The hiker can traverse the vegetated areas because there are established trails through them. The hiker cannot travel over liquid surfaces or enter vertical structures. What is the most comfortable route for the hiker to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a hard, paved surface designed for vehicles","task_description":"What is the most comfortable route for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"panama_city_46.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":425,"end_region_id":294,"start_point":[957,749],"end_point":[78,54],"distance":1120.5650360420852},{"start_region_id":469,"end_region_id":298,"start_point":[228,1004],"end_point":[866,146],"distance":1069.2090534596123},{"start_region_id":317,"end_region_id":305,"start_point":[171,155],"end_point":[872,924],"distance":1040.5585038814493},{"start_region_id":420,"end_region_id":294,"start_point":[866,742],"end_point":[78,54],"distance":1046.0822147422257},{"start_region_id":390,"end_region_id":294,"start_point":[945,601],"end_point":[78,54],"distance":1025.1331620818828}],"complexity_score":0.7310642609470789}
{"id":2523,"query_id":"Q00505","question":"A family sedan starts from a paved road surface and needs to reach another paved road surface while ensuring a smooth and stable ride. The vehicle must stay on hard, even surfaces to avoid vibrations and discomfort, and cannot drive on soft ground, vegetation, liquid areas, or vertical obstacles. What is the most comfortable path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved road surface","end_land_type":"a paved road surface","task_description":"What is the most comfortable path for the family sedan to take?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"panama_city_46.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":302,"start_point":[496,635],"end_point":[203,685],"distance":297.2355967915014},{"start_region_id":302,"end_region_id":300,"start_point":[203,685],"end_point":[496,635],"distance":297.2355967915014}],"complexity_score":0.7310642609470789}
{"id":7144,"query_id":"Q01429","question":"An aerial surveillance drone starts from a vegetated area with tall, dense foliage and needs to reach a paved, hard surface. The drone must avoid any liquid surfaces due to the risk of signal interference or splash damage, and cannot pass through solid vertical structures. The vegetated areas are passable only if the drone flies at a sufficient altitude to clear the canopy. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, dense foliage","end_land_type":"a paved, hard surface","task_description":"What is the safest path for the aerial surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"panama_city_46.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":425,"end_region_id":294,"start_point":[957,749],"end_point":[78,54],"distance":1120.5650360420852},{"start_region_id":469,"end_region_id":298,"start_point":[228,1004],"end_point":[866,146],"distance":1069.2090534596123},{"start_region_id":317,"end_region_id":305,"start_point":[171,155],"end_point":[872,924],"distance":1040.5585038814493},{"start_region_id":420,"end_region_id":294,"start_point":[866,742],"end_point":[78,54],"distance":1046.0822147422257},{"start_region_id":390,"end_region_id":294,"start_point":[945,601],"end_point":[78,54],"distance":1025.1331620818828}],"complexity_score":0.7310642609470789}
{"id":10753,"query_id":"Q02151","question":"An aerial surveillance drone starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, as well as liquid surfaces, but must avoid tall vertical obstacles that could obstruct its flight path. Which path allows the drone to travel the fastest?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"Which path allows the drone to travel the fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"panama_city_46.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":73,"start_point":[947,51],"end_point":[24,853],"distance":1222.7563125987124},{"start_region_id":73,"end_region_id":11,"start_point":[24,853],"end_point":[947,51],"distance":1222.7563125987124},{"start_region_id":77,"end_region_id":11,"start_point":[154,942],"end_point":[947,51],"distance":1192.7824613063356},{"start_region_id":11,"end_region_id":77,"start_point":[947,51],"end_point":[154,942],"distance":1192.7824613063356},{"start_region_id":65,"end_region_id":1,"start_point":[947,881],"end_point":[29,129],"distance":1186.6878275266836}],"complexity_score":0.7310642609470789}
{"id":12245,"query_id":"Q02449","question":"A hiker starts from a paved lane and needs to reach a grassy field. The terrain includes hard, flat surfaces suitable for walking; areas with short, maintained vegetation; and patches with taller, denser vegetation that may slow movement. You cannot cross any liquid surfaces or enter any solid structures. What is the shortest path to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest path to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"panama_city_46.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":65,"start_point":[78,54],"end_point":[947,881],"distance":1199.6207734113311},{"start_region_id":305,"end_region_id":1,"start_point":[872,924],"end_point":[29,129],"distance":1158.738106735081},{"start_region_id":306,"end_region_id":11,"start_point":[234,904],"end_point":[947,51],"distance":1111.7454744679646},{"start_region_id":305,"end_region_id":4,"start_point":[872,924],"end_point":[202,45],"distance":1105.233459500752},{"start_region_id":298,"end_region_id":73,"start_point":[866,146],"end_point":[24,853],"distance":1099.460322158103}],"complexity_score":0.7310642609470789}
{"id":5833,"query_id":"Q01167","question":"A surveillance drone starts from a flat, artificial surface and needs to reach a dense area of elevated natural obstacles. The drone can fly over the flat, artificial surface and the dense, elevated obstacles, but must avoid liquid areas and man-made vertical structures due to safety risks such as collisions or signal interference. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a flat, artificial surface","end_land_type":"a dense area of elevated natural obstacles","task_description":"What is the safest path for the surveillance drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santa_rosa_36.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":325,"end_region_id":418,"start_point":[615,775],"end_point":[83,135],"distance":832.240349898994},{"start_region_id":325,"end_region_id":395,"start_point":[615,775],"end_point":[233,49],"distance":820.3657720797473},{"start_region_id":325,"end_region_id":405,"start_point":[615,775],"end_point":[547,92],"distance":686.3767187193924},{"start_region_id":325,"end_region_id":419,"start_point":[615,775],"end_point":[827,191],"distance":621.2889826803627},{"start_region_id":325,"end_region_id":451,"start_point":[615,775],"end_point":[158,444],"distance":564.2783001321245}],"complexity_score":0.731239492420717}
{"id":10747,"query_id":"Q02150","question":"A quadcopter drone starts from a densely vegetated area with tall vertical structures and needs to reach a flat, hard, artificial surface. The drone can fly over open grassy areas, soft ground with scattered vegetation, paved surfaces, and liquid bodies, but must navigate carefully around tall vertical structures. The flat, hard, artificial surface is your destination. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall vertical structures","end_land_type":"a flat, hard, artificial surface","task_description":"What is the fastest route from the starting point to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"santa_rosa_36.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":418,"end_region_id":325,"start_point":[83,135],"end_point":[615,775],"distance":832.240349898994},{"start_region_id":395,"end_region_id":325,"start_point":[233,49],"end_point":[615,775],"distance":820.3657720797473},{"start_region_id":405,"end_region_id":325,"start_point":[547,92],"end_point":[615,775],"distance":686.3767187193924},{"start_region_id":419,"end_region_id":325,"start_point":[827,191],"end_point":[615,775],"distance":621.2889826803627},{"start_region_id":451,"end_region_id":325,"start_point":[158,444],"end_point":[615,775],"distance":564.2783001321245}],"complexity_score":0.731239492420717}
{"id":16377,"query_id":"Q03276","question":"A hiker starts from a paved road surface and needs to reach another paved road surface. The hiker can walk across sandy or rocky ground, grassy or shrubby areas, and farm fields, but cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the shortest path for the hiker to travel from the starting paved road surface to the destination paved road surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"santa_rosa_36.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":392,"end_region_id":391,"start_point":[603,634],"end_point":[714,90],"distance":555.2089696681782},{"start_region_id":391,"end_region_id":392,"start_point":[714,90],"end_point":[603,634],"distance":555.2089696681782},{"start_region_id":392,"end_region_id":390,"start_point":[603,634],"end_point":[302,158],"distance":563.1846943942991},{"start_region_id":390,"end_region_id":392,"start_point":[302,158],"end_point":[603,634],"distance":563.1846943942991},{"start_region_id":390,"end_region_id":391,"start_point":[302,158],"end_point":[714,90],"distance":417.5739455473725}],"complexity_score":0.731239492420717}
{"id":9313,"query_id":"Q01863","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cluster of tall, leafy vegetation. The drone can fly over rough, loose soil and cultivated fields, but must avoid vertical structures and liquid areas. The paved surface is available, but the drone prioritizes minimizing risk of collision or instability. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cluster of tall, leafy vegetation","task_description":"What is the safest path for the quadcopter drone to take from the paved, hard surface to the cluster of tall, leafy vegetation?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"rio_59.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":72,"start_point":[193,183],"end_point":[395,259],"distance":215.82400237230334},{"start_region_id":52,"end_region_id":72,"start_point":[279,77],"end_point":[395,259],"distance":215.82400237230334}],"complexity_score":0.7319494366458508}
{"id":13406,"query_id":"Q02682","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a tall, leafy canopy as quickly as possible. The drone can fly over loose, sandy ground and vertical obstacles, but must avoid liquid areas and solid structures. Which path allows the drone to travel fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a tall, leafy canopy","task_description":"Which path allows the drone to travel fastest?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"rio_59.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":72,"start_point":[193,183],"end_point":[395,259],"distance":215.82400237230334},{"start_region_id":52,"end_region_id":72,"start_point":[279,77],"end_point":[395,259],"distance":215.82400237230334}],"complexity_score":0.7319494366458508}
{"id":13872,"query_id":"Q02775","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface area. The terrain includes hard, compacted surfaces; soft, loose ground with no vegetation; grassy and shrubby areas; and cultivated fields with crops. The drone can traverse all these terrain types, but must avoid any areas with tall vertical obstacles or liquid bodies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"rio_59.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":28,"start_point":[350,322],"end_point":[65,32],"distance":406.6017707782395},{"start_region_id":28,"end_region_id":44,"start_point":[65,32],"end_point":[350,322],"distance":406.6017707782395},{"start_region_id":44,"end_region_id":35,"start_point":[350,322],"end_point":[82,125],"distance":332.6153935102824},{"start_region_id":35,"end_region_id":44,"start_point":[82,125],"end_point":[350,322],"distance":332.6153935102824}],"complexity_score":0.7319494366458508}
{"id":1414,"query_id":"Q00283","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over hard, flat surfaces like sidewalks and parking lots, as well as liquid surfaces. It can also pass through areas with tall vertical obstacles, but these slow it down due to navigation complexity. The drone cannot land on or traverse loose soil, grassy areas, or cultivated fields. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest path for the aerial surveillance drone to reach the destination paved lane?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Water","Building"],"traverse_vector":[0,0,1,1,1,1,0,1],"cost_vector":[0,0,2,2,1,2,0,2],"image_name":"koeln_33.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":179,"start_point":[68,614],"end_point":[979,132],"distance":1030.6527058131658},{"start_region_id":179,"end_region_id":183,"start_point":[979,132],"end_point":[68,614],"distance":1030.6527058131658},{"start_region_id":183,"end_region_id":197,"start_point":[68,614],"end_point":[942,919],"distance":925.6894727715121},{"start_region_id":197,"end_region_id":183,"start_point":[942,919],"end_point":[68,614],"distance":925.6894727715121},{"start_region_id":178,"end_region_id":183,"start_point":[852,142],"end_point":[68,614],"distance":915.1174787971214}],"complexity_score":0.7320723102052279}
{"id":5605,"query_id":"Q01121","question":"A quadcopter starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas of soft, uneven ground covered with grass and shrubs. You must avoid any vertical structures, liquid surfaces, cultivated fields, loose sandy or rocky expanses, and wooded areas. As a quadcopter operator seeking a smooth and stable flight, what is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter","start_land_type":"a paved, hard surface","end_land_type":"a paved, hard surface","task_description":"What is the most comfortable path from the starting paved surface to the destination paved surface?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,1,1,0,0,0,0],"image_name":"koeln_33.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":179,"start_point":[68,614],"end_point":[979,132],"distance":1030.6527058131658},{"start_region_id":179,"end_region_id":183,"start_point":[979,132],"end_point":[68,614],"distance":1030.6527058131658},{"start_region_id":183,"end_region_id":197,"start_point":[68,614],"end_point":[942,919],"distance":925.6894727715121},{"start_region_id":197,"end_region_id":183,"start_point":[942,919],"end_point":[68,614],"distance":925.6894727715121},{"start_region_id":178,"end_region_id":183,"start_point":[852,142],"end_point":[68,614],"distance":915.1174787971214}],"complexity_score":0.7320723102052279}
{"id":3654,"query_id":"Q00731","question":"A quadcopter drone is positioned on a paved lane and needs to reach a paved open area. The drone can fly over loose, dry ground without vegetation, as well as over liquid surfaces. However, it must avoid flying through dense vertical obstacles that could entangle its rotors. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved lane","end_land_type":"paved open area","task_description":"What is the fastest route for the quadcopter drone to travel from the paved lane to the paved open area?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road","Water"],"traverse_vector":[1,0,1,1,0,1,0,0],"cost_vector":[1,0,1,1,0,1,0,0],"image_name":"kitsap_25.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":137,"start_point":[431,915],"end_point":[893,26],"distance":1001.8807314246542},{"start_region_id":211,"end_region_id":133,"start_point":[431,915],"end_point":[12,116],"distance":902.1984260682348},{"start_region_id":211,"end_region_id":141,"start_point":[431,915],"end_point":[822,98],"distance":905.7427890963306},{"start_region_id":211,"end_region_id":135,"start_point":[431,915],"end_point":[495,7],"distance":910.2527121629465},{"start_region_id":211,"end_region_id":134,"start_point":[431,915],"end_point":[220,85],"distance":856.4000233535728}],"complexity_score":0.7321692562717412}
{"id":5510,"query_id":"Q01102","question":"A hiker starts from a location with tall, vertical obstacles that provide overhead cover but limit ground-level movement and needs to reach an area of open, low-lying vegetation that offers clear visibility and stable footing. The terrain consists only of surfaces with loose soil and scattered low plants, and surfaces with dense vertical structures that can be navigated around but not through. The hiker must avoid any hard paved surfaces, artificial structures, cultivated fields, water bodies, or completely barren ground to minimize risks like slips, falls, or getting stuck.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a location with tall, vertical obstacles that provide overhead cover but limit ground-level movement","end_land_type":"needing to reach an area of open, low-lying vegetation that offers clear visibility and stable footing","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Tree"],"traverse_vector":[0,1,0,0,1,0,0,0],"cost_vector":[0,2,0,0,1,0,0,0],"image_name":"kitsap_25.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":24,"start_point":[253,433],"end_point":[278,212],"distance":222.40953216982405}],"complexity_score":0.7321692562717412}
{"id":14875,"query_id":"Q02975","question":"A quadcopter starts from a paved road and needs to reach another paved road destination. The drone must prioritize a smooth, vibration-free flight by avoiding areas with dense vertical obstacles. The drone can fly over loose, sandy terrain, paved surfaces, and cultivated fields with low vegetation comfortably. However, flying over liquid surfaces causes minor instability, and flying near solid vertical structures or through dense vertical obstacles should be avoided for comfort.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Road","task_description":"What is the most comfortable path for the quadcopter to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"kitsap_25.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":207,"start_point":[431,915],"end_point":[902,228],"distance":832.9525796826612},{"start_region_id":207,"end_region_id":211,"start_point":[902,228],"end_point":[431,915],"distance":832.9525796826612},{"start_region_id":206,"end_region_id":207,"start_point":[500,475],"end_point":[902,228],"distance":471.8188211591394},{"start_region_id":207,"end_region_id":206,"start_point":[902,228],"end_point":[500,475],"distance":471.8188211591394},{"start_region_id":206,"end_region_id":211,"start_point":[500,475],"end_point":[431,915],"distance":445.3773680823937}],"complexity_score":0.7321692562717412}
{"id":4826,"query_id":"Q00966","question":"A person on foot starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. You can travel on paved, hard surfaces, on vehicle lanes with hard surfaces, and across cultivated fields with soft, tilled soil. The cultivated fields are currently dry and firm enough to walk on without sinking. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person on foot","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"shanghai_49.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":97,"start_point":[403,233],"end_point":[142,539],"distance":402.19025348707794},{"start_region_id":97,"end_region_id":78,"start_point":[142,539],"end_point":[403,233],"distance":402.19025348707794},{"start_region_id":97,"end_region_id":94,"start_point":[142,539],"end_point":[514,495],"distance":374.59311259018097},{"start_region_id":94,"end_region_id":97,"start_point":[514,495],"end_point":[142,539],"distance":374.59311259018097},{"start_region_id":88,"end_region_id":94,"start_point":[180,437],"end_point":[514,495],"distance":338.9985250705377}],"complexity_score":0.7323387878231588}
{"id":14160,"query_id":"Q02832","question":"A hiker is starting from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface. The hiker can traverse loose, sandy ground and cultivated fields with soft soil, but must avoid any liquid areas, vertical structures, and wooded areas. The hiker wants to move as quickly as possible, prioritizing surfaces that allow stable and rapid movement.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"shanghai_49.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":76,"start_point":[129,625],"end_point":[575,16],"distance":754.8489915208206},{"start_region_id":11,"end_region_id":97,"start_point":[565,119],"end_point":[142,539],"distance":596.0947911196674},{"start_region_id":68,"end_region_id":76,"start_point":[529,602],"end_point":[575,16],"distance":587.802687982966},{"start_region_id":20,"end_region_id":97,"start_point":[573,189],"end_point":[142,539],"distance":555.2125719037709},{"start_region_id":1,"end_region_id":97,"start_point":[305,57],"end_point":[142,539],"distance":508.81529065074295}],"complexity_score":0.7323387878231588}
{"id":1267,"query_id":"Q00254","question":"An off-road vehicle starts from a grassy field and needs to reach another grassy field area. The terrain includes paved lanes for vehicles, cultivated crop fields, and open grassy areas with shrubs. The crop fields are currently fallow with dry, packed soil that is firm enough to drive on, and the grassy areas have low vegetation that won't obstruct vehicle clearance. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path to your destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_13.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":60,"start_point":[68,557],"end_point":[826,259],"distance":814.4740634298921},{"start_region_id":60,"end_region_id":85,"start_point":[826,259],"end_point":[68,557],"distance":814.4740634298921},{"start_region_id":45,"end_region_id":84,"start_point":[61,187],"end_point":[791,558],"distance":818.8656788509334},{"start_region_id":84,"end_region_id":45,"start_point":[791,558],"end_point":[61,187],"distance":818.8656788509334},{"start_region_id":45,"end_region_id":60,"start_point":[61,187],"end_point":[826,259],"distance":768.3807649856938}],"complexity_score":0.7323976903945231}
{"id":3535,"query_id":"Q00707","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a grassy, vegetated field. The hiker can traverse bare, rocky ground; grassy fields; paved surfaces; vehicle lanes; wooded areas; and cultivated fields. The hiker cannot traverse liquid surfaces or enter structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_13.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":45,"start_point":[961,787],"end_point":[61,187],"distance":1081.6653826391969},{"start_region_id":236,"end_region_id":45,"start_point":[831,911],"end_point":[61,187],"distance":1056.9181614486527},{"start_region_id":236,"end_region_id":3,"start_point":[831,911],"end_point":[306,20],"distance":1034.1692317991287},{"start_region_id":210,"end_region_id":3,"start_point":[961,787],"end_point":[306,20],"distance":1008.6198491007402},{"start_region_id":242,"end_region_id":60,"start_point":[142,963],"end_point":[826,259],"distance":981.5660955839908}],"complexity_score":0.7323976903945231}
{"id":12650,"query_id":"Q02530","question":"A hiker starts from a paved sidewalk and needs to return to another paved sidewalk while prioritizing safety. The hiker can traverse grassy areas and shrubs if they are dry and stable, and can walk on paved surfaces and vehicle lanes. However. The hiker must avoid any areas with tall, dense vegetation that could obscure hazards or cause tripping. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a paved sidewalk","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"muenster_13.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":202,"start_point":[69,451],"end_point":[941,549],"distance":877.4896010779843},{"start_region_id":202,"end_region_id":195,"start_point":[941,549],"end_point":[69,451],"distance":877.4896010779843},{"start_region_id":214,"end_region_id":210,"start_point":[145,746],"end_point":[961,787],"distance":817.0293752369005},{"start_region_id":210,"end_region_id":214,"start_point":[961,787],"end_point":[145,746],"distance":817.0293752369005},{"start_region_id":179,"end_region_id":195,"start_point":[839,400],"end_point":[69,451],"distance":771.6871127600875}],"complexity_score":0.7323976903945231}
{"id":17020,"query_id":"Q03404","question":"A hiker starts from a grassy field and needs to reach another grassy field area. The terrain includes areas with hard, flat surfaces suitable for walking, as well as patches with tall vegetation and tree cover that can be navigated through. The hiker must find the most direct route.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path from the starting grassy field to the destination grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_13.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":104,"start_point":[61,187],"end_point":[899,898],"distance":1098.98362135202},{"start_region_id":104,"end_region_id":45,"start_point":[899,898],"end_point":[61,187],"distance":1098.98362135202},{"start_region_id":3,"end_region_id":104,"start_point":[306,20],"end_point":[899,898],"distance":1059.496578569275},{"start_region_id":104,"end_region_id":3,"start_point":[899,898],"end_point":[306,20],"distance":1059.496578569275},{"start_region_id":3,"end_region_id":102,"start_point":[306,20],"end_point":[649,866],"distance":912.8882735581611}],"complexity_score":0.7323976903945231}
{"id":928,"query_id":"Q00186","question":"A quadcopter starts from a vegetated, uneven ground and needs to reach a smooth, artificial surface. The terrain includes cultivated areas with low vegetation that are traversable. You must avoid flying through dense tree canopies or close to buildings, as they are hazardous. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the most comfortable flight path?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"dortmund_58.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":189,"start_point":[339,748],"end_point":[317,496],"distance":252.9584946191766},{"start_region_id":69,"end_region_id":256,"start_point":[339,748],"end_point":[100,810],"distance":246.9109151090733}],"complexity_score":0.732898010529115}
{"id":8633,"query_id":"Q01727","question":"A delivery drone takes off from a grassy field and needs to land in a wooded area. The environment includes loose, sandy ground; grassy or shrubby areas; paved surfaces like sidewalks and parking lots; vehicle lanes; and forested patches with trees. The drone can fly over all these surfaces, but flying through dense tree canopies is challenging and may cause turbulence or collisions, making it less comfortable. The drone prefers stable, open airspace for a smooth flight. Which flight path should the drone take?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"wooded area","task_description":"What is the most comfortable flight path from the grassy field to the wooded area?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[3,3,3,3,1,2,3,0],"image_name":"dortmund_58.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":370,"start_point":[855,894],"end_point":[46,102],"distance":1132.1417755740665},{"start_region_id":72,"end_region_id":370,"start_point":[946,771],"end_point":[46,102],"distance":1121.410272826141},{"start_region_id":4,"end_region_id":534,"start_point":[773,46],"end_point":[59,887],"distance":1103.212128287212},{"start_region_id":72,"end_region_id":415,"start_point":[946,771],"end_point":[27,324],"distance":1021.9442254839547},{"start_region_id":84,"end_region_id":415,"start_point":[855,894],"end_point":[27,324],"distance":1005.2283322708329}],"complexity_score":0.732898010529115}
{"id":975,"query_id":"Q00195","question":"A hiker is standing in a densely vegetated area with tall, leafy structures. They need to reach an open area covered with low, non-cultivated vegetation. The hiker can walk on hard, flat surfaces and open vegetated areas, but dense vegetation is passable only if it is not too thick. The only surfaces available for traversal are: open areas with low vegetation, hard, flat surfaces designed for vehicle movement, and densely vegetated areas with tall structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"an open area covered with low, non-cultivated vegetation","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,3,1,0,0,0],"image_name":"paris_2.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":10,"start_point":[565,468],"end_point":[40,124],"distance":627.6631262070442},{"start_region_id":87,"end_region_id":3,"start_point":[95,589],"end_point":[351,41],"distance":604.8470881140125},{"start_region_id":86,"end_region_id":10,"start_point":[397,594],"end_point":[40,124],"distance":590.2109792269201},{"start_region_id":80,"end_region_id":13,"start_point":[565,468],"end_point":[31,259],"distance":573.4431096455863},{"start_region_id":86,"end_region_id":3,"start_point":[397,594],"end_point":[351,41],"distance":554.9099025968089}],"complexity_score":0.7340784355824489}
{"id":9975,"query_id":"Q01995","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial turf as quickly as possible. The drone can traverse areas with loose soil and sparse vegetation, as well as patches of trees and buildings, but must avoid water bodies. Which path should the drone take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or artificial turf","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"paris_2.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":54,"start_point":[614,20],"end_point":[56,625],"distance":823.0364511976368},{"start_region_id":55,"end_region_id":51,"start_point":[614,20],"end_point":[259,582],"distance":664.7322769356097},{"start_region_id":55,"end_region_id":53,"start_point":[614,20],"end_point":[577,617],"distance":598.1454672569207},{"start_region_id":57,"end_region_id":53,"start_point":[46,351],"end_point":[577,617],"distance":593.8998232025331},{"start_region_id":55,"end_region_id":29,"start_point":[614,20],"end_point":[216,427],"distance":569.256532681005}],"complexity_score":0.7340784355824489}
{"id":13233,"query_id":"Q02647","question":"A delivery 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, sandy or rocky ground, grassy or shrub-covered areas, cultivated fields, and liquid surfaces. The drone can also navigate around vertical structures if necessary, but must avoid wooded areas with trees due to collision risk with branches. The drone seeks the path that minimizes risk of crashes or signal interference.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard surface area","end_land_type":"Another paved, hard surface area","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"shanghai_10.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":56,"start_point":[576,78],"end_point":[132,111],"distance":445.2246623896749},{"start_region_id":56,"end_region_id":61,"start_point":[132,111],"end_point":[576,78],"distance":445.2246623896749},{"start_region_id":60,"end_region_id":56,"start_point":[495,338],"end_point":[132,111],"distance":428.1331568566023},{"start_region_id":56,"end_region_id":60,"start_point":[132,111],"end_point":[495,338],"distance":428.1331568566023},{"start_region_id":60,"end_region_id":61,"start_point":[495,338],"end_point":[576,78],"distance":272.32517327636094}],"complexity_score":0.7349029503921888}
{"id":5506,"query_id":"Q01102","question":"A hiker starts from a location with tall, vertical obstacles that provide overhead cover but limit ground-level movement and needs to reach an area of open, low-lying vegetation that offers clear visibility and stable footing. The terrain consists only of surfaces with loose soil and scattered low plants, and surfaces with dense vertical structures that can be navigated around but not through. The hiker must avoid any hard paved surfaces, artificial structures, cultivated fields, water bodies, or completely barren ground to minimize risks like slips, falls, or getting stuck.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a location with tall, vertical obstacles that provide overhead cover but limit ground-level movement","end_land_type":"needing to reach an area of open, low-lying vegetation that offers clear visibility and stable footing","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Tree"],"traverse_vector":[0,1,0,0,1,0,0,0],"cost_vector":[0,2,0,0,1,0,0,0],"image_name":"accra_52.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":302,"end_region_id":25,"start_point":[566,706],"end_point":[569,447],"distance":259.01737393464555},{"start_region_id":186,"end_region_id":1,"start_point":[248,76],"end_point":[38,49],"distance":211.72859986312668}],"complexity_score":0.7356507923109731}
{"id":8177,"query_id":"Q01636","question":"A surveillance drone starts from a paved road and needs to reach another paved road. The drone can fly over paved surfaces and cultivated fields, but must avoid flying over trees and buildings due to regulations. All other terrain types are prohibited. What is the shortest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a paved road","end_land_type":"a paved road","task_description":"What is the shortest path for the surveillance drone to fly from the starting paved road to the destination paved road?","task_type":"Shortest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,1,1,0,0,1,0],"image_name":"accra_52.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":176,"start_point":[246,587],"end_point":[795,496],"distance":556.4907905796824},{"start_region_id":176,"end_region_id":175,"start_point":[795,496],"end_point":[246,587],"distance":556.4907905796824}],"complexity_score":0.7356507923109731}
{"id":12699,"query_id":"Q02540","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain includes open, flat surfaces that allow clear flight paths, as well as areas with low vegetation and loose soil that are generally safe to fly over. The drone can fly over trees and structures if necessary, but these pose collision risks. Water bodies are accessible but hazardous due to potential signal interference or splash damage. The goal is to find the path that minimizes risk of crashes or signal loss.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the safest route for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"accra_52.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":171,"start_point":[887,79],"end_point":[196,977],"distance":1133.086492726835},{"start_region_id":171,"end_region_id":103,"start_point":[196,977],"end_point":[887,79],"distance":1133.086492726835},{"start_region_id":103,"end_region_id":161,"start_point":[887,79],"end_point":[90,853],"distance":1110.9837982617028},{"start_region_id":161,"end_region_id":103,"start_point":[90,853],"end_point":[887,79],"distance":1110.9837982617028},{"start_region_id":103,"end_region_id":149,"start_point":[887,79],"end_point":[37,709],"distance":1058.0170130957251}],"complexity_score":0.7356507923109731}
{"id":9783,"query_id":"Q01957","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a flat, paved surface. The drone can fly over areas with loose soil or sand, low vegetation, paved surfaces, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies or near vertical structures. The drone's flight controller prioritizes smooth, stable flight paths to minimize vibration and ensure clear sensor readings.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"flat, paved surface","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"santiago_24.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":190,"start_point":[993,933],"end_point":[197,321],"distance":1004.0717105864501},{"start_region_id":140,"end_region_id":181,"start_point":[993,933],"end_point":[291,210],"distance":1007.7365727212643},{"start_region_id":140,"end_region_id":224,"start_point":[993,933],"end_point":[57,560],"distance":1007.5837434178858},{"start_region_id":5,"end_region_id":249,"start_point":[854,56],"end_point":[218,786],"distance":968.1921296932753},{"start_region_id":5,"end_region_id":282,"start_point":[854,56],"end_point":[574,968],"distance":954.014674939542}],"complexity_score":0.7370240405999097}
{"id":13150,"query_id":"Q02630","question":"A quadcopter drone starts from a paved road surface and needs to reach another paved road surface while prioritizing stable and predictable flight conditions. The drone can fly over hard surfaces like roads and parking lots, open grassy fields, cultivated crop fields, and wooded areas with trees. However, flying through wooded areas involves navigating around tree branches and trunks, which creates turbulence and requires careful maneuvering, making the flight less comfortable. Flying over bodies of water or near building structures is not permitted for this mission due to safety regulations.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"santiago_24.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":317,"end_region_id":295,"start_point":[634,917],"end_point":[852,95],"distance":850.4163686101061},{"start_region_id":295,"end_region_id":317,"start_point":[852,95],"end_point":[634,917],"distance":850.4163686101061},{"start_region_id":296,"end_region_id":311,"start_point":[412,341],"end_point":[952,772],"distance":690.9131638635929},{"start_region_id":311,"end_region_id":296,"start_point":[952,772],"end_point":[412,341],"distance":690.9131638635929},{"start_region_id":295,"end_region_id":311,"start_point":[852,95],"end_point":[952,772],"distance":684.3456728876131}],"complexity_score":0.7370240405999097}
{"id":5237,"query_id":"Q01048","question":"An aerial drone starts from a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over liquid areas, cultivated fields with crops, and areas with tall vertical obstacles, but must maintain maximum speed. The paved surfaces provide optimal conditions for takeoff and landing.","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route for the aerial drone to travel from the starting paved surface to the destination paved surface?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"paris_64.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":66,"start_point":[190,609],"end_point":[587,203],"distance":567.8424077153801},{"start_region_id":66,"end_region_id":70,"start_point":[587,203],"end_point":[190,609],"distance":567.8424077153801},{"start_region_id":69,"end_region_id":66,"start_point":[352,443],"end_point":[587,203],"distance":335.8943286213687},{"start_region_id":66,"end_region_id":69,"start_point":[587,203],"end_point":[352,443],"distance":335.8943286213687},{"start_region_id":69,"end_region_id":70,"start_point":[352,443],"end_point":[190,609],"distance":231.94827009486403}],"complexity_score":0.7375132712872569}
{"id":10003,"query_id":"Q02001","question":"A hiker starts from a grassy field and needs to reach a wooded area as quickly as possible. The hiker can traverse grassy fields, paved walkways, vehicle lanes, and wooded areas. The grassy fields are dry and firm enough for walking, and the wooded areas have sparse enough trees to allow passage. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy field","end_land_type":"wooded area","task_description":"What is the fastest route from the grassy field to the wooded area?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,2,4,3,1,0,0,0],"image_name":"paris_64.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":95,"start_point":[604,128],"end_point":[67,499],"distance":652.6944154809355},{"start_region_id":7,"end_region_id":95,"start_point":[545,72],"end_point":[67,499],"distance":640.9469556835418},{"start_region_id":3,"end_region_id":95,"start_point":[477,49],"end_point":[67,499],"distance":608.7692502089769},{"start_region_id":7,"end_region_id":98,"start_point":[545,72],"end_point":[199,513],"distance":560.5327822705823},{"start_region_id":5,"end_region_id":98,"start_point":[604,128],"end_point":[199,513],"distance":558.7933428379404}],"complexity_score":0.7375132712872569}
{"id":12924,"query_id":"Q02585","question":"A quadcopter drone starts from a paved concrete area and needs to reach another paved concrete area while prioritizing a stable and vibration-free flight. The drone can fly over various surfaces including grassy fields, paved areas, roads, and cultivated plots, as well as over buildings and water bodies, but it must avoid flying through dense tree canopies to prevent collisions and turbulence. However, no other restrictions apply. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved concrete area","end_land_type":"a paved concrete area","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,2],"image_name":"paris_64.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":47,"start_point":[499,12],"end_point":[411,567],"distance":561.9332700597109},{"start_region_id":47,"end_region_id":33,"start_point":[411,567],"end_point":[499,12],"distance":561.9332700597109},{"start_region_id":43,"end_region_id":33,"start_point":[212,430],"end_point":[499,12],"distance":507.0433906481772},{"start_region_id":33,"end_region_id":43,"start_point":[499,12],"end_point":[212,430],"distance":507.0433906481772},{"start_region_id":33,"end_region_id":48,"start_point":[499,12],"end_point":[545,522],"distance":512.0703076726867}],"complexity_score":0.7375132712872569}
{"id":884,"query_id":"Q00177","question":"A hiker is standing in a grassy field covered with low vegetation and needs to reach a paved road. The hiker can traverse grassy areas, paved surfaces, and wooded patches. What is the shortest path to the road?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy field","end_land_type":"paved road","task_description":"What is the shortest path to the road?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Tree"],"traverse_vector":[0,1,1,1,1,0,0,0],"cost_vector":[0,1,1,1,1,0,0,0],"image_name":"dortmund_14.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":405,"start_point":[539,70],"end_point":[61,937],"distance":990.0368680003791},{"start_region_id":33,"end_region_id":405,"start_point":[520,165],"end_point":[61,937],"distance":898.1453111829956},{"start_region_id":1,"end_region_id":405,"start_point":[221,63],"end_point":[61,937],"distance":888.524619805214},{"start_region_id":1,"end_region_id":389,"start_point":[221,63],"end_point":[891,599],"distance":858.0186478160017},{"start_region_id":58,"end_region_id":389,"start_point":[154,277],"end_point":[891,599],"distance":804.2717202537958}],"complexity_score":0.7395024003868363}
{"id":9875,"query_id":"Q01975","question":"An aerial surveillance drone starts from a paved hard surface and needs to reach another paved hard surface area while prioritizing minimal risk to its operation. The drone can fly over open sandy/rocky terrain, grassy/shrubby areas, other paved surfaces, vegetated areas with tall obstacles, liquid bodies, and cultivated fields. However, flying through areas with tall vertical obstacles like trees requires careful navigation due to collision risk, and flying directly over liquid bodies introduces potential hazards from spray or downdraft effects. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved hard surface","end_land_type":"paved hard surface","task_description":"What is the safest path for the aerial surveillance drone to reach the destination paved hard surface?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,1,2,0],"image_name":"dortmund_14.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":324,"end_region_id":224,"start_point":[97,805],"end_point":[863,44],"distance":1079.7578432222663},{"start_region_id":224,"end_region_id":324,"start_point":[863,44],"end_point":[97,805],"distance":1079.7578432222663},{"start_region_id":224,"end_region_id":337,"start_point":[863,44],"end_point":[280,864],"distance":1006.1257376690053},{"start_region_id":337,"end_region_id":224,"start_point":[280,864],"end_point":[863,44],"distance":1006.1257376690053},{"start_region_id":324,"end_region_id":223,"start_point":[97,805],"end_point":[731,45],"distance":989.7252143903378}],"complexity_score":0.7395024003868363}
{"id":13059,"query_id":"Q02612","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over open grassy areas, hard surfaces like sidewalks and parking lots, other paved lanes, liquid surfaces, and cultivated fields. However, it must avoid flying through dense vegetation or near vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"dortmund_14.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":405,"end_region_id":368,"start_point":[61,937],"end_point":[731,306],"distance":920.3591690204428},{"start_region_id":368,"end_region_id":405,"start_point":[731,306],"end_point":[61,937],"distance":920.3591690204428},{"start_region_id":380,"end_region_id":405,"start_point":[777,372],"end_point":[61,937],"distance":912.0751065564722},{"start_region_id":405,"end_region_id":380,"start_point":[61,937],"end_point":[777,372],"distance":912.0751065564722},{"start_region_id":389,"end_region_id":405,"start_point":[891,599],"end_point":[61,937],"distance":896.1830170227507}],"complexity_score":0.7395024003868363}
{"id":1254,"query_id":"Q00251","question":"A hiker starts from a grassy, uneven area with scattered shrubs and needs to reach a paved vehicle lane. The terrain includes areas with loose soil and vegetation that can be crossed with careful footing, as well as cultivated fields with soft, tilled earth that are accessible. All other surfaces are blocked: solid vertical structures cannot be entered, and liquid surfaces cannot be crossed. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved vehicle lane","task_description":"What is the shortest path to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Road","Agriculture land"],"traverse_vector":[1,1,0,1,0,0,1,0],"cost_vector":[1,1,0,1,0,0,1,0],"image_name":"kitsap_27.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":207,"start_point":[881,295],"end_point":[481,198],"distance":411.59324581435976},{"start_region_id":12,"end_region_id":207,"start_point":[112,176],"end_point":[481,198],"distance":369.655244788979}],"complexity_score":0.7404180703322034}
{"id":14966,"query_id":"Q02994","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The terrain includes areas of loose, sandy soil and rocky ground; flat, hard surfaces like sidewalks and parking lots; dense clusters of tall vegetation; and cultivated fields with crops. The hiker can traverse the grassy fields, cultivated areas, and loose ground, but must avoid any bodies of water and all structures. The hard surfaces are available for use. The dense vegetation can be entered if necessary, but it presents obstacles and reduced visibility. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, open field","end_land_type":"grassy, open field","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"kitsap_27.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":3,"start_point":[20,493],"end_point":[845,25],"distance":948.4982867670348},{"start_region_id":3,"end_region_id":47,"start_point":[845,25],"end_point":[20,493],"distance":948.4982867670348},{"start_region_id":12,"end_region_id":88,"start_point":[112,176],"end_point":[893,692],"distance":936.0646345205015},{"start_region_id":88,"end_region_id":12,"start_point":[893,692],"end_point":[112,176],"distance":936.0646345205015},{"start_region_id":47,"end_region_id":26,"start_point":[20,493],"end_point":[881,295],"distance":883.4732593576333}],"complexity_score":0.7404180703322034}
{"id":16989,"query_id":"Q03398","question":"A hiker starts from an area of natural, uncultivated vegetation and shrubs and needs to reach a paved, hard-surface area. The vegetation-covered ground is dry and firm enough to walk on, and the trees are sparse enough to pass between without obstruction. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest route from the starting point to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"kitsap_27.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":189,"start_point":[845,25],"end_point":[70,877],"distance":1151.750406989292},{"start_region_id":12,"end_region_id":191,"start_point":[112,176],"end_point":[923,857],"distance":1059.0004721434264},{"start_region_id":12,"end_region_id":199,"start_point":[112,176],"end_point":[767,963],"distance":1023.9111289560242},{"start_region_id":3,"end_region_id":201,"start_point":[845,25],"end_point":[493,975],"distance":1013.1159854626715},{"start_region_id":26,"end_region_id":189,"start_point":[881,295],"end_point":[70,877],"distance":998.2209174326092}],"complexity_score":0.7404180703322034}
{"id":1524,"query_id":"Q00305","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface. The drone can fly over loose sandy or rocky ground, grassy or shrubby areas, cultivated fields with crops, and open water bodies. However, it must avoid flying through dense tree canopies or near vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the shortest path for the aerial survey drone to reach the destination paved surface?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"vegas_38.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":53,"start_point":[337,70],"end_point":[182,627],"distance":578.1643364995804},{"start_region_id":53,"end_region_id":51,"start_point":[182,627],"end_point":[337,70],"distance":578.1643364995804},{"start_region_id":52,"end_region_id":51,"start_point":[430,378],"end_point":[337,70],"distance":321.7343624793597},{"start_region_id":51,"end_region_id":52,"start_point":[337,70],"end_point":[430,378],"distance":321.7343624793597},{"start_region_id":52,"end_region_id":53,"start_point":[430,378],"end_point":[182,627],"distance":351.4327816240255}],"complexity_score":0.74159633301677}
{"id":3009,"query_id":"Q00602","question":"A person walking with a stroller starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The terrain consists only of flat, stable artificial surfaces made of materials like concrete or asphalt, which provide good traction and predictable footing. All other surfaces—including loose soil, vegetation, water bodies, and vertical structures—are impassable due to safety restrictions. You must avoid any uneven ground, soft materials, or obstacles that could pose a risk.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,2,1,0,0,0,0],"image_name":"vegas_38.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":33,"start_point":[420,204],"end_point":[255,36],"distance":235.47611343828487},{"start_region_id":33,"end_region_id":35,"start_point":[255,36],"end_point":[420,204],"distance":235.47611343828487}],"complexity_score":0.74159633301677}
{"id":12391,"query_id":"Q02479","question":"A quadcopter starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain as quickly as possible. Your drone can fly over grassy areas, paved surfaces, compacted dirt lanes, and cultivated fields without restriction. However, you must avoid flying through dense vegetation or near structures, as these pose collision risks and slow you down. What is the fastest path?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the fastest path from the starting grassy, uneven terrain to the destination grassy, uneven terrain?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"vegas_38.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":18,"start_point":[180,501],"end_point":[593,333],"distance":445.862086300237},{"start_region_id":18,"end_region_id":25,"start_point":[593,333],"end_point":[180,501],"distance":445.862086300237},{"start_region_id":15,"end_region_id":18,"start_point":[240,223],"end_point":[593,333],"distance":369.7418018022847},{"start_region_id":18,"end_region_id":15,"start_point":[593,333],"end_point":[240,223],"distance":369.7418018022847},{"start_region_id":25,"end_region_id":15,"start_point":[180,501],"end_point":[240,223],"distance":284.40112517358295}],"complexity_score":0.74159633301677}
{"id":12603,"query_id":"Q02521","question":"A delivery drone starts from a paved lane and needs to reach a grassy area with shrubs while prioritizing safety. The drone can fly over hard surfaces like sidewalks and parking areas, the paved lane itself, and the grassy area with shrubs. Passage near trees or buildings is permitted only if maintaining a safe altitude to avoid collisions. All other terrain types—including loose sandy or rocky ground, cultivated fields, and liquid surfaces—are impassable due to safety risks such as signal interference or unpredictable wind conditions.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"a grassy area with shrubs","task_description":"What is the safest path for the delivery drone to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road","Tree","Building"],"traverse_vector":[0,1,1,1,1,0,0,1],"cost_vector":[0,2,2,2,1,0,0,1],"image_name":"monrovia_11.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":1,"start_point":[578,575],"end_point":[24,37],"distance":772.2434849191025},{"start_region_id":236,"end_region_id":1,"start_point":[741,304],"end_point":[24,37],"distance":765.0999934649066},{"start_region_id":236,"end_region_id":96,"start_point":[741,304],"end_point":[186,819],"distance":757.1327492586753},{"start_region_id":236,"end_region_id":121,"start_point":[741,304],"end_point":[971,969],"distance":703.6511919978534},{"start_region_id":236,"end_region_id":108,"start_point":[741,304],"end_point":[342,881],"distance":701.519778766073}],"complexity_score":0.7420358531556102}
{"id":16986,"query_id":"Q03398","question":"A hiker starts from an area of natural, uncultivated vegetation and shrubs and needs to reach a paved, hard-surface area. The vegetation-covered ground is dry and firm enough to walk on, and the trees are sparse enough to pass between without obstruction. What is the shortest route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest route from the starting point to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"monrovia_11.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":211,"start_point":[974,128],"end_point":[174,930],"distance":1132.7859462405067},{"start_region_id":1,"end_region_id":210,"start_point":[24,37],"end_point":[769,883],"distance":1127.2714846034207},{"start_region_id":121,"end_region_id":133,"start_point":[971,969],"end_point":[295,70],"distance":1124.8008712656654},{"start_region_id":121,"end_region_id":153,"start_point":[971,969],"end_point":[180,186],"distance":1113.0004492362077},{"start_region_id":8,"end_region_id":203,"start_point":[974,128],"end_point":[49,733],"distance":1105.2827692495707}],"complexity_score":0.7420358531556102}
{"id":724,"query_id":"Q00145","question":"A hiker starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or parking lot. The hiker can traverse bare, sandy or rocky ground without vegetation, as well as areas with individual trees or groups of trees, provided there is enough space to walk between them. However, the hiker cannot cross any water bodies or enter any buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or parking lot","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[1,0,1,1,1,0,0,0],"image_name":"shanghai_54.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":35,"start_point":[257,599],"end_point":[280,119],"distance":480.5507257303853},{"start_region_id":81,"end_region_id":46,"start_point":[257,599],"end_point":[141,213],"distance":403.05334634512093},{"start_region_id":81,"end_region_id":52,"start_point":[257,599],"end_point":[494,281],"distance":396.60181542700985},{"start_region_id":73,"end_region_id":52,"start_point":[128,299],"end_point":[494,281],"distance":366.4423556304593},{"start_region_id":81,"end_region_id":48,"start_point":[257,599],"end_point":[317,247],"distance":357.07702250354896}],"complexity_score":0.7476693790459654}
{"id":9640,"query_id":"Q01928","question":"An off-road vehicle starts from a grassy, uneven terrain with scattered shrubs and needs to reach another patch of grassy, uneven terrain with scattered shrubs. The area contains various surface types: loose, sandy ground without vegetation; grassy, uneven terrain with scattered shrubs; hard, paved surfaces like sidewalks and parking lots; vehicle lanes with asphalt or concrete surfaces; and cultivated fields with crops. Trees, water bodies, and buildings are not accessible. You must find a path that connects these two grassy patches.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"grassy, uneven terrain with scattered shrubs","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"shanghai_54.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":24,"start_point":[208,41],"end_point":[408,436],"distance":442.7471061452576},{"start_region_id":24,"end_region_id":4,"start_point":[408,436],"end_point":[208,41],"distance":442.7471061452576},{"start_region_id":5,"end_region_id":23,"start_point":[463,90],"end_point":[137,387],"distance":441.0045351240733},{"start_region_id":23,"end_region_id":5,"start_point":[137,387],"end_point":[463,90],"distance":441.0045351240733},{"start_region_id":10,"end_region_id":23,"start_point":[473,223],"end_point":[137,387],"distance":373.8876836698422}],"complexity_score":0.7476693790459654}
{"id":14159,"query_id":"Q02832","question":"A hiker is starting from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface. The hiker can traverse loose, sandy ground and cultivated fields with soft soil, but must avoid any liquid areas, vertical structures, and wooded areas. The hiker wants to move as quickly as possible, prioritizing surfaces that allow stable and rapid movement.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard surface","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"shanghai_54.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":68,"start_point":[208,41],"end_point":[344,530],"distance":507.5598486878173},{"start_region_id":5,"end_region_id":68,"start_point":[463,90],"end_point":[344,530],"distance":455.80807364503755},{"start_region_id":4,"end_region_id":62,"start_point":[208,41],"end_point":[436,384],"distance":411.8652692325489},{"start_region_id":9,"end_region_id":68,"start_point":[215,168],"end_point":[344,530],"distance":384.2980614054669},{"start_region_id":4,"end_region_id":52,"start_point":[208,41],"end_point":[494,281],"distance":373.35773729762184}],"complexity_score":0.7476693790459654}
{"id":3533,"query_id":"Q00707","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a grassy, vegetated field. The hiker can traverse bare, rocky ground; grassy fields; paved surfaces; vehicle lanes; wooded areas; and cultivated fields. The hiker cannot traverse liquid surfaces or enter structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a grassy, vegetated field","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_39.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":238,"end_region_id":17,"start_point":[72,877],"end_point":[930,74],"distance":1175.148075775985},{"start_region_id":238,"end_region_id":23,"start_point":[72,877],"end_point":[836,93],"distance":1094.692650929931},{"start_region_id":227,"end_region_id":17,"start_point":[54,735],"end_point":[930,74],"distance":1097.404665563255},{"start_region_id":238,"end_region_id":66,"start_point":[72,877],"end_point":[971,353],"distance":1040.565711524265},{"start_region_id":236,"end_region_id":17,"start_point":[280,885],"end_point":[930,74],"distance":1039.3368077769592}],"complexity_score":0.7485680875392867}
{"id":10269,"query_id":"Q02054","question":"A hiker starts from a grassy or shrub-covered ground and needs to reach another grassy or shrub-covered ground area. The terrain includes loose, sandy, or rocky surfaces without vegetation; grassy or shrub-covered ground; hard, flat surfaces like sidewalks, parking lots, or artificial turf; and paved lanes or streets used by vehicles. All these surfaces are traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy or shrub-covered ground","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"muenster_39.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":17,"start_point":[120,922],"end_point":[930,74],"distance":1172.6909226219839},{"start_region_id":17,"end_region_id":133,"start_point":[930,74],"end_point":[120,922],"distance":1172.6909226219839},{"start_region_id":133,"end_region_id":23,"start_point":[120,922],"end_point":[836,93],"distance":1095.398101148619},{"start_region_id":23,"end_region_id":133,"start_point":[836,93],"end_point":[120,922],"distance":1095.398101148619},{"start_region_id":139,"end_region_id":2,"start_point":[614,979],"end_point":[94,71],"distance":1046.3574914913163}],"complexity_score":0.7485680875392867}
{"id":12648,"query_id":"Q02530","question":"A hiker starts from a paved sidewalk and needs to return to another paved sidewalk while prioritizing safety. The hiker can traverse grassy areas and shrubs if they are dry and stable, and can walk on paved surfaces and vehicle lanes. However. The hiker must avoid any areas with tall, dense vegetation that could obscure hazards or cause tripping. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a paved sidewalk","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Rangeland","Developed space","Road"],"traverse_vector":[0,1,1,1,0,0,0,0],"cost_vector":[0,1,3,2,0,0,0,0],"image_name":"muenster_39.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":238,"start_point":[826,246],"end_point":[72,877],"distance":983.1973352282847},{"start_region_id":238,"end_region_id":181,"start_point":[72,877],"end_point":[826,246],"distance":983.1973352282847},{"start_region_id":238,"end_region_id":157,"start_point":[72,877],"end_point":[559,59],"distance":951.9942226715455},{"start_region_id":157,"end_region_id":238,"start_point":[559,59],"end_point":[72,877],"distance":951.9942226715455},{"start_region_id":238,"end_region_id":166,"start_point":[72,877],"end_point":[616,127],"distance":926.5182135284767}],"complexity_score":0.7485680875392867}
{"id":14939,"query_id":"Q02988","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, uneven area while prioritizing a smooth and stable journey. The drone can traverse most surfaces, including soft ground and vegetated patches, but must avoid dense vertical obstacles and liquid surfaces to ensure comfort. Which path should the quadcopter drone take to maximize ride comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a grassy, uneven area","task_description":"Which path should the quadcopter drone take to maximize ride comfort?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"muenster_39.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":268,"end_region_id":17,"start_point":[121,710],"end_point":[930,74],"distance":1029.066081454442},{"start_region_id":251,"end_region_id":139,"start_point":[73,114],"end_point":[614,979],"distance":1020.2480090644627},{"start_region_id":251,"end_region_id":90,"start_point":[73,114],"end_point":[935,621],"distance":1000.0464989189253},{"start_region_id":268,"end_region_id":23,"start_point":[121,710],"end_point":[836,93],"distance":944.4119863703552},{"start_region_id":251,"end_region_id":66,"start_point":[73,114],"end_point":[971,353],"distance":929.2604586443997}],"complexity_score":0.7485680875392867}
{"id":17018,"query_id":"Q03404","question":"A hiker starts from a grassy field and needs to reach another grassy field area. The terrain includes areas with hard, flat surfaces suitable for walking, as well as patches with tall vegetation and tree cover that can be navigated through. The hiker must find the most direct route.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the shortest path from the starting grassy field to the destination grassy field?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[1,1,1,1,1,0,1,0],"image_name":"muenster_39.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":17,"start_point":[120,922],"end_point":[930,74],"distance":1172.6909226219839},{"start_region_id":17,"end_region_id":133,"start_point":[930,74],"end_point":[120,922],"distance":1172.6909226219839},{"start_region_id":133,"end_region_id":23,"start_point":[120,922],"end_point":[836,93],"distance":1095.398101148619},{"start_region_id":23,"end_region_id":133,"start_point":[836,93],"end_point":[120,922],"distance":1095.398101148619},{"start_region_id":139,"end_region_id":2,"start_point":[614,979],"end_point":[94,71],"distance":1046.3574914913163}],"complexity_score":0.7485680875392867}
{"id":17836,"query_id":"Q03568","question":"A quadcopter drone starts from an area covered with natural, uncultivated grass and shrubs and needs to reach another similar patch of wild vegetation. The quadcopter drone can fly over surfaces that are solid and stable, such as paved lanes used by vehicles, liquid bodies like rivers or lakes, and cultivated fields with crops. However, it must avoid any vertical structures or dense clusters of tall vegetation that could obstruct its flight path. What is the shortest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area covered with natural, uncultivated grass and shrubs","end_land_type":"and needing to reach another similar patch of wild vegetation","task_description":"What is the shortest route?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space","Road","Water","Agriculture land"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[1,1,1,1,0,1,1,0],"image_name":"rio_51.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":3,"start_point":[50,359],"end_point":[338,85],"distance":397.51729522122685},{"start_region_id":3,"end_region_id":13,"start_point":[338,85],"end_point":[50,359],"distance":397.51729522122685},{"start_region_id":13,"end_region_id":11,"start_point":[50,359],"end_point":[395,268],"distance":356.79966367697153},{"start_region_id":11,"end_region_id":13,"start_point":[395,268],"end_point":[50,359],"distance":356.79966367697153},{"start_region_id":11,"end_region_id":1,"start_point":[395,268],"end_point":[137,130],"distance":292.5884481656786}],"complexity_score":0.752298162867639}
{"id":17961,"query_id":"Q03593","question":"A hiker is standing on a grassy, uneven field and needs to reach a paved road. The hiker wants to minimize physical exertion and avoid rough terrain that could cause discomfort or fatigue. The hiker can traverse grassy fields, loose sandy or rocky ground, cultivated crop fields, and forested areas with trees, but must avoid all water bodies and buildings. The hiker prefers surfaces that are smooth and stable for walking. What is the most comfortable path to the paved road?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, uneven field","end_land_type":"paved road","task_description":"What is the most comfortable path to the paved road?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"rio_51.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":28,"start_point":[395,268],"end_point":[108,210],"distance":292.8019808676164},{"start_region_id":13,"end_region_id":29,"start_point":[50,359],"end_point":[324,291],"distance":282.3118842698621},{"start_region_id":3,"end_region_id":28,"start_point":[338,85],"end_point":[108,210],"distance":261.7728022541685},{"start_region_id":1,"end_region_id":29,"start_point":[137,130],"end_point":[324,291],"distance":246.75899173079793},{"start_region_id":3,"end_region_id":29,"start_point":[338,85],"end_point":[324,291],"distance":206.47518010647187}],"complexity_score":0.752298162867639}
{"id":973,"query_id":"Q00195","question":"A hiker is standing in a densely vegetated area with tall, leafy structures. They need to reach an open area covered with low, non-cultivated vegetation. The hiker can walk on hard, flat surfaces and open vegetated areas, but dense vegetation is passable only if it is not too thick. The only surfaces available for traversal are: open areas with low vegetation, hard, flat surfaces designed for vehicle movement, and densely vegetated areas with tall structures. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"an open area covered with low, non-cultivated vegetation","task_description":"What is the fastest path for the hiker to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,3,1,0,0,0],"image_name":"paris_18.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":2,"start_point":[149,334],"end_point":[444,187],"distance":329.59672328468315},{"start_region_id":59,"end_region_id":7,"start_point":[149,334],"end_point":[465,367],"distance":317.71842880135233},{"start_region_id":59,"end_region_id":9,"start_point":[149,334],"end_point":[301,564],"distance":275.68822970885066}],"complexity_score":0.7638335274731093}
{"id":9973,"query_id":"Q01995","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial turf as quickly as possible. The drone can traverse areas with loose soil and sparse vegetation, as well as patches of trees and buildings, but must avoid water bodies. Which path should the drone take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or artificial turf","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree","Agriculture land","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"paris_18.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":15,"start_point":[112,583],"end_point":[491,32],"distance":668.7615419564735},{"start_region_id":45,"end_region_id":16,"start_point":[476,552],"end_point":[152,25],"distance":618.6315543196936},{"start_region_id":42,"end_region_id":23,"start_point":[112,583],"end_point":[554,182],"distance":596.7956099034242},{"start_region_id":38,"end_region_id":35,"start_point":[196,212],"end_point":[497,618],"distance":505.40775617317155},{"start_region_id":45,"end_region_id":15,"start_point":[476,552],"end_point":[491,32],"distance":520.2163011671203}],"complexity_score":0.7638335274731093}