{"id":9709,"query_id":"Q01942","question":"A hiker starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach another area of similar loose, sandy ground with scattered rocks and no vegetation. The hiker can walk on paved lanes and hard, artificial surfaces, but must avoid liquid bodies and solid, enclosed structures. The hiker is allowed to traverse cultivated fields with low, uniform vegetation and areas with loose earth and rocks, as the terrain is dry and stable. However, the hiker cannot pass through densely packed vertical obstacles like tall, leafy structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is another area of similar loose, sandy ground with scattered rocks and no vegetation.","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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[815,761],"end_point":[647,88],"distance":693.651930005244}],"complexity_score":0.6079317179303755}
{"id":10704,"query_id":"Q02141","question":"A delivery drone starts from a sandy patch and needs to reach a paved courtyard. The drone must avoid flying over tall trees or buildings to minimize collision risks, but it can traverse over other surfaces. The goal is to find the safest path that avoids obstacles and ensures stable flight.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a sandy patch","end_land_type":"a paved courtyard","task_description":"What is the safest path for the delivery drone to take from the sandy patch to the paved courtyard?","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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":62,"start_point":[715,404],"end_point":[83,171],"distance":673.5822147295755},{"start_region_id":1,"end_region_id":71,"start_point":[715,404],"end_point":[95,440],"distance":621.0442818350396},{"start_region_id":1,"end_region_id":47,"start_point":[715,404],"end_point":[199,61],"distance":619.6006778563109},{"start_region_id":1,"end_region_id":74,"start_point":[715,404],"end_point":[952,946],"distance":591.5513502647086},{"start_region_id":1,"end_region_id":48,"start_point":[715,404],"end_point":[266,122],"distance":530.2122216622322}],"complexity_score":0.6079317179303755}
{"id":11957,"query_id":"Q02392","question":"A passenger vehicle is currently on a paved, hard-surfaced lane and needs to reach a natural area of loose earth and rocky material. The vehicle must prioritize ride comfort, so it should avoid rough, uneven surfaces that cause vibration. The vehicle can only travel on paved, hard surfaces, compacted artificial areas, or natural loose earth/rocky terrain. What is the most comfortable path?","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a natural area of loose earth and rocky material","task_description":"What is the most comfortable path for the vehicle 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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":1,"start_point":[901,890],"end_point":[715,404],"distance":520.3767865691167},{"start_region_id":76,"end_region_id":1,"start_point":[225,397],"end_point":[715,404],"distance":490.04999744923987},{"start_region_id":77,"end_region_id":1,"start_point":[785,103],"end_point":[715,404],"distance":309.03236076501764}],"complexity_score":0.6079317179303755}
{"id":13945,"query_id":"Q02789","question":"A hiker starts from a stretch of loose, sandy ground and needs to reach another section of similar loose, sandy terrain. The hiker can walk on paved, hard surfaces and across cultivated fields that are dry and flat, but cannot cross liquid surfaces or enter vertical structures. Areas with dense vegetation are too overgrown to pass through. What is the shortest possible route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a stretch of loose, sandy ground","end_land_type":"needing to reach another section of similar loose, sandy terrain","task_description":"What is the shortest possible 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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[893,747],"end_point":[416,426],"distance":574.9521719238915}],"complexity_score":0.6079317179303755}
{"id":14054,"query_id":"Q02811","question":"A quadcopter drone is on a paved, hard surface and needs to reach a loose, sandy ground area. The drone can fly over paved surfaces, packed dirt tracks, grassy fields, and cultivated soil, but cannot fly through dense vegetation or near structures. The drone must reach the destination as quickly as possible.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","task_description":"What is the fastest path for the quadcopter 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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":1,"start_point":[83,171],"end_point":[715,404],"distance":673.5822147295755},{"start_region_id":71,"end_region_id":1,"start_point":[95,440],"end_point":[715,404],"distance":621.0442818350396},{"start_region_id":47,"end_region_id":1,"start_point":[199,61],"end_point":[715,404],"distance":619.6006778563109},{"start_region_id":74,"end_region_id":1,"start_point":[952,946],"end_point":[715,404],"distance":591.5513502647086},{"start_region_id":48,"end_region_id":1,"start_point":[266,122],"end_point":[715,404],"distance":530.2122216622322}],"complexity_score":0.6079317179303755}
{"id":16404,"query_id":"Q03281","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach an area covered with low, dense shrubs and grasses. The drone can fly over any solid or liquid surface, but must avoid tall vertical obstacles like trees and buildings. It can also traverse paved lanes and hard artificial surfaces. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"An area covered with low, dense shrubs and grasses.","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":"sechura_21.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":22,"start_point":[715,404],"end_point":[237,690],"distance":557.0278269530168}],"complexity_score":0.6079317179303755}
{"id":13020,"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":"ulaanbaatar_31.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":9,"start_point":[939,922],"end_point":[179,78],"distance":1135.7534943815933},{"start_region_id":150,"end_region_id":14,"start_point":[939,922],"end_point":[203,156],"distance":1062.2862137860964},{"start_region_id":146,"end_region_id":67,"start_point":[132,135],"end_point":[944,799],"distance":1048.9232574406958},{"start_region_id":146,"end_region_id":97,"start_point":[132,135],"end_point":[685,996],"distance":1023.2937017298601},{"start_region_id":150,"end_region_id":10,"start_point":[939,922],"end_point":[384,81],"distance":1007.6239377863152}],"complexity_score":0.6079973921666518}
{"id":1347,"query_id":"Q00270","question":"An agricultural monitoring drone starts from a cultivated field and needs to survey various areas before returning to another cultivated field. The drone can fly over areas with herbaceous vegetation or bushes, individual or clustered tall vertical obstacles, liquid surfaces, and cultivated crop areas. For maximum flight stability and smooth operation, which path should the drone take?","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 take?","task_type":"Comfort","input_classes":["Rangeland","Tree","Water","Agriculture land"],"traverse_vector":[0,1,0,0,1,1,1,0],"cost_vector":[0,3,0,0,1,2,3,0],"image_name":"kagera_50.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":340,"start_point":[987,598],"end_point":[460,39],"distance":768.2512609817181},{"start_region_id":340,"end_region_id":341,"start_point":[460,39],"end_point":[987,598],"distance":768.2512609817181}],"complexity_score":0.6081218001899361}
{"id":2652,"query_id":"Q00531","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved street. The terrain includes areas of loose, rocky ground without vegetation, as well as flat, hard surfaces like parking lots and sidewalks. The cultivated field is traversable because the soil is dry and compacted enough for vehicle tires. What is the shortest path to the street?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the shortest path to the street?","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":"kagera_50.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":153,"start_point":[460,39],"end_point":[208,539],"distance":559.9142791535147},{"start_region_id":340,"end_region_id":158,"start_point":[460,39],"end_point":[689,523],"distance":535.4409397870133},{"start_region_id":342,"end_region_id":153,"start_point":[475,792],"end_point":[208,539],"distance":367.8287645087045},{"start_region_id":342,"end_region_id":158,"start_point":[475,792],"end_point":[689,523],"distance":343.7397271192261}],"complexity_score":0.6081218001899361}
{"id":16636,"query_id":"Q03328","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field across varied terrain. The area includes loose, sandy or rocky ground; grassy or shrub-covered areas; paved lanes; and tilled soil for crops. The quadcopter drone can fly over all these surfaces, but must avoid colliding with trees and buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","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","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_50.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":340,"start_point":[987,598],"end_point":[460,39],"distance":768.2512609817181},{"start_region_id":340,"end_region_id":341,"start_point":[460,39],"end_point":[987,598],"distance":768.2512609817181},{"start_region_id":342,"end_region_id":340,"start_point":[475,792],"end_point":[460,39],"distance":753.1493875719477},{"start_region_id":340,"end_region_id":342,"start_point":[460,39],"end_point":[475,792],"distance":753.1493875719477},{"start_region_id":342,"end_region_id":341,"start_point":[475,792],"end_point":[987,598],"distance":547.5216890681136}],"complexity_score":0.6081218001899361}
{"id":3861,"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":"abancay_20.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":162,"start_point":[257,99],"end_point":[877,908],"distance":1019.2551201735511},{"start_region_id":241,"end_region_id":152,"start_point":[257,99],"end_point":[906,711],"distance":892.0454024319614},{"start_region_id":241,"end_region_id":196,"start_point":[257,99],"end_point":[467,938],"distance":864.8820728862404},{"start_region_id":241,"end_region_id":187,"start_point":[257,99],"end_point":[282,937],"distance":838.3728287581844},{"start_region_id":241,"end_region_id":166,"start_point":[257,99],"end_point":[51,865],"distance":793.2162378569919}],"complexity_score":0.6081414802565092}
{"id":5238,"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":"abancay_20.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":238,"end_region_id":237,"start_point":[559,487],"end_point":[30,121],"distance":643.2705496134578},{"start_region_id":237,"end_region_id":238,"start_point":[30,121],"end_point":[559,487],"distance":643.2705496134578}],"complexity_score":0.6081414802565092}
{"id":28,"query_id":"Q00006","question":"An aerial surveillance drone is currently positioned over a cultivated field and needs to reach a paved lane. The drone can fly over open, solid ground; grassy or shrub-covered areas; hard, flat surfaces; liquid bodies; and planted areas. However, it must avoid vertical structures and dense vegetation clusters to minimize collision risk. What is the safest path for the drone to take?","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 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_4.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":98,"start_point":[244,638],"end_point":[393,779],"distance":205.1389772812568},{"start_region_id":139,"end_region_id":98,"start_point":[143,799],"end_point":[393,779],"distance":250.79872407968904}],"complexity_score":0.6083581150566633}
{"id":13349,"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":"bielefeld_4.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":139,"end_region_id":13,"start_point":[143,799],"end_point":[561,334],"distance":625.2591462745667},{"start_region_id":137,"end_region_id":2,"start_point":[849,153],"end_point":[378,58],"distance":480.48517146734093},{"start_region_id":139,"end_region_id":28,"start_point":[143,799],"end_point":[614,856],"distance":474.43650787012587},{"start_region_id":139,"end_region_id":21,"start_point":[143,799],"end_point":[546,562],"distance":467.5232614533741},{"start_region_id":138,"end_region_id":13,"start_point":[244,638],"end_point":[561,334],"distance":439.2095172010734}],"complexity_score":0.6083581150566633}
{"id":5175,"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_5.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":239,"start_point":[447,164],"end_point":[882,719],"distance":705.1595564125895},{"start_region_id":137,"end_region_id":239,"start_point":[252,802],"end_point":[882,719],"distance":635.4439393054276}],"complexity_score":0.6083817402985425}
{"id":12661,"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":"abancay_5.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":135,"start_point":[882,719],"end_point":[447,164],"distance":705.1595564125895},{"start_region_id":239,"end_region_id":137,"start_point":[882,719],"end_point":[252,802],"distance":635.4439393054276}],"complexity_score":0.6083817402985425}
{"id":14664,"query_id":"Q02933","question":"A hiker is standing on a grassy, open field covered with natural vegetation and shrubs. They need to reach a cultivated field where crops are growing. The terrain includes areas of loose, dry soil and rocks without vegetation, hard paved surfaces like sidewalks and parking lots, and patches of tall trees. The hiker can traverse grassy fields, cultivated areas, loose rocky ground, paved surfaces, and wooded areas. What is the shortest path from the starting grassy field to the destination cultivated field?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the shortest path from the starting grassy field to the destination cultivated 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":"abancay_5.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":239,"start_point":[80,555],"end_point":[882,719],"distance":818.5963596303126},{"start_region_id":54,"end_region_id":239,"start_point":[132,969],"end_point":[882,719],"distance":790.5694150420949},{"start_region_id":40,"end_region_id":239,"start_point":[169,846],"end_point":[882,719],"distance":724.2223415498862},{"start_region_id":42,"end_region_id":239,"start_point":[351,908],"end_point":[882,719],"distance":563.6328592266423},{"start_region_id":22,"end_region_id":239,"start_point":[406,505],"end_point":[882,719],"distance":521.8927092803654}],"complexity_score":0.6083817402985425}
{"id":10194,"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_11.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":56,"start_point":[830,107],"end_point":[98,994],"distance":1150.0404340717764},{"start_region_id":84,"end_region_id":1,"start_point":[907,886],"end_point":[133,57],"distance":1134.1591599065803},{"start_region_id":86,"end_region_id":24,"start_point":[41,873],"end_point":[960,272],"distance":1098.0719466410205},{"start_region_id":84,"end_region_id":14,"start_point":[907,886],"end_point":[181,150],"distance":1033.814296670345},{"start_region_id":80,"end_region_id":1,"start_point":[901,752],"end_point":[133,57],"distance":1035.7842439427238}],"complexity_score":0.6083857157044515}
{"id":14785,"query_id":"Q02957","question":"An aerial survey drone starts from a patch of grassy, uncultivated vegetation and needs to reach another patch of similar vegetation as quickly as possible. The drone can fly over open, solid ground with no vegetation, areas covered by low bushes and wild grass, hard, flat artificial surfaces, bodies of liquid, and cultivated crop fields. However, it must avoid flying through dense clusters of tall, vertical obstacles and cannot pass through solid, enclosed vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of grassy, uncultivated vegetation.","end_land_type":"Another patch of grassy, uncultivated vegetation.","task_description":"What is the fastest path for the aerial survey drone to reach the destination patch of grassy vegetation?","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_11.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":24,"start_point":[98,994],"end_point":[960,272],"distance":1124.4234077961914},{"start_region_id":24,"end_region_id":56,"start_point":[960,272],"end_point":[98,994],"distance":1124.4234077961914},{"start_region_id":11,"end_region_id":56,"start_point":[798,238],"end_point":[98,994],"distance":1030.3086916065495},{"start_region_id":56,"end_region_id":11,"start_point":[98,994],"end_point":[798,238],"distance":1030.3086916065495},{"start_region_id":43,"end_region_id":24,"start_point":[23,604],"end_point":[960,272],"distance":994.0789707060501}],"complexity_score":0.6083857157044515}
{"id":12790,"query_id":"Q02558","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing minimal risk. The drone can fly over open, grassy fields, hard surfaces like sidewalks and parking lots, paved lanes, and cultivated crop areas. The path must avoid flying close to tall vegetation, liquid surfaces, or vertical structures to minimize collision risk. What is the safest route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the safest route for the delivery 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":"al_qurnah_29.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":114,"start_point":[102,1020],"end_point":[980,200],"distance":1201.3675540815975}],"complexity_score":0.6084201871251507}
{"id":14740,"query_id":"Q02948","question":"A hiker starts from a paved surface and needs to reach another paved surface while prioritizing a comfortable walking experience. The hiker can traverse loose, sandy or rocky ground, areas with low vegetation like grass and shrubs, and wooded areas with individual trees, but must avoid any water bodies, buildings, and cultivated fields. The paved surfaces are always accessible. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved surface","end_land_type":"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"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"al_qurnah_29.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":114,"start_point":[981,10],"end_point":[109,772],"distance":1158.0276335217566}],"complexity_score":0.6084201871251507}
{"id":17147,"query_id":"Q03430","question":"A quadcopter is positioned above a dense cluster of tall vegetation, needing to reach a flat, hard-surfaced area. The environment includes open grassy areas and bushes that are passable, but the drone must navigate carefully around vertical obstacles and structures. Liquid surfaces are accessible but should be avoided for safety. What is the safest route?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a dense cluster of tall vegetation","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest route?","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":"al_qurnah_29.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":104,"start_point":[202,524],"end_point":[953,998],"distance":888.074884229928},{"start_region_id":130,"end_region_id":39,"start_point":[202,524],"end_point":[1000,324],"distance":822.6809831277249},{"start_region_id":176,"end_region_id":29,"start_point":[507,955],"end_point":[457,134],"distance":822.5211243487914},{"start_region_id":176,"end_region_id":35,"start_point":[507,955],"end_point":[742,204],"distance":786.909143421272},{"start_region_id":176,"end_region_id":39,"start_point":[507,955],"end_point":[1000,324],"distance":800.7558928912107}],"complexity_score":0.6084201871251507}
{"id":1600,"query_id":"Q00320","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow covered in natural herbaceous vegetation. The terrain includes only areas with loose soil and vegetation, as well as paved lanes used by vehicles. You must avoid any solid vertical structures, liquid surfaces, and sandy or rocky expanses. What is the shortest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","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":"tokyo_58.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":599,"end_region_id":41,"start_point":[943,282],"end_point":[127,900],"distance":1023.6112543343786},{"start_region_id":600,"end_region_id":41,"start_point":[661,366],"end_point":[127,900],"distance":755.1900423072327},{"start_region_id":599,"end_region_id":26,"start_point":[943,282],"end_point":[440,714],"distance":663.0482637033296},{"start_region_id":599,"end_region_id":44,"start_point":[943,282],"end_point":[875,952],"distance":673.4419054380267},{"start_region_id":600,"end_region_id":44,"start_point":[661,366],"end_point":[875,952],"distance":623.852546680704}],"complexity_score":0.6084569197940639}
{"id":2215,"query_id":"Q00443","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and low crop rows and needs to reach a paved lane with a hard, smooth surface. The drone can fly over open water bodies, but must avoid tall vertical obstacles like trees and buildings. The goal is to find the fastest path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with soft, tilled soil and low crop rows","end_land_type":"A paved lane with a hard, smooth 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":"tokyo_58.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":599,"end_region_id":467,"start_point":[943,282],"end_point":[541,475],"distance":445.9293666041742}],"complexity_score":0.6084569197940639}
{"id":11249,"query_id":"Q02250","question":"A family SUV starts from a paved parking lot and needs to return to another paved parking lot while prioritizing safety. The vehicle can travel on hard, stable surfaces like asphalt or concrete, which provide good traction and control. It can also cross areas with loose soil or gravel if necessary, as long as the ground is firm enough to support its weight without sinking. However, the vehicle must avoid any terrain with standing liquid, dense vertical obstacles, or structures that could cause collisions. What is the safest path?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","task_description":"What is the safest path for the family SUV to return from the starting paved parking lot to the destination paved parking lot?","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":"tokyo_58.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":327,"start_point":[919,36],"end_point":[36,928],"distance":1255.130670488137},{"start_region_id":327,"end_region_id":54,"start_point":[36,928],"end_point":[919,36],"distance":1255.130670488137},{"start_region_id":51,"end_region_id":312,"start_point":[41,49],"end_point":[956,894],"distance":1245.4918707081151},{"start_region_id":312,"end_region_id":51,"start_point":[956,894],"end_point":[41,49],"distance":1245.4918707081151},{"start_region_id":51,"end_region_id":242,"start_point":[41,49],"end_point":[901,773],"distance":1124.1779218611262}],"complexity_score":0.6084569197940639}
{"id":7381,"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_54.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":11,"start_point":[997,992],"end_point":[84,32],"distance":1324.8279133532778},{"start_region_id":335,"end_region_id":34,"start_point":[997,992],"end_point":[64,134],"distance":1267.5381651058874},{"start_region_id":332,"end_region_id":11,"start_point":[904,960],"end_point":[84,32],"distance":1238.37958639506},{"start_region_id":335,"end_region_id":14,"start_point":[997,992],"end_point":[231,39],"distance":1222.6876134156264},{"start_region_id":313,"end_region_id":131,"start_point":[917,37],"end_point":[92,932],"distance":1217.230462977328}],"complexity_score":0.6084737459488885}
{"id":12812,"query_id":"Q02563","question":"A hiker starts from a grassy, open field and needs to reach a cultivated crop field. The terrain includes areas with hard, paved surfaces suitable for walking, lanes used by vehicles, and patches of tall vegetation with individual trees. You cannot cross any liquid bodies or enter any structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field","end_land_type":"cultivated crop 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":"kyoto_54.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":313,"start_point":[434,906],"end_point":[917,37],"distance":994.2082276867357},{"start_region_id":8,"end_region_id":314,"start_point":[434,906],"end_point":[915,233],"distance":827.2182299732036},{"start_region_id":8,"end_region_id":316,"start_point":[434,906],"end_point":[53,390],"distance":641.4179604594807},{"start_region_id":8,"end_region_id":319,"start_point":[434,906],"end_point":[911,498],"distance":627.6886170705982},{"start_region_id":8,"end_region_id":321,"start_point":[434,906],"end_point":[912,544],"distance":599.6065376561534}],"complexity_score":0.6084737459488885}
{"id":14026,"query_id":"Q02806","question":"A hiker starts from a paved area and needs to reach a cultivated field. The terrain includes loose, sandy ground; grassy, uneven surfaces; hard, flat surfaces; and soft, tilled soil. You must avoid any vertical structures, liquid areas, and dense vegetation that could block your path. What is the shortest route 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 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":"kyoto_54.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":335,"start_point":[84,32],"end_point":[997,992],"distance":1324.8279133532778},{"start_region_id":34,"end_region_id":335,"start_point":[64,134],"end_point":[997,992],"distance":1267.5381651058874},{"start_region_id":11,"end_region_id":332,"start_point":[84,32],"end_point":[904,960],"distance":1238.37958639506},{"start_region_id":14,"end_region_id":335,"start_point":[231,39],"end_point":[997,992],"distance":1222.6876134156264},{"start_region_id":131,"end_region_id":313,"start_point":[92,932],"end_point":[917,37],"distance":1217.230462977328}],"complexity_score":0.6084737459488885}
{"id":12218,"query_id":"Q02444","question":"A delivery drone carrying fragile packages starts from a flat, hard-surfaced landing pad and needs to reach another flat, hard-surfaced landing pad while prioritizing ride comfort. The drone can fly over areas with loose, sandy or rocky ground, and can navigate around tall, vertical obstacles that may cause turbulence, but must avoid any liquid surfaces due to splash risk and cannot fly through solid vertical structures. The hard surfaces offer the most stable takeoff and landing. The loose ground is traversable but may cause slight vibration from updrafts. The tall vertical obstacles are passable with careful maneuvering but can create unpredictable air currents that affect comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone carrying fragile packages","start_land_type":"a flat, hard-surfaced landing pad","end_land_type":"another flat, hard-surfaced landing pad","task_description":"What is the most comfortable path?","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":"lambayeque_13.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":57,"start_point":[218,931],"end_point":[958,28],"distance":1167.4797642785934},{"start_region_id":57,"end_region_id":93,"start_point":[958,28],"end_point":[218,931],"distance":1167.4797642785934},{"start_region_id":94,"end_region_id":57,"start_point":[411,938],"end_point":[958,28],"distance":1061.7480868831362},{"start_region_id":57,"end_region_id":94,"start_point":[958,28],"end_point":[411,938],"distance":1061.7480868831362},{"start_region_id":76,"end_region_id":57,"start_point":[199,688],"end_point":[958,28],"distance":1005.8235431724593}],"complexity_score":0.6085774452699818}
{"id":672,"query_id":"Q00135","question":"An aerial survey drone starts from a cultivated field and needs to reach a paved roadway while prioritizing smooth, stable flight to protect its sensitive imaging equipment. The drone can fly over open water bodies and cultivated areas, but must avoid dense vegetation areas that could cause turbulence and instability. Vertical structures are completely impassable. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the most comfortable path for the aerial survey drone to travel from the cultivated field to the paved roadway?","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":"mazowieckie_7.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":16,"start_point":[725,639],"end_point":[145,50],"distance":826.6323245554821},{"start_region_id":39,"end_region_id":16,"start_point":[917,75],"end_point":[145,50],"distance":772.4046866766151},{"start_region_id":40,"end_region_id":17,"start_point":[174,562],"end_point":[905,619],"distance":733.2189304702928},{"start_region_id":38,"end_region_id":17,"start_point":[451,50],"end_point":[905,619],"distance":727.9265072794094},{"start_region_id":39,"end_region_id":17,"start_point":[917,75],"end_point":[905,619],"distance":544.1323368446319}],"complexity_score":0.6087195241372144}
{"id":7488,"query_id":"Q01498","question":"A quadcopter drone is positioned above a cultivated field with low vegetation. It needs to reach a paved roadway. The drone can fly over most surfaces, but must avoid areas with tall, dense tree canopies or solid structures like buildings that could obstruct its flight path or cause collisions. All other terrain types, including open water, are permissible to fly over. What is the fastest aerial route to the roadway?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field","end_land_type":"A paved roadway","task_description":"What is the fastest aerial route to the roadway?","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":"mazowieckie_7.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":16,"start_point":[725,639],"end_point":[145,50],"distance":826.6323245554821},{"start_region_id":39,"end_region_id":16,"start_point":[917,75],"end_point":[145,50],"distance":772.4046866766151},{"start_region_id":40,"end_region_id":17,"start_point":[174,562],"end_point":[905,619],"distance":733.2189304702928},{"start_region_id":38,"end_region_id":17,"start_point":[451,50],"end_point":[905,619],"distance":727.9265072794094},{"start_region_id":39,"end_region_id":17,"start_point":[917,75],"end_point":[905,619],"distance":544.1323368446319}],"complexity_score":0.6087195241372144}
{"id":9134,"query_id":"Q01827","question":"An agricultural monitoring drone starts from a paved road surface and needs to reach a cultivated field area. The drone can fly over paved surfaces, compacted dirt areas, grassy fields, and cultivated land. However, it must avoid flying through dense vegetation clusters and cannot pass through solid vertical structures. The operator wants to minimize flight time by prioritizing surfaces that allow faster and more direct flight paths.","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest path for the agricultural monitoring drone to reach the cultivated field area?","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":"mazowieckie_7.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":41,"start_point":[145,50],"end_point":[725,639],"distance":826.6323245554821},{"start_region_id":16,"end_region_id":39,"start_point":[145,50],"end_point":[917,75],"distance":772.4046866766151},{"start_region_id":17,"end_region_id":40,"start_point":[905,619],"end_point":[174,562],"distance":733.2189304702928},{"start_region_id":17,"end_region_id":38,"start_point":[905,619],"end_point":[451,50],"distance":727.9265072794094},{"start_region_id":17,"end_region_id":39,"start_point":[905,619],"end_point":[917,75],"distance":544.1323368446319}],"complexity_score":0.6087195241372144}
{"id":13970,"query_id":"Q02794","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone can fly over bare, sandy or rocky ground without vegetation, and cultivated fields are accessible because the crops are low. However, grassy or shrub-covered areas are avoided due to potential signal interference, roads are restricted due to air traffic regulations, water bodies are avoided due to risk of splash damage, trees are too dense to navigate safely, and buildings are avoided due to collision risk. What is the safest 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 area with a hard, flat surface","task_description":"What is the safest path?","task_type":"Safest","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":"mazowieckie_7.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":12,"start_point":[725,639],"end_point":[682,276],"distance":365.5379597251153}],"complexity_score":0.6087195241372144}
{"id":8853,"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_51.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":214,"start_point":[816,269],"end_point":[72,955],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":44,"start_point":[72,955],"end_point":[816,269],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":28,"start_point":[72,955],"end_point":[652,173],"distance":973.6138865073772},{"start_region_id":28,"end_region_id":214,"start_point":[652,173],"end_point":[72,955],"distance":973.6138865073772},{"start_region_id":44,"end_region_id":186,"start_point":[816,269],"end_point":[208,850],"distance":840.9667056429761}],"complexity_score":0.608720655820921}
{"id":9589,"query_id":"Q01918","question":"A hiker is standing on a paved, hard surface area and needs to reach another paved, hard surface area. The hiker can traverse across loose, sandy or rocky ground without vegetation, areas covered with natural grass or shrubs, other paved or compacted surfaces like sidewalks and parking lots, vehicle lanes made of asphalt or concrete, and cultivated fields with crops. The hiker cannot enter any structures or cross any bodies of water. What is the shortest path to the destination?","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 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_51.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":214,"start_point":[816,269],"end_point":[72,955],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":44,"start_point":[72,955],"end_point":[816,269],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":28,"start_point":[72,955],"end_point":[652,173],"distance":973.6138865073772},{"start_region_id":28,"end_region_id":214,"start_point":[652,173],"end_point":[72,955],"distance":973.6138865073772},{"start_region_id":44,"end_region_id":186,"start_point":[816,269],"end_point":[208,850],"distance":840.9667056429761}],"complexity_score":0.608720655820921}
{"id":13268,"query_id":"Q02654","question":"An aerial drone starts from a flat, hard-surfaced landing pad and needs to reach another flat, hard-surfaced landing pad while prioritizing safety. The drone can fly over loose, sandy or rocky ground, over grassy or shrub-covered areas, over flat, compacted surfaces, over designated vehicle lanes, over cultivated fields with crops, and over liquid surfaces. The drone can also fly near vertical structures with solid walls, but it must avoid dense clusters of tall, vertical obstacles that could cause collisions.","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"A flat, hard-surfaced landing pad","end_land_type":"Another flat, hard-surfaced landing pad","task_description":"What is the safest path for the aerial 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":"mexico_city_51.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":214,"start_point":[816,269],"end_point":[72,955],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":44,"start_point":[72,955],"end_point":[816,269],"distance":1011.9940711288777},{"start_region_id":214,"end_region_id":28,"start_point":[72,955],"end_point":[652,173],"distance":973.6138865073772},{"start_region_id":28,"end_region_id":214,"start_point":[652,173],"end_point":[72,955],"distance":973.6138865073772},{"start_region_id":44,"end_region_id":186,"start_point":[816,269],"end_point":[208,850],"distance":840.9667056429761}],"complexity_score":0.608720655820921}
{"id":5260,"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":"abancay_48.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":206,"start_point":[502,586],"end_point":[887,132],"distance":595.2654869887889},{"start_region_id":197,"end_region_id":198,"start_point":[502,586],"end_point":[405,107],"distance":488.72282533149604},{"start_region_id":197,"end_region_id":266,"start_point":[502,586],"end_point":[175,925],"distance":471.00955404322747},{"start_region_id":197,"end_region_id":245,"start_point":[502,586],"end_point":[177,622],"distance":326.9877673552942}],"complexity_score":0.6088018068800464}
{"id":8442,"query_id":"Q01689","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of low, wild vegetation and grass. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, all paved or artificial surfaces, vehicle lanes, and bodies of liquid. However, it must avoid flying directly through dense clusters of tall, vertical obstacles like trees or through solid, enclosed structures. Given the need to minimize travel time, 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, wild vegetation and grass","task_description":"What is the fastest path for the 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":"abancay_48.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":8,"start_point":[502,586],"end_point":[837,113],"distance":579.6153897197693},{"start_region_id":197,"end_region_id":6,"start_point":[502,586],"end_point":[338,81],"distance":530.9623338806624},{"start_region_id":197,"end_region_id":31,"start_point":[502,586],"end_point":[787,754],"distance":330.83077245020604},{"start_region_id":197,"end_region_id":23,"start_point":[502,586],"end_point":[316,325],"distance":320.4949297570868}],"complexity_score":0.6088018068800464}
{"id":17237,"query_id":"Q03448","question":"A quadcopter starts from a forested area with tall vegetation casting shadows and needs to reach another forested area with tall vegetation casting shadows. The environment includes open grassy fields with scattered bushes, hard paved surfaces like sidewalks and parking lots, and forested patches with tall vegetation. You can fly over grassy fields, paved surfaces, and forested patches. You cannot fly through dense vertical obstacles like thick tree canopies or buildings unless explicitly permitted. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a forested area with tall vegetation casting shadows","end_land_type":"another forested area with tall vegetation casting shadows","task_description":"What is the shortest path from the starting forested area to the destination forested area?","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":"abancay_48.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":266,"end_region_id":206,"start_point":[175,925],"end_point":[887,132],"distance":1065.7358959892456},{"start_region_id":206,"end_region_id":266,"start_point":[887,132],"end_point":[175,925],"distance":1065.7358959892456},{"start_region_id":206,"end_region_id":245,"start_point":[887,132],"end_point":[177,622],"distance":862.670273047588},{"start_region_id":245,"end_region_id":206,"start_point":[177,622],"end_point":[887,132],"distance":862.670273047588},{"start_region_id":198,"end_region_id":266,"start_point":[405,107],"end_point":[175,925],"distance":849.719953867155}],"complexity_score":0.6088018068800464}
{"id":5804,"query_id":"Q01161","question":"A family sedan starts from a vehicle lane with a hard, paved surface and needs to reach a flat, stable area with a hard, artificial surface. You must stay on surfaces that provide maximum traction and stability for wheeled vehicles. Unpaved, uneven, or vegetation-covered terrain is prohibited as it increases the risk of loss of control. What is the safest route to your destination?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"A vehicle lane with a hard, paved surface","end_land_type":"A flat, stable area with a hard, artificial surface","task_description":"What is the safest route to your destination?","task_type":"Safest","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"kagera_46.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":78,"start_point":[524,446],"end_point":[127,647],"distance":444.98314574824064},{"start_region_id":89,"end_region_id":74,"start_point":[524,446],"end_point":[157,336],"distance":383.13052606128895},{"start_region_id":89,"end_region_id":67,"start_point":[524,446],"end_point":[542,237],"distance":209.77368757782756}],"complexity_score":0.6088121063997676}
{"id":6731,"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":"kagera_46.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":243,"start_point":[127,647],"end_point":[225,920],"distance":290.05689097140925}],"complexity_score":0.6088121063997676}
{"id":15308,"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":"kagera_46.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":242,"end_region_id":90,"start_point":[1014,820],"end_point":[50,37],"distance":1241.927936717747},{"start_region_id":243,"end_region_id":95,"start_point":[225,920],"end_point":[988,45],"distance":1160.9453044825152},{"start_region_id":243,"end_region_id":116,"start_point":[225,920],"end_point":[995,154],"distance":1086.1196987441117},{"start_region_id":236,"end_region_id":194,"start_point":[896,126],"end_point":[82,825],"distance":1072.9384884512253},{"start_region_id":233,"end_region_id":199,"start_point":[108,190],"end_point":[958,854],"distance":1078.60836265996}],"complexity_score":0.6088121063997676}
{"id":2775,"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_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":1,"start_point":[375,959],"end_point":[688,417],"distance":625.8857723259093},{"start_region_id":123,"end_region_id":1,"start_point":[341,812],"end_point":[688,417],"distance":525.7699116533771},{"start_region_id":119,"end_region_id":1,"start_point":[171,448],"end_point":[688,417],"distance":517.9285665031424},{"start_region_id":119,"end_region_id":14,"start_point":[171,448],"end_point":[495,667],"distance":391.0716046966335},{"start_region_id":124,"end_region_id":14,"start_point":[375,959],"end_point":[495,667],"distance":315.69605635801025}],"complexity_score":0.6088149378842502}
{"id":11082,"query_id":"Q02217","question":"An agricultural monitoring drone is currently positioned over a cultivated field with rows of crops. It needs to reach a nearby area of dry, open ground with no vegetation. The drone can fly over cultivated areas, grassy patches, and bare earth, but must avoid flying through dense tree canopies or close to vertical structures. What is the fastest route for the drone to reach the dry, open ground?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"dry, open ground","task_description":"What is the fastest route for the drone to reach the dry, open ground?","task_type":"Fastest","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_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":1,"start_point":[73,816],"end_point":[688,417],"distance":733.0934456124949},{"start_region_id":124,"end_region_id":1,"start_point":[375,959],"end_point":[688,417],"distance":625.8857723259093},{"start_region_id":123,"end_region_id":1,"start_point":[341,812],"end_point":[688,417],"distance":525.7699116533771},{"start_region_id":119,"end_region_id":1,"start_point":[171,448],"end_point":[688,417],"distance":517.9285665031424},{"start_region_id":122,"end_region_id":14,"start_point":[73,816],"end_point":[495,667],"distance":447.532121752171}],"complexity_score":0.6088149378842502}
{"id":11310,"query_id":"Q02262","question":"A quadcopter is starting from a cultivated field with loose soil and needs to reach an area of exposed rocky ground. The drone must avoid any vertical obstacles and liquid surfaces, and can only fly over surfaces composed of loose earth, natural vegetation, or compacted soil. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field with loose soil","end_land_type":"exposed rocky ground","task_description":"What is the safest path to the destination?","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":"ngaoundere_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":1,"start_point":[73,816],"end_point":[688,417],"distance":733.0934456124949},{"start_region_id":124,"end_region_id":1,"start_point":[375,959],"end_point":[688,417],"distance":625.8857723259093},{"start_region_id":123,"end_region_id":1,"start_point":[341,812],"end_point":[688,417],"distance":525.7699116533771},{"start_region_id":119,"end_region_id":1,"start_point":[171,448],"end_point":[688,417],"distance":517.9285665031424},{"start_region_id":122,"end_region_id":14,"start_point":[73,816],"end_point":[495,667],"distance":447.532121752171}],"complexity_score":0.6088149378842502}
{"id":13493,"query_id":"Q02699","question":"An aerial survey drone starts from a paved, flat surface and needs to reach a dry, loose soil area. The drone must maintain stable flight and avoid vibrations to ensure sensor accuracy. The only surfaces available for flight are hard, artificial surfaces; dry, loose soil; and liquid bodies. The liquid bodies are turbulent and cause instability, so they should be avoided for comfort. 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 dry, loose soil area","task_description":"What is the most comfortable path for the aerial survey drone to take from the paved, flat surface to the dry, loose soil area?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Water","Building"],"traverse_vector":[1,0,1,1,0,1,0,1],"cost_vector":[2,0,2,2,0,1,0,2],"image_name":"ngaoundere_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":1,"start_point":[50,89],"end_point":[688,417],"distance":717.375773217914},{"start_region_id":41,"end_region_id":1,"start_point":[24,220],"end_point":[688,417],"distance":692.6073923948545},{"start_region_id":39,"end_region_id":1,"start_point":[98,126],"end_point":[688,417],"distance":657.8609275523208},{"start_region_id":44,"end_region_id":1,"start_point":[303,629],"end_point":[688,417],"distance":439.50995438101285}],"complexity_score":0.6088149378842502}
{"id":14430,"query_id":"Q02886","question":"An aerial surveillance drone starts from a flat, open area of loose soil and scattered rocks and needs to return to another similar open area of loose soil and scattered rocks. The drone must avoid any vertical structures or dense overhead obstacles that could cause collisions. It should also minimize flight over liquid surfaces where a system failure could lead to unrecoverable loss. The drone can fly over areas with sparse, low vegetation and exposed ground. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a flat, open area of loose soil and scattered rocks","end_land_type":"needing to return to another similar open area of loose soil and scattered rocks","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":"ngaoundere_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":14,"start_point":[688,417],"end_point":[495,667],"distance":315.83065082414026},{"start_region_id":14,"end_region_id":1,"start_point":[495,667],"end_point":[688,417],"distance":315.83065082414026}],"complexity_score":0.6088149378842502}
{"id":15413,"query_id":"Q03083","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach an expanse of loose, dry soil and scattered rocks. The drone can fly over areas with short vegetation, paved surfaces, vehicle lanes, water bodies, and vertical structures, but must avoid dense tree canopies and solid buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"an expanse of loose, dry soil and scattered rocks","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":"ngaoundere_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":1,"start_point":[21,986],"end_point":[688,417],"distance":876.7268673880138},{"start_region_id":122,"end_region_id":1,"start_point":[73,816],"end_point":[688,417],"distance":733.0934456124949},{"start_region_id":124,"end_region_id":1,"start_point":[375,959],"end_point":[688,417],"distance":625.8857723259093},{"start_region_id":125,"end_region_id":14,"start_point":[21,986],"end_point":[495,667],"distance":571.3466548427496},{"start_region_id":123,"end_region_id":1,"start_point":[341,812],"end_point":[688,417],"distance":525.7699116533771}],"complexity_score":0.6088149378842502}
{"id":17722,"query_id":"Q03545","question":"An aerial surveillance drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with orderly rows of low-growing crops. The drone must avoid any tall, dense vertical structures that could cause collisions. It can fly over open ground covered by short grass or shrubs, paved vehicle lanes, and the cultivated area itself. The priority 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":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of low-growing crops.","task_description":"What is the safest path for the drone to take?","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_43.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":122,"start_point":[688,417],"end_point":[73,816],"distance":733.0934456124949},{"start_region_id":1,"end_region_id":124,"start_point":[688,417],"end_point":[375,959],"distance":625.8857723259093},{"start_region_id":1,"end_region_id":123,"start_point":[688,417],"end_point":[341,812],"distance":525.7699116533771},{"start_region_id":1,"end_region_id":119,"start_point":[688,417],"end_point":[171,448],"distance":517.9285665031424},{"start_region_id":14,"end_region_id":122,"start_point":[495,667],"end_point":[73,816],"distance":447.532121752171}],"complexity_score":0.6088149378842502}
{"id":1588,"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_60.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":207,"start_point":[116,488],"end_point":[120,226],"distance":262.03053257206494},{"start_region_id":207,"end_region_id":208,"start_point":[120,226],"end_point":[116,488],"distance":262.03053257206494}],"complexity_score":0.6088953385951866}
{"id":2267,"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_60.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":121,"start_point":[904,48],"end_point":[422,598],"distance":731.3166208968589},{"start_region_id":200,"end_region_id":121,"start_point":[743,51],"end_point":[422,598],"distance":634.2318188170632},{"start_region_id":203,"end_region_id":121,"start_point":[938,411],"end_point":[422,598],"distance":548.839685154053},{"start_region_id":216,"end_region_id":121,"start_point":[823,939],"end_point":[422,598],"distance":526.3857900817612},{"start_region_id":211,"end_region_id":121,"start_point":[922,727],"end_point":[422,598],"distance":516.3729272531626}],"complexity_score":0.6088953385951866}
{"id":6112,"query_id":"Q01223","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow with soft, even ground. The hiker is equipped with sturdy boots that provide good traction on soft and uneven surfaces, allowing safe traversal across both cultivated fields and grassy meadows. The hiker must avoid any hard surfaces like paved areas or roads, as they are currently slippery due to recent rain, and must also avoid water bodies, buildings, and wooded areas due to safety hazards. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest path 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":"tokyo_60.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":15,"start_point":[333,368],"end_point":[282,566],"distance":204.46271053666484}],"complexity_score":0.6088953385951866}
{"id":16279,"query_id":"Q03256","question":"A quadcopter drone starts from a cultivated field and needs to reach a grassy meadow. The terrain includes areas of loose, dry soil and rocks without vegetation, as well as hard, paved surfaces designed for vehicles. However, the paved surfaces are currently closed for maintenance and cannot be used. The drone can fly over most surfaces but must avoid areas with dense, tall vegetation that could entangle its rotors. You must find a path that minimizes the total distance traveled.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path from the cultivated field to the grassy meadow?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"tokyo_60.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":15,"start_point":[333,368],"end_point":[282,566],"distance":204.46271053666484}],"complexity_score":0.6088953385951866}
{"id":17,"query_id":"Q00004","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; areas covered by low, natural vegetation like grass and shrubs; bodies of liquid such as rivers or lakes; and other cultivated fields. However, it must avoid tall, dense vegetation that could obstruct its flight path, and solid, vertical structures that could cause collisions. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the aerial survey drone to reach the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"pisco_4.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":151,"start_point":[258,798],"end_point":[95,946],"distance":220.16584657934573},{"start_region_id":151,"end_region_id":148,"start_point":[95,946],"end_point":[258,798],"distance":220.16584657934573}],"complexity_score":0.6089789032801268}
{"id":4470,"query_id":"Q00894","question":"A quadcopter drone is currently positioned above a cultivated field with loose soil and crop rows. It needs to reach a point above a paved lane as quickly as possible. The drone can fly over open areas like bare ground, grassy fields, paved surfaces, parking lots, cultivated fields, and even liquid surfaces. However, it must avoid flying through or too close to dense clusters of tall vegetation or vertical structures. What is the fastest path for the quadcopter drone to take?","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 lane","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":"pisco_4.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":67,"start_point":[95,946],"end_point":[551,598],"distance":573.6200833304217},{"start_region_id":150,"end_region_id":67,"start_point":[938,868],"end_point":[551,598],"distance":471.87816224105984},{"start_region_id":146,"end_region_id":67,"start_point":[674,13],"end_point":[551,598],"distance":597.7909333537939},{"start_region_id":147,"end_region_id":67,"start_point":[962,421],"end_point":[551,598],"distance":447.49301670528894},{"start_region_id":148,"end_region_id":67,"start_point":[258,798],"end_point":[551,598],"distance":354.7520260689148}],"complexity_score":0.6089789032801268}
{"id":13286,"query_id":"Q02658","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach a cultivated field with planted crops. The drone can fly over loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved surfaces like sidewalks, parking lots, and artificial turf; vehicle lanes and railways; water bodies such as rivers and ponds; and the cultivated field itself. However, it must avoid flying through dense tree canopies or between buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A cultivated field with planted 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":"pisco_4.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":147,"start_point":[38,750],"end_point":[962,421],"distance":980.8246530343739},{"start_region_id":64,"end_region_id":146,"start_point":[38,750],"end_point":[674,13],"distance":973.4808678140521},{"start_region_id":64,"end_region_id":150,"start_point":[38,750],"end_point":[938,868],"distance":907.7025944658305},{"start_region_id":61,"end_region_id":151,"start_point":[504,298],"end_point":[95,946],"distance":766.2799749438843},{"start_region_id":63,"end_region_id":151,"start_point":[759,664],"end_point":[95,946],"distance":721.4014139159973}],"complexity_score":0.6089789032801268}
{"id":7320,"query_id":"Q01464","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 for sensor accuracy. The drone can fly over loose, sandy ground; hard, flat surfaces; liquid bodies; and cultivated fields with low vegetation. However, it must avoid areas with tall, dense vegetation or vertical structures that could cause turbulence or collisions. 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 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":"chicago_5.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":50,"start_point":[957,772],"end_point":[33,108],"distance":1137.8365436212707},{"start_region_id":50,"end_region_id":65,"start_point":[33,108],"end_point":[957,772],"distance":1137.8365436212707},{"start_region_id":65,"end_region_id":56,"start_point":[957,772],"end_point":[35,292],"distance":1039.463323066283},{"start_region_id":56,"end_region_id":65,"start_point":[35,292],"end_point":[957,772],"distance":1039.463323066283},{"start_region_id":67,"end_region_id":50,"start_point":[526,851],"end_point":[33,108],"distance":891.6826789839533}],"complexity_score":0.6089972204650063}
{"id":10664,"query_id":"Q02133","question":"A quadcopter drone starts from a flat, paved area and needs to reach another flat, paved area as quickly as possible. The airspace includes open, sandy zones; grassy and shrub-covered regions; and areas with tall, dense vegetation that may require maneuvering. The drone can fly over all these surfaces, but the paved areas offer the most predictable and obstruction-free paths for maintaining maximum speed. What is the fastest route?","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 fastest route for the quadcopter drone to reach the destination 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":"chicago_5.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":50,"start_point":[957,772],"end_point":[33,108],"distance":1137.8365436212707},{"start_region_id":50,"end_region_id":65,"start_point":[33,108],"end_point":[957,772],"distance":1137.8365436212707},{"start_region_id":65,"end_region_id":56,"start_point":[957,772],"end_point":[35,292],"distance":1039.463323066283},{"start_region_id":56,"end_region_id":65,"start_point":[35,292],"end_point":[957,772],"distance":1039.463323066283},{"start_region_id":67,"end_region_id":50,"start_point":[526,851],"end_point":[33,108],"distance":891.6826789839533}],"complexity_score":0.6089972204650063}
{"id":12308,"query_id":"Q02462","question":"A hiker starts from a paved area and needs to reach a grassy field. The terrain includes only surfaces that are firm and stable, such as paved walkways and vehicle lanes, as well as cultivated fields and natural grassy areas. The hiker can traverse all these surfaces without restriction. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved area","end_land_type":"grassy field","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":"chicago_5.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":21,"start_point":[33,108],"end_point":[941,322],"distance":932.8772695269191},{"start_region_id":56,"end_region_id":21,"start_point":[35,292],"end_point":[941,322],"distance":906.4965526685692},{"start_region_id":46,"end_region_id":31,"start_point":[800,203],"end_point":[240,727],"distance":766.9263328377765},{"start_region_id":65,"end_region_id":20,"start_point":[957,772],"end_point":[253,437],"distance":779.6415843193589},{"start_region_id":57,"end_region_id":31,"start_point":[878,406],"end_point":[240,727],"distance":714.2023522784002}],"complexity_score":0.6089972204650063}
{"id":16497,"query_id":"Q03300","question":"A quadcopter drone is positioned on a paved lane and needs to reach a hard, flat, artificial surface. The drone can fly over open liquid areas, cultivated fields with low vegetation, and areas with tall vertical obstacles, but must avoid any surfaces that are not explicitly mentioned as traversable. 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, artificial surface","task_description":"What is the fastest path 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":"chicago_5.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":65,"start_point":[493,501],"end_point":[957,772],"distance":537.3425350742299},{"start_region_id":68,"end_region_id":50,"start_point":[493,501],"end_point":[33,108],"distance":605.0198343856175},{"start_region_id":68,"end_region_id":67,"start_point":[493,501],"end_point":[526,851],"distance":351.55227207344285},{"start_region_id":68,"end_region_id":57,"start_point":[493,501],"end_point":[878,406],"distance":396.547601177967},{"start_region_id":68,"end_region_id":56,"start_point":[493,501],"end_point":[35,292],"distance":503.4332130481659}],"complexity_score":0.6089972204650063}
{"id":4505,"query_id":"Q00901","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The environment contains areas with vertical obstacles that provide overhead cover, but these can be navigated around if necessary. The paved, hard-surfaced areas and vehicle lanes are both accessible surfaces. What is the shortest path to the vehicle lane?","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 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":"khartoum_16.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":17,"start_point":[62,319],"end_point":[441,325],"distance":379.0474904283103},{"start_region_id":13,"end_region_id":17,"start_point":[145,589],"end_point":[441,325],"distance":396.6257681996973},{"start_region_id":4,"end_region_id":17,"start_point":[162,107],"end_point":[441,325],"distance":354.0692022754874},{"start_region_id":11,"end_region_id":17,"start_point":[618,537],"end_point":[441,325],"distance":276.1756687327832},{"start_region_id":5,"end_region_id":17,"start_point":[506,107],"end_point":[441,325],"distance":227.48406537601704}],"complexity_score":0.6090178948482287}
{"id":13459,"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":"khartoum_16.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":11,"start_point":[162,107],"end_point":[618,537],"distance":626.76630413576},{"start_region_id":11,"end_region_id":4,"start_point":[618,537],"end_point":[162,107],"distance":626.76630413576},{"start_region_id":3,"end_region_id":11,"start_point":[62,319],"end_point":[618,537],"distance":597.2101807571603},{"start_region_id":11,"end_region_id":3,"start_point":[618,537],"end_point":[62,319],"distance":597.2101807571603},{"start_region_id":5,"end_region_id":13,"start_point":[506,107],"end_point":[145,589],"distance":602.2001328462159}],"complexity_score":0.6090178948482287}
{"id":17978,"query_id":"Q03596","question":"A quadcopter drone is starting from a grassy, open field and needs to reach a wooded area with individual trees. The terrain includes rough, loose soil and rock patches, cultivated fields with crops, and paved lanes used by vehicles. The drone can fly over most terrain types, but trees present navigation challenges due to their height and density, requiring careful maneuvering. The drone operator wants to find a path that provides the smoothest, most stable flight with minimal turbulence and abrupt movements.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a wooded area with individual trees","task_description":"What is the most comfortable path for the quadcopter drone to take 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":"khartoum_16.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":23,"start_point":[203,357],"end_point":[21,452],"distance":205.30221625691235}],"complexity_score":0.6090178948482287}
{"id":17880,"query_id":"Q03576","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over open, dry ground with loose soil and rocks; areas with low vegetation like grass and shrubs; paved lanes used by vehicles; individual trees or groups of trees; and cultivated fields with crops. However, the drone must avoid any liquid surfaces, vertical structures, and built-up areas. The drone's flight path should prioritize terrain that minimizes the likelihood of collisions, signal interference, or unexpected hazards.","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","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":"khartoum_38.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":16,"start_point":[113,21],"end_point":[593,616],"distance":764.476945368531}],"complexity_score":0.6091126461540517}
{"id":13178,"query_id":"Q02636","question":"A hiker starts from a cultivated field and needs to reach a wooded area. The terrain includes areas with loose soil and vegetation, hard paved surfaces, vehicle lanes, and natural wooded patches. The hiker can traverse the cultivated field because it's currently fallow with no crops to damage, and can pass through the wooded area by carefully navigating between trees. Hard paved surfaces and vehicle lanes are available but may have traffic. The objective is to find the path that minimizes risk while avoiding any water bodies or structures.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the safest route 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":"pomorskie_32.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":178,"start_point":[217,276],"end_point":[718,965],"distance":851.8931857926791},{"start_region_id":194,"end_region_id":87,"start_point":[265,560],"end_point":[1003,225],"distance":810.4745523457229},{"start_region_id":193,"end_region_id":87,"start_point":[217,276],"end_point":[1003,225],"distance":787.652842310621},{"start_region_id":193,"end_region_id":126,"start_point":[217,276],"end_point":[883,649],"distance":763.3380640319202},{"start_region_id":193,"end_region_id":182,"start_point":[217,276],"end_point":[445,988],"distance":747.6148741163461}],"complexity_score":0.6091801944206396}
{"id":13515,"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":"pomorskie_32.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":78,"start_point":[217,276],"end_point":[834,943],"distance":908.6132290474313},{"start_region_id":193,"end_region_id":74,"start_point":[217,276],"end_point":[887,791],"distance":845.059169526016},{"start_region_id":193,"end_region_id":83,"start_point":[217,276],"end_point":[157,1001],"distance":727.4785220197226},{"start_region_id":194,"end_region_id":78,"start_point":[265,560],"end_point":[834,943],"distance":685.8935777509511},{"start_region_id":193,"end_region_id":79,"start_point":[217,276],"end_point":[469,899],"distance":672.0364573443914}],"complexity_score":0.6091801944206396}
{"id":17788,"query_id":"Q03558","question":"A quadcopter drone starts from a cultivated field with low vegetation and needs to reach a hard, paved surface. The drone can fly over most terrain types, but tall trees and buildings are obstructed by regulations, making them impassable. What is the shortest path to reach the paved surface?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with low vegetation","end_land_type":"A hard, paved surface","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":"pomorskie_32.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":86,"start_point":[217,276],"end_point":[497,763],"distance":561.755284799351},{"start_region_id":194,"end_region_id":86,"start_point":[265,560],"end_point":[497,763],"distance":308.27422856930485}],"complexity_score":0.6091801944206396}
{"id":17988,"query_id":"Q03598","question":"A delivery drone starts from a grassy, uneven field and needs to reach a cultivated crop field while prioritizing a smooth and comfortable flight. You can fly over loose soil and rocks, grassy or shrubby vegetation, paved vehicle lanes, individual trees or wooded patches, cultivated fields, liquid surfaces, and solid vertical structures. However, for trees and solid vertical structures, traversal is only possible if you can navigate around or between them without collision. What is the most comfortable path to your destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven field","end_land_type":"cultivated crop field","task_description":"What is the most comfortable path to your 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":"pomorskie_32.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":193,"start_point":[917,890],"end_point":[217,276],"distance":931.1261998247069},{"start_region_id":51,"end_region_id":193,"start_point":[625,956],"end_point":[217,276],"distance":793.0094576989609},{"start_region_id":3,"end_region_id":193,"start_point":[1000,349],"end_point":[217,276],"distance":786.395574758658},{"start_region_id":11,"end_region_id":193,"start_point":[927,582],"end_point":[217,276],"distance":773.133882325694},{"start_region_id":3,"end_region_id":194,"start_point":[1000,349],"end_point":[265,560],"distance":764.6868640168994}],"complexity_score":0.6091801944206396}
{"id":1504,"query_id":"Q00301","question":"A farm truck is parked in a cultivated field with loose, tilled soil. It needs to reach another cultivated field across the area. The truck can travel on the loose soil of the fields, but it can also use the adjacent hard, paved lane designed for vehicles and the adjacent open grassy area with firm, low vegetation. The truck must avoid any areas with tall, dense vegetation that could obstruct its path, any liquid surfaces, and any solid vertical structures. What is the fastest route for the farm truck to take?","agent_category":"Car","specific_agent":"a farm truck","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the farm truck to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"santa_rosa_20.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":72,"start_point":[181,852],"end_point":[915,134],"distance":1026.781378872835},{"start_region_id":72,"end_region_id":74,"start_point":[915,134],"end_point":[181,852],"distance":1026.781378872835},{"start_region_id":72,"end_region_id":77,"start_point":[915,134],"end_point":[401,910],"distance":930.7910614095947},{"start_region_id":77,"end_region_id":72,"start_point":[401,910],"end_point":[915,134],"distance":930.7910614095947},{"start_region_id":74,"end_region_id":73,"start_point":[181,852],"end_point":[929,529],"distance":814.7594737098796}],"complexity_score":0.6091886732084104}
{"id":6603,"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":"santa_rosa_20.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":74,"start_point":[963,254],"end_point":[181,852],"distance":984.442989715504},{"start_region_id":24,"end_region_id":77,"start_point":[963,254],"end_point":[401,910],"distance":863.8171102727706},{"start_region_id":24,"end_region_id":76,"start_point":[963,254],"end_point":[714,909],"distance":700.7324739156877},{"start_region_id":24,"end_region_id":75,"start_point":[963,254],"end_point":[936,828],"distance":574.634666549104},{"start_region_id":24,"end_region_id":71,"start_point":[963,254],"end_point":[400,282],"distance":563.6958399704579}],"complexity_score":0.6091886732084104}
{"id":15484,"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":"santa_rosa_20.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":12,"start_point":[915,134],"end_point":[44,813],"distance":1104.3921405008277},{"start_region_id":74,"end_region_id":5,"start_point":[181,852],"end_point":[986,300],"distance":976.0783780004555},{"start_region_id":74,"end_region_id":4,"start_point":[181,852],"end_point":[926,236],"distance":966.6855745277262},{"start_region_id":74,"end_region_id":2,"start_point":[181,852],"end_point":[851,201],"distance":934.1846712508186},{"start_region_id":73,"end_region_id":12,"start_point":[929,529],"end_point":[44,813],"distance":929.4519890774349}],"complexity_score":0.6091886732084104}
{"id":331,"query_id":"Q00067","question":"A hiker starts from a cultivated field with loose soil and crop residues and needs to reach an area of exposed rocky ground with no vegetation. The terrain includes patches of wild grass and shrubs, as well as scattered trees with low-hanging branches. Paved surfaces and roads are unavailable due to recent flooding that washed out access routes. What is the shortest path to the rocky destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"exposed rocky ground","task_description":"What is the shortest path to the rocky 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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":320,"end_region_id":1,"start_point":[146,392],"end_point":[380,185],"distance":312.41798923877604}],"complexity_score":0.6091936908107457}
{"id":2439,"query_id":"Q00488","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The terrain consists only of areas with loose, sandy ground. The drone must find a path that minimizes the total distance traveled.","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 shortest path for the drone to take?","task_type":"Shortest","input_classes":["Bareland"],"traverse_vector":[1,0,0,0,0,0,0,0],"cost_vector":[1,0,0,0,0,0,0,0],"image_name":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[300,45],"end_point":[545,248],"distance":318.17290896617834}],"complexity_score":0.6091936908107457}
{"id":3399,"query_id":"Q00680","question":"A hiker starts from a patch of loose, sandy ground and needs to reach another area of similar loose, sandy ground. The hiker can traverse both loose, sandy terrain and paved, hard-surfaced lanes, but must avoid all other surface types including vegetation-covered areas, water bodies, and structures. What is the shortest path?","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?","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[289,24],"end_point":[541,250],"distance":338.49667649771686}],"complexity_score":0.6091936908107457}
{"id":3403,"query_id":"Q00681","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach another area of similar loose, sandy ground. The drone can traverse both loose, sandy terrain and paved, hard-surfaced lanes, but must avoid all other surface types including vegetation-covered areas, water bodies, and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[552,247],"end_point":[292,20],"distance":345.15069172754096}],"complexity_score":0.6091936908107457}
{"id":5203,"query_id":"Q01041","question":"A surveillance drone starts from a cultivated field and needs to reach a patch of sandy or rocky ground. The terrain includes hard, flat surfaces, paved lanes, liquid areas, and vertical structures like trees and buildings. You can fly over all surfaces, but must minimize risk by avoiding areas with potential obstacles or hazards. What is the safest path to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":1,"start_point":[901,820],"end_point":[380,185],"distance":821.3805451798819},{"start_region_id":334,"end_region_id":1,"start_point":[744,852],"end_point":[380,185],"distance":759.858539466393},{"start_region_id":328,"end_region_id":1,"start_point":[18,828],"end_point":[380,185],"distance":737.8976893851884},{"start_region_id":329,"end_region_id":1,"start_point":[142,855],"end_point":[380,185],"distance":711.0161742182803},{"start_region_id":333,"end_region_id":1,"start_point":[623,847],"end_point":[380,185],"distance":705.1900453069371}],"complexity_score":0.6091936908107457}
{"id":5273,"query_id":"Q01055","question":"A quadcopter drone is positioned on a cultivated field with soft, plowed soil and low vegetation. It needs to reach a dry, open area of loose sand and rocks. The drone can fly over both the cultivated field and the dry open area, but it must avoid any tall structures or dense tree canopies that could obstruct its path. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with soft, plowed soil and low vegetation","end_land_type":"a dry, open area of loose sand and rocks","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":1,"start_point":[901,820],"end_point":[380,185],"distance":821.3805451798819},{"start_region_id":334,"end_region_id":1,"start_point":[744,852],"end_point":[380,185],"distance":759.858539466393},{"start_region_id":328,"end_region_id":1,"start_point":[18,828],"end_point":[380,185],"distance":737.8976893851884},{"start_region_id":329,"end_region_id":1,"start_point":[142,855],"end_point":[380,185],"distance":711.0161742182803},{"start_region_id":333,"end_region_id":1,"start_point":[623,847],"end_point":[380,185],"distance":705.1900453069371}],"complexity_score":0.6091936908107457}
{"id":7243,"query_id":"Q01449","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach a cultivated field with crops. The drone can fly over hard, flat surfaces like paved areas and parking lots, as well as liquid surfaces such as ponds or rivers, but must avoid dense vegetation like trees and vertical structures like buildings due to collision risk. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with crops","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":335,"start_point":[380,185],"end_point":[901,820],"distance":821.3805451798819},{"start_region_id":1,"end_region_id":334,"start_point":[380,185],"end_point":[744,852],"distance":759.858539466393},{"start_region_id":1,"end_region_id":328,"start_point":[380,185],"end_point":[18,828],"distance":737.8976893851884},{"start_region_id":1,"end_region_id":329,"start_point":[380,185],"end_point":[142,855],"distance":711.0161742182803},{"start_region_id":1,"end_region_id":333,"start_point":[380,185],"end_point":[623,847],"distance":705.1900453069371}],"complexity_score":0.6091936908107457}
{"id":7293,"query_id":"Q01459","question":"An aerial surveillance drone begins its mission on a cultivated field and needs to reach a destination on exposed rocky ground. The drone must avoid flying through areas with tall vegetation or man-made structures that could pose collision risks, and should minimize flight over open water to reduce the chance of signal interference or loss in case of emergency. 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":"exposed rocky ground","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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":1,"start_point":[901,820],"end_point":[380,185],"distance":821.3805451798819},{"start_region_id":334,"end_region_id":1,"start_point":[744,852],"end_point":[380,185],"distance":759.858539466393},{"start_region_id":328,"end_region_id":1,"start_point":[18,828],"end_point":[380,185],"distance":737.8976893851884},{"start_region_id":329,"end_region_id":1,"start_point":[142,855],"end_point":[380,185],"distance":711.0161742182803},{"start_region_id":333,"end_region_id":1,"start_point":[623,847],"end_point":[380,185],"distance":705.1900453069371}],"complexity_score":0.6091936908107457}
{"id":8294,"query_id":"Q01659","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a patch of loose, sandy ground. The drone can fly over firm surfaces, grassy terrain, and sandy areas, but must avoid flying through dense vegetation or near structures. What is the shortest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced area","end_land_type":"a patch of loose, sandy ground","task_description":"What is the shortest 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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":1,"start_point":[980,941],"end_point":[380,185],"distance":965.1611264446989},{"start_region_id":186,"end_region_id":1,"start_point":[881,914],"end_point":[380,185],"distance":884.5575165018948},{"start_region_id":185,"end_region_id":1,"start_point":[960,822],"end_point":[380,185],"distance":861.4923098902276},{"start_region_id":129,"end_region_id":1,"start_point":[970,676],"end_point":[380,185],"distance":767.581266055914},{"start_region_id":165,"end_region_id":1,"start_point":[574,838],"end_point":[380,185],"distance":681.2084849735799}],"complexity_score":0.6091936908107457}
{"id":8350,"query_id":"Q01670","question":"An aerial survey drone is positioned on a dense cluster of tall, vertical structures with rough, irregular surfaces and significant height. It needs to reach a wide, open expanse of loose, granular material with minimal ground-level obstructions. The drone can fly over most surfaces, but must navigate carefully around the tall vertical structures it starts on, as they pose a collision risk. The open granular area and intermediate areas covered by low, soft vegetation are clear for high-speed flight. 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 rough, irregular surfaces and significant height.","end_land_type":"A wide, open expanse of loose, granular material with minimal ground-level obstructions.","task_description":"What is the fastest path 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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":1,"start_point":[967,479],"end_point":[380,185],"distance":656.5097105146275},{"start_region_id":212,"end_region_id":1,"start_point":[914,167],"end_point":[380,185],"distance":534.3032846614365},{"start_region_id":201,"end_region_id":1,"start_point":[791,143],"end_point":[380,185],"distance":413.14041196668234},{"start_region_id":222,"end_region_id":1,"start_point":[713,263],"end_point":[380,185],"distance":342.01315764163223}],"complexity_score":0.6091936908107457}
{"id":12326,"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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":1,"start_point":[980,941],"end_point":[380,185],"distance":965.1611264446989},{"start_region_id":186,"end_region_id":1,"start_point":[881,914],"end_point":[380,185],"distance":884.5575165018948},{"start_region_id":185,"end_region_id":1,"start_point":[960,822],"end_point":[380,185],"distance":861.4923098902276},{"start_region_id":129,"end_region_id":1,"start_point":[970,676],"end_point":[380,185],"distance":767.581266055914},{"start_region_id":165,"end_region_id":1,"start_point":[574,838],"end_point":[380,185],"distance":681.2084849735799}],"complexity_score":0.6091936908107457}
{"id":13927,"query_id":"Q02786","question":"An agricultural monitoring drone is currently positioned over a cultivated field with crops. It needs to reach an area of exposed sandy or rocky ground. The drone can fly over cultivated fields, hard paved surfaces, and exposed earth, but must avoid densely vegetated areas with tall trees and vertical structures. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field with crops","end_land_type":"exposed sandy or rocky ground","task_description":"What is the shortest path to reach 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":"tokyo_52.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":1,"start_point":[901,820],"end_point":[380,185],"distance":821.3805451798819},{"start_region_id":334,"end_region_id":1,"start_point":[744,852],"end_point":[380,185],"distance":759.858539466393},{"start_region_id":328,"end_region_id":1,"start_point":[18,828],"end_point":[380,185],"distance":737.8976893851884},{"start_region_id":329,"end_region_id":1,"start_point":[142,855],"end_point":[380,185],"distance":711.0161742182803},{"start_region_id":333,"end_region_id":1,"start_point":[623,847],"end_point":[380,185],"distance":705.1900453069371}],"complexity_score":0.6091936908107457}
{"id":1139,"query_id":"Q00228","question":"An aerial survey drone starts from a hard, flat, artificial surface and needs to reach a long, paved strip designed for vehicle movement. The drone can fly over open areas of loose earth or rock, regions covered with low vegetation or bushes, all hard artificial surfaces including parking areas and sports fields, all vehicle pathways, expanses of liquid, and cultivated fields. However, it must avoid areas with tall, dense vertical obstacles that could obstruct flight. What is the most direct route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A long, paved strip designed for vehicle movement","task_description":"What is the shortest path for the aerial survey drone to reach its 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":"al_qurnah_56.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":318,"start_point":[946,34],"end_point":[569,637],"distance":711.1525855960871},{"start_region_id":288,"end_region_id":318,"start_point":[38,976],"end_point":[569,637],"distance":629.9857141237411},{"start_region_id":290,"end_region_id":318,"start_point":[962,949],"end_point":[569,637],"distance":501.7897966280303},{"start_region_id":280,"end_region_id":318,"start_point":[109,955],"end_point":[569,637],"distance":559.2173101755703},{"start_region_id":134,"end_region_id":318,"start_point":[841,91],"end_point":[569,637],"distance":610.0}],"complexity_score":0.6092503789288083}
{"id":3726,"query_id":"Q00746","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, cultivated fields, and liquid bodies, but cannot fly through dense vegetation or structures. What is the shortest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"What is the shortest route from the paved surface 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":"al_qurnah_56.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":318,"end_region_id":36,"start_point":[569,637],"end_point":[41,308],"distance":622.1133337262593},{"start_region_id":318,"end_region_id":58,"start_point":[569,637],"end_point":[110,467],"distance":489.47012166219093}],"complexity_score":0.6092503789288083}
{"id":14775,"query_id":"Q02955","question":"A hiker is starting from grassy, uneven terrain with scattered low vegetation and needs to reach a paved, hard surface. The hiker can traverse areas with loose soil and rocks, as well as cultivated fields with crops, since these surfaces provide enough traction for walking. However, the hiker must avoid any liquid surfaces and cannot pass through or over vertical structures. The hiker can also walk through areas with tall vegetation, but these areas are less predictable and may hide obstacles. The objective is to find the path that minimizes risk while traveling from the starting point to the destination.","agent_category":"Pedestrian","specific_agent":"hiker","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 hiker to take from the grassy, uneven terrain to the paved, hard surface?","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":"al_qurnah_56.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":290,"start_point":[41,308],"end_point":[962,949],"distance":1122.106055593677},{"start_region_id":36,"end_region_id":274,"start_point":[41,308],"end_point":[1007,838],"distance":1101.8420939499454},{"start_region_id":58,"end_region_id":290,"start_point":[110,467],"end_point":[962,949],"distance":978.8912094814214},{"start_region_id":58,"end_region_id":274,"start_point":[110,467],"end_point":[1007,838],"distance":970.6956268573584},{"start_region_id":36,"end_region_id":275,"start_point":[41,308],"end_point":[809,876],"distance":955.2214402953904}],"complexity_score":0.6092503789288083}
{"id":1105,"query_id":"Q00221","question":"A quadcopter drone starts from a paved launch pad and needs to return to another paved landing pad. The drone can fly over various terrains, but the operator wants to avoid areas with dense vertical obstacles like trees and tall structures, as they require careful maneuvering and cause turbulence. The drone should also avoid flying directly over large bodies of water to prevent signal interference and maintain stable control. The surrounding open grassy fields are permissible but less ideal than open airspace over solid ground.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"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","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_17.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":85,"start_point":[702,184],"end_point":[399,973],"distance":845.1804541043291},{"start_region_id":85,"end_region_id":84,"start_point":[399,973],"end_point":[702,184],"distance":845.1804541043291}],"complexity_score":0.6092605922270322}
{"id":5407,"query_id":"Q01082","question":"An off-road vehicle starts from a paved lane and needs to reach a grassy field. The vehicle can drive on paved lanes and grassy fields, but cannot go through trees, water bodies, or buildings. What is the shortest path?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Road"],"traverse_vector":[0,1,0,1,0,0,0,0],"cost_vector":[0,1,0,1,0,0,0,0],"image_name":"mahe_17.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":21,"start_point":[702,184],"end_point":[835,342],"distance":206.52602741543257},{"start_region_id":84,"end_region_id":16,"start_point":[702,184],"end_point":[723,371],"distance":188.1754500459611}],"complexity_score":0.6092605922270322}
{"id":14709,"query_id":"Q02942","question":"A hiker starts from a shaded area under a tall, leafy canopy and needs to reach a gentle, grassy slope. The terrain includes loose, sandy patches and a smooth, paved lane, but you prefer surfaces that are stable and even to avoid tripping or discomfort. The paved lane is currently closed for maintenance, so it cannot be used. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Tree","end_land_type":"Rangeland","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[1,1,1,0,1,0,1,0],"cost_vector":[2,3,5,0,1,0,4,0],"image_name":"mahe_17.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":53,"start_point":[603,273],"end_point":[540,897],"distance":627.1722251503171},{"start_region_id":109,"end_region_id":51,"start_point":[925,383],"end_point":[752,904],"distance":548.9717661228126},{"start_region_id":156,"end_region_id":21,"start_point":[972,781],"end_point":[835,342],"distance":459.8804192396106},{"start_region_id":148,"end_region_id":21,"start_point":[859,730],"end_point":[835,342],"distance":388.7415593938986},{"start_region_id":156,"end_region_id":51,"start_point":[972,781],"end_point":[752,904],"distance":252.04959829366916}],"complexity_score":0.6092605922270322}
{"id":9777,"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":"chincha_21.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":141,"start_point":[296,85],"end_point":[874,880],"distance":982.9084392760091},{"start_region_id":18,"end_region_id":135,"start_point":[914,375],"end_point":[83,302],"distance":834.2002157755654},{"start_region_id":23,"end_region_id":131,"start_point":[683,718],"end_point":[279,18],"distance":808.2177924297386},{"start_region_id":18,"end_region_id":137,"start_point":[914,375],"end_point":[153,497],"distance":770.7171984586823},{"start_region_id":1,"end_region_id":136,"start_point":[296,85],"end_point":[987,384],"distance":752.9156659281304}],"complexity_score":0.6092852050298087}
{"id":15031,"query_id":"Q03007","question":"A quadcopter drone takes off from a flat, paved surface and must fly to a cultivated crop field. The environment includes exposed, loose ground; open areas with natural vegetation; hard, artificial surfaces; tall, vertical obstacles like trees; and soft, planted fields. The drone can fly over all these terrains, but it must be cautious around trees and buildings to avoid collisions. Water bodies are present but can be flown over. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, paved surface","end_land_type":"A cultivated crop 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"chincha_21.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":141,"start_point":[79,141],"end_point":[874,880],"distance":1085.4243409837463},{"start_region_id":41,"end_region_id":136,"start_point":[79,141],"end_point":[987,384],"distance":939.9537222650911},{"start_region_id":45,"end_region_id":136,"start_point":[179,830],"end_point":[987,384],"distance":922.9192814108935},{"start_region_id":45,"end_region_id":133,"start_point":[179,830],"end_point":[740,104],"distance":917.4949591142177},{"start_region_id":36,"end_region_id":141,"start_point":[478,151],"end_point":[874,880],"distance":829.6125601749288}],"complexity_score":0.6092852050298087}
{"id":16774,"query_id":"Q03355","question":"A family sedan is parked on a cultivated field with soft, tilled soil and needs to reach a paved street. The vehicle can traverse areas with loose, uneven ground like sandy patches and grassy plains, as well as the cultivated field, but it must avoid any vertical obstacles like trees or structures and cannot enter liquid areas. The goal is to find a path that maximizes ride comfort by prioritizing smooth, stable surfaces.","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved street","task_description":"What is the most comfortable path for the sedan to take from the cultivated field to the paved street?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"chincha_21.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":62,"start_point":[874,880],"end_point":[536,447],"distance":549.3022847212635},{"start_region_id":131,"end_region_id":62,"start_point":[279,18],"end_point":[536,447],"distance":500.08999190145767},{"start_region_id":136,"end_region_id":62,"start_point":[987,384],"end_point":[536,447],"distance":455.3789630626342},{"start_region_id":135,"end_region_id":62,"start_point":[83,302],"end_point":[536,447],"distance":475.640620637052},{"start_region_id":133,"end_region_id":62,"start_point":[740,104],"end_point":[536,447],"distance":399.0801924425716}],"complexity_score":0.6092852050298087}
{"id":4212,"query_id":"Q00843","question":"A delivery drone starts from a location near a dense cluster of tall vertical obstacles and needs to reach an open area with low, uniform vegetation. The environment includes expanses of soft, grassy ground and patches of cultivated soil. You are a delivery drone that must fly smoothly to avoid vibrations and ensure stable cargo handling, preferring open spaces over areas with obstacles. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"Tree","end_land_type":"Agriculture land","task_description":"Which path provides the most comfortable route?","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":"les_cayes_8.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":102,"start_point":[32,56],"end_point":[799,725],"distance":1017.7671639427164},{"start_region_id":39,"end_region_id":99,"start_point":[32,56],"end_point":[960,345],"distance":971.9593612903782},{"start_region_id":38,"end_region_id":105,"start_point":[848,88],"end_point":[262,854],"distance":964.4438812082328},{"start_region_id":37,"end_region_id":102,"start_point":[141,54],"end_point":[799,725],"distance":939.7898701305521},{"start_region_id":38,"end_region_id":100,"start_point":[848,88],"end_point":[41,502],"distance":906.9977949256547}],"complexity_score":0.6093125929645552}
{"id":7687,"query_id":"Q01538","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over loose, dry ground without vegetation; hard, artificial surfaces; paved lanes; liquid bodies; and cultivated areas. However, it 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":"cultivated field with crops","task_description":"What is the safest path?","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":"les_cayes_8.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":100,"start_point":[834,330],"end_point":[41,502],"distance":811.4388455083969},{"start_region_id":36,"end_region_id":105,"start_point":[834,330],"end_point":[262,854],"distance":775.7319124542963},{"start_region_id":36,"end_region_id":98,"start_point":[834,330],"end_point":[98,286],"distance":737.3140443528795},{"start_region_id":35,"end_region_id":99,"start_point":[364,474],"end_point":[960,345],"distance":609.8007871428176},{"start_region_id":36,"end_region_id":95,"start_point":[834,330],"end_point":[299,74],"distance":593.0944275577035}],"complexity_score":0.6093125929645552}
{"id":13134,"query_id":"Q02627","question":"A delivery drone is positioned above a paved lane and needs to fly to a cultivated field. The area includes hard, smooth surfaces; grassy or shrub-covered ground; cultivated fields; and patches with tall vertical obstacles. The drone can fly over all surfaces except it must avoid areas with tall vertical obstacles due to collision risk. However, the drone cannot land on or traverse through any liquid surfaces. What is the safest flight path to the cultivated field?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest flight path 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":[1,1,1,1,0,0,1,0],"image_name":"les_cayes_8.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":100,"start_point":[834,330],"end_point":[41,502],"distance":811.4388455083969},{"start_region_id":36,"end_region_id":105,"start_point":[834,330],"end_point":[262,854],"distance":775.7319124542963},{"start_region_id":36,"end_region_id":98,"start_point":[834,330],"end_point":[98,286],"distance":737.3140443528795},{"start_region_id":35,"end_region_id":99,"start_point":[364,474],"end_point":[960,345],"distance":609.8007871428176},{"start_region_id":36,"end_region_id":95,"start_point":[834,330],"end_point":[299,74],"distance":593.0944275577035}],"complexity_score":0.6093125929645552}
{"id":13540,"query_id":"Q02708","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 loose soil areas, paved surfaces, and crop fields, but must avoid flying through areas with tall, dense vegetation or near vertical structures. Which route enables the fastest arrival?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which route enables the fastest arrival?","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":"les_cayes_8.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":100,"start_point":[960,345],"end_point":[41,502],"distance":932.3143246781099},{"start_region_id":100,"end_region_id":99,"start_point":[41,502],"end_point":[960,345],"distance":932.3143246781099},{"start_region_id":105,"end_region_id":97,"start_point":[262,854],"end_point":[653,29],"distance":912.9654977051433},{"start_region_id":97,"end_region_id":105,"start_point":[653,29],"end_point":[262,854],"distance":912.9654977051433},{"start_region_id":98,"end_region_id":99,"start_point":[98,286],"end_point":[960,345],"distance":864.0167822444191}],"complexity_score":0.6093125929645552}
{"id":998,"query_id":"Q00200","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil. The drone can only traverse airspace over surfaces that minimize risk of collision or signal interference: paved areas are allowed, grassy or shrub-covered ground is allowed, and cultivated fields are allowed. All other surfaces, including loose sand or rocks, water bodies, vertical structures, and wooded areas, are blocked due to turbulence, submersion, collision, or obstruction hazards. What is the safest path to the destination?","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 safest path to 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":"viru_18.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":203,"start_point":[988,942],"end_point":[202,263],"distance":1038.6707851865287},{"start_region_id":85,"end_region_id":206,"start_point":[988,942],"end_point":[58,668],"distance":969.5235943493072},{"start_region_id":44,"end_region_id":204,"start_point":[47,239],"end_point":[998,421],"distance":968.2587464102764},{"start_region_id":44,"end_region_id":205,"start_point":[47,239],"end_point":[923,641],"distance":963.836085649422},{"start_region_id":82,"end_region_id":204,"start_point":[186,907],"end_point":[998,421],"distance":946.3297522534098}],"complexity_score":0.6093244206659056}
{"id":14753,"query_id":"Q02951","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The terrain includes patches of loose earth and rocks without vegetation, areas dominated by natural grasses and shrubs, and individual trees or groups of trees with visible height and shadows. All these surfaces are accessible for walking. What is the shortest path 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 path 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":"viru_18.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":85,"start_point":[202,263],"end_point":[988,942],"distance":1038.6707851865287},{"start_region_id":206,"end_region_id":85,"start_point":[58,668],"end_point":[988,942],"distance":969.5235943493072},{"start_region_id":204,"end_region_id":44,"start_point":[998,421],"end_point":[47,239],"distance":968.2587464102764},{"start_region_id":205,"end_region_id":44,"start_point":[923,641],"end_point":[47,239],"distance":963.836085649422},{"start_region_id":204,"end_region_id":82,"start_point":[998,421],"end_point":[186,907],"distance":946.3297522534098}],"complexity_score":0.6093244206659056}
{"id":17131,"query_id":"Q03427","question":"An off-road vehicle 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 accessible with off-road capability. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","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","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_18.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":109,"start_point":[639,734],"end_point":[57,106],"distance":856.2172621478733},{"start_region_id":18,"end_region_id":109,"start_point":[370,870],"end_point":[57,106],"distance":825.6300624371669},{"start_region_id":3,"end_region_id":118,"start_point":[333,73],"end_point":[246,772],"distance":704.3933560163667},{"start_region_id":9,"end_region_id":109,"start_point":[166,665],"end_point":[57,106],"distance":569.5278746470624},{"start_region_id":2,"end_region_id":118,"start_point":[489,329],"end_point":[246,772],"distance":505.27022473128176}],"complexity_score":0.6093244206659056}
{"id":10441,"query_id":"Q02089","question":"An aerial surveillance drone starts from a cultivated field with rows of crops and needs to reach a paved lane used by vehicles. The drone can fly over open sandy or rocky ground, liquid surfaces, and areas with tall vertical obstacles, but must avoid any contact with solid vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"cultivated field with rows of crops","end_land_type":"paved lane used by vehicles","task_description":"What is the safest path for the aerial surveillance drone to take from the cultivated field to the paved lane?","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":"viru_16.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":804,"end_region_id":647,"start_point":[89,925],"end_point":[135,97],"distance":829.2767933567176},{"start_region_id":801,"end_region_id":656,"start_point":[541,45],"end_point":[827,825],"distance":830.7803560508638},{"start_region_id":804,"end_region_id":648,"start_point":[89,925],"end_point":[484,160],"distance":860.9587678861283},{"start_region_id":802,"end_region_id":647,"start_point":[805,483],"end_point":[135,97],"distance":773.2373503653325},{"start_region_id":804,"end_region_id":656,"start_point":[89,925],"end_point":[827,825],"distance":744.744251404467}],"complexity_score":0.6093484884116068}
{"id":8883,"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":"duesseldorf_67.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":294,"start_point":[567,288],"end_point":[125,896],"distance":751.6834440108415},{"start_region_id":219,"end_region_id":294,"start_point":[657,427],"end_point":[125,896],"distance":709.2143540566561},{"start_region_id":219,"end_region_id":283,"start_point":[657,427],"end_point":[75,782],"distance":681.7250178774431},{"start_region_id":221,"end_region_id":283,"start_point":[567,288],"end_point":[75,782],"distance":697.2087205421343},{"start_region_id":221,"end_region_id":285,"start_point":[567,288],"end_point":[272,883],"distance":664.115953730973}],"complexity_score":0.609529662609573}
{"id":13769,"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_67.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":208,"start_point":[67,282],"end_point":[695,804],"distance":816.6198626043822},{"start_region_id":32,"end_region_id":208,"start_point":[45,354],"end_point":[695,804],"distance":790.5694150420949},{"start_region_id":87,"end_region_id":172,"start_point":[87,885],"end_point":[590,336],"distance":744.5871339205372},{"start_region_id":13,"end_region_id":212,"start_point":[482,165],"end_point":[241,862],"distance":737.4889829685593},{"start_region_id":25,"end_region_id":198,"start_point":[67,282],"end_point":[674,684],"distance":728.04738856753}],"complexity_score":0.609529662609573}
{"id":17689,"query_id":"Q03538","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach a grassy, open area with low vegetation. The drone can fly over liquid surfaces and cultivated fields with crops, but must avoid tall vertical obstacles and solid structures. The drone's priority is to minimize travel time by selecting surfaces that allow for stable, high-speed flight while maintaining safety. What is the fastest route for the drone to take?","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 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":"duesseldorf_67.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":87,"start_point":[567,288],"end_point":[87,885],"distance":766.0345945190726},{"start_region_id":219,"end_region_id":87,"start_point":[657,427],"end_point":[87,885],"distance":731.2072209709091},{"start_region_id":221,"end_region_id":80,"start_point":[567,288],"end_point":[180,902],"distance":725.7857810676646},{"start_region_id":221,"end_region_id":100,"start_point":[567,288],"end_point":[392,984],"distance":717.663570205427},{"start_region_id":221,"end_region_id":90,"start_point":[567,288],"end_point":[263,936],"distance":715.7653246700346}],"complexity_score":0.609529662609573}
{"id":2321,"query_id":"Q00465","question":"A small motorboat starts from a liquid surface and needs to reach another liquid surface. The boat can only travel across liquid surfaces that provide buoyancy and allow navigation. All solid ground, vegetation, and vertical structures are impassable for the boat.","agent_category":"Boat","specific_agent":"A small motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the shortest path the boat can take to reach its destination?","task_type":"Shortest","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"chiangmai_12.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":261,"start_point":[239,527],"end_point":[64,650],"distance":213.90184664934523}],"complexity_score":0.6095434876392414}
{"id":6107,"query_id":"Q01222","question":"A quadcopter drone starts from a concrete pad and needs to reach a tree canopy as quickly as possible. The drone can fly over hard surfaces, soft ground, grassy areas, and water, but must avoid colliding with vertical structures like buildings and dense tree branches. The drone has obstacle avoidance sensors, allowing it to navigate around sparse vegetation. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete pad","end_land_type":"a tree canopy","task_description":"What is the fastest path from the concrete pad to the tree canopy?","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":"chiangmai_12.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":168,"start_point":[205,901],"end_point":[996,255],"distance":1021.2722457797431},{"start_region_id":88,"end_region_id":241,"start_point":[223,328],"end_point":[1004,930],"distance":986.0856960731152},{"start_region_id":82,"end_region_id":203,"start_point":[963,301],"end_point":[127,754],"distance":950.8443616070929},{"start_region_id":105,"end_region_id":137,"start_point":[787,679],"end_point":[59,118],"distance":919.0783426890223},{"start_region_id":82,"end_region_id":137,"start_point":[963,301],"end_point":[59,118],"distance":922.3367064147453}],"complexity_score":0.6095434876392414}
{"id":6679,"query_id":"Q01336","question":"An aerial photography drone starts from a paved, hard surface and needs to reach another paved, hard surface destination. The drone's flight must prioritize a smooth and stable journey to protect its sensitive camera gimbal from vibrations. The drone can fly over areas of loose, dry earth and rocks; overgrown grassy and shrubby terrain; other paved or compacted artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures, as these could cause turbulence or sudden impacts. The drone can fly over liquid surfaces, but this is less comfortable due to potential updrafts and lack of visual reference for stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography 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":"chiangmai_12.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":129,"start_point":[764,548],"end_point":[208,107],"distance":709.6597776399618},{"start_region_id":129,"end_region_id":130,"start_point":[208,107],"end_point":[764,548],"distance":709.6597776399618}],"complexity_score":0.6095434876392414}
{"id":11146,"query_id":"Q02230","question":"A quadcopter drone starts from a paved road surface and needs to reach a flat, hard-surfaced area. The terrain includes loose, sandy or rocky ground; areas with natural grass and shrubs; cultivated fields; and the paved road and hard surfaces at start and end. The drone must avoid any trees or structures due to collision risk, and avoid water bodies due to signal interference risk. Given the need to minimize risk of crashes or signal loss, what is the safest flight path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the safest flight path from the starting road to the destination developed space?","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":"chiangmai_12.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":105,"start_point":[208,107],"end_point":[787,679],"distance":813.8949563672206},{"start_region_id":129,"end_region_id":106,"start_point":[208,107],"end_point":[205,901],"distance":794.0056674860703},{"start_region_id":129,"end_region_id":100,"start_point":[208,107],"end_point":[674,745],"distance":790.0632886041473},{"start_region_id":129,"end_region_id":82,"start_point":[208,107],"end_point":[963,301],"distance":779.5261381121226},{"start_region_id":129,"end_region_id":83,"start_point":[208,107],"end_point":[869,314],"distance":692.6543149363902}],"complexity_score":0.6095434876392414}
{"id":357,"query_id":"Q00072","question":"An aerial survey drone starts from an open area of dry, rocky terrain and needs to reach a cultivated crop field. The environment includes zones of sparse grassy vegetation, dense clusters of tall vegetation that could pose collision risks, and no liquid surfaces or man-made structures are present. What is the safest route to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the safest route 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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":59,"start_point":[670,21],"end_point":[691,669],"distance":648.340188481325}],"complexity_score":0.6099179615288899}
{"id":9233,"query_id":"Q01847","question":"An off-road vehicle starts from an uneven, rocky terrain and needs to reach a field with low vegetation. Your vehicle can traverse hard paved surfaces like roads and parking areas, as well as natural ground surfaces that are firm and relatively flat. The natural ground surfaces include rocky terrain, fields with low vegetation, and cultivated agricultural areas. You cannot drive through areas with dense trees, cross any water bodies, or enter any buildings. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"field with low vegetation","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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":21,"start_point":[670,21],"end_point":[841,981],"distance":975.1107629392674},{"start_region_id":1,"end_region_id":20,"start_point":[670,21],"end_point":[361,882],"distance":914.7688232553621},{"start_region_id":1,"end_region_id":19,"start_point":[670,21],"end_point":[68,662],"distance":879.3662490680433},{"start_region_id":1,"end_region_id":17,"start_point":[670,21],"end_point":[66,604],"distance":839.4670928630853},{"start_region_id":1,"end_region_id":16,"start_point":[670,21],"end_point":[504,828],"distance":823.8962313301354}],"complexity_score":0.6099179615288899}
{"id":10369,"query_id":"Q02074","question":"An aerial drone is deployed from a patch of loose, dry soil with scattered rocks and no vegetation. It needs to reach a cultivated field with rows of crops and tilled earth. The drone can fly over any solid or liquid surface, but must avoid dense vertical obstacles like tall trees or structures. The drone's path must be direct and efficient, using any open or flat terrain available. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial 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 cultivated field with rows of crops and tilled earth.","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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":60,"start_point":[670,21],"end_point":[251,890],"distance":964.7393430352056},{"start_region_id":1,"end_region_id":57,"start_point":[670,21],"end_point":[45,486],"distance":779.0057766152958},{"start_region_id":1,"end_region_id":59,"start_point":[670,21],"end_point":[691,669],"distance":648.340188481325},{"start_region_id":1,"end_region_id":55,"start_point":[670,21],"end_point":[238,232],"distance":480.77541534483646},{"start_region_id":1,"end_region_id":58,"start_point":[670,21],"end_point":[542,380],"distance":381.13645850272576}],"complexity_score":0.6099179615288899}
{"id":14063,"query_id":"Q02813","question":"An off-road vehicle starts from a flat area of compacted sand and gravel and needs to reach a dry, plowed agricultural field. The vehicle can only travel on surfaces that are either firm unpaved ground, hard artificial surfaces, or dry cultivated soil. The artificial surfaces are smooth and intact. The cultivated soil is sufficiently dry and solid to support vehicle weight without rutting. All other terrain types, including wooded areas, water, and structures, are strictly impassable.","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"Starting from a flat area of compacted sand and gravel.","end_land_type":"The destination is a dry, plowed agricultural 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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":60,"start_point":[670,21],"end_point":[251,890],"distance":964.7393430352056},{"start_region_id":1,"end_region_id":57,"start_point":[670,21],"end_point":[45,486],"distance":779.0057766152958},{"start_region_id":1,"end_region_id":59,"start_point":[670,21],"end_point":[691,669],"distance":648.340188481325},{"start_region_id":1,"end_region_id":55,"start_point":[670,21],"end_point":[238,232],"distance":480.77541534483646},{"start_region_id":1,"end_region_id":58,"start_point":[670,21],"end_point":[542,380],"distance":381.13645850272576}],"complexity_score":0.6099179615288899}
{"id":14508,"query_id":"Q02902","question":"A 4x4 off-road vehicle starts from a cultivated field with loose soil and crop rows and needs to reach a dry, sandy expanse with scattered rocks. The vehicle can traverse hard, paved surfaces designed for vehicle traffic, but cannot enter areas with dense vertical obstacles like trees or structures, nor liquid surfaces. The goal is to find the shortest path to the destination.","agent_category":"Car","specific_agent":"a 4x4 off-road vehicle","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a dry, sandy expanse with scattered rocks","task_description":"What is the shortest path from the cultivated field to the sandy expanse?","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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":1,"start_point":[251,890],"end_point":[670,21],"distance":964.7393430352056},{"start_region_id":57,"end_region_id":1,"start_point":[45,486],"end_point":[670,21],"distance":779.0057766152958},{"start_region_id":59,"end_region_id":1,"start_point":[691,669],"end_point":[670,21],"distance":648.340188481325},{"start_region_id":55,"end_region_id":1,"start_point":[238,232],"end_point":[670,21],"distance":480.77541534483646},{"start_region_id":58,"end_region_id":1,"start_point":[542,380],"end_point":[670,21],"distance":381.13645850272576}],"complexity_score":0.6099179615288899}
{"id":15265,"query_id":"Q03053","question":"An aerial survey drone starts from a dry, rocky area with loose soil and no vegetation, an aerial survey drone must travel to a paved, hard-surfaced lane. The drone can fly over areas with soft ground covered by grass and shrubs, as well as cultivated fields with crops, but must avoid flying too close to tall vertical obstacles that could cause collisions. It can also cross over liquid surfaces, though these may affect stability. The drone's priority is to maintain maximum speed throughout the journey.","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"Starting from a dry, rocky area with loose soil and no vegetation","end_land_type":"and needing to reach a 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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":22,"start_point":[670,21],"end_point":[457,427],"distance":458.48118827275783}],"complexity_score":0.6099179615288899}
{"id":16125,"query_id":"Q03225","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a loose, sandy or rocky ground without vegetation. The drone can fly over areas with sparse, low vegetation, liquid surfaces, and the paved area, but must avoid dense vertical obstacles and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy or rocky ground without vegetation","task_description":"What is the shortest path for the aerial survey drone to reach the loose, sandy or rocky ground from the paved, hard 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":"gorakhpur_4.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":1,"start_point":[457,427],"end_point":[670,21],"distance":458.48118827275783}],"complexity_score":0.6099179615288899}
{"id":3641,"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":"chincha_42.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":47,"start_point":[50,900],"end_point":[811,33],"distance":1153.6073855519476},{"start_region_id":47,"end_region_id":116,"start_point":[811,33],"end_point":[50,900],"distance":1153.6073855519476},{"start_region_id":43,"end_region_id":116,"start_point":[246,35],"end_point":[50,900],"distance":886.9278437392751},{"start_region_id":116,"end_region_id":43,"start_point":[50,900],"end_point":[246,35],"distance":886.9278437392751},{"start_region_id":76,"end_region_id":116,"start_point":[851,568],"end_point":[50,900],"distance":867.0784278253035}],"complexity_score":0.6100138053358202}
{"id":14927,"query_id":"Q02986","question":"A hiker is standing on grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The hiker can traverse across loose, sandy or rocky ground without vegetation, as well as areas with cultivated crops or grazing vegetation, and can pass through wooded areas with individual trees or groups of trees. However, all water bodies and any structures with solid walls and roofs are completely impassable. 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":"a paved, hard-surfaced lane","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":"chincha_42.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":120,"start_point":[603,916],"end_point":[159,319],"distance":744.0060483625116},{"start_region_id":10,"end_region_id":121,"start_point":[32,383],"end_point":[809,444],"distance":779.3907877310329},{"start_region_id":7,"end_region_id":122,"start_point":[122,293],"end_point":[75,887],"distance":595.8565263551285},{"start_region_id":7,"end_region_id":121,"start_point":[122,293],"end_point":[809,444],"distance":703.3988910994956},{"start_region_id":36,"end_region_id":122,"start_point":[603,916],"end_point":[75,887],"distance":528.7958017987662}],"complexity_score":0.6100138053358202}
{"id":17031,"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":"chincha_42.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":122,"start_point":[811,33],"end_point":[75,887],"distance":1127.3916799409158},{"start_region_id":43,"end_region_id":122,"start_point":[246,35],"end_point":[75,887],"distance":868.9907939673469},{"start_region_id":76,"end_region_id":122,"start_point":[851,568],"end_point":[75,887],"distance":839.0095351067233},{"start_region_id":116,"end_region_id":121,"start_point":[50,900],"end_point":[809,444],"distance":885.4473445665756},{"start_region_id":76,"end_region_id":120,"start_point":[851,568],"end_point":[159,319],"distance":735.4352452799634}],"complexity_score":0.6100138053358202}
{"id":12720,"query_id":"Q02544","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vegetation and tree trunks. You can traverse rough bare ground, areas with short grass and shrubs, hard paved surfaces, vehicle lanes, cultivated fields, and wooded areas, but you must avoid buildings and water bodies. The wooded areas are passable only if you fly between tree canopies without collision. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","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","Agriculture land"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,2,2,2,1,0,2,0],"image_name":"swietokrzyskie_2.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":48,"start_point":[926,873],"end_point":[72,76],"distance":1168.1288456330492},{"start_region_id":80,"end_region_id":49,"start_point":[926,873],"end_point":[417,49],"distance":968.5334274045475},{"start_region_id":75,"end_region_id":67,"start_point":[947,109],"end_point":[180,614],"distance":918.3212945369393},{"start_region_id":78,"end_region_id":48,"start_point":[798,612],"end_point":[72,76],"distance":902.4256202036819},{"start_region_id":75,"end_region_id":48,"start_point":[947,109],"end_point":[72,76],"distance":875.6220645917964}],"complexity_score":0.6100376240603866}
{"id":14402,"query_id":"Q02881","question":"An agricultural monitoring drone starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with loose, tilled soil while minimizing risk. The drone can fly over most surfaces including paved areas, firm ground, vegetated areas, and cultivated fields, but should avoid flying directly over vertical structures or dense tree canopies that could cause collisions, and should minimize flight over liquid bodies or areas with unpredictable air currents. What is the safest path?","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","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 safest path for the agricultural monitoring drone to reach the destination 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":"swietokrzyskie_2.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":73,"start_point":[308,856],"end_point":[360,142],"distance":715.8910531638177},{"start_region_id":73,"end_region_id":79,"start_point":[360,142],"end_point":[308,856],"distance":715.8910531638177},{"start_region_id":73,"end_region_id":78,"start_point":[360,142],"end_point":[798,612],"distance":642.4515545938075},{"start_region_id":78,"end_region_id":73,"start_point":[798,612],"end_point":[360,142],"distance":642.4515545938075},{"start_region_id":79,"end_region_id":78,"start_point":[308,856],"end_point":[798,612],"distance":547.3901716326299}],"complexity_score":0.6100376240603866}
{"id":3519,"query_id":"Q00704","question":"A delivery drone starts above a grassy, uneven field and needs to reach a paved, hard surface. The drone can fly over loose soil, rocky terrain, cultivated fields, and liquid areas, but must avoid dense vegetation clusters and cannot pass through vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved, hard surface","task_description":"What is the fastest route for the delivery drone to travel from above the grassy, uneven field to 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":"monrovia_28.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":113,"start_point":[794,78],"end_point":[128,666],"distance":888.4255736976509},{"start_region_id":68,"end_region_id":113,"start_point":[1000,786],"end_point":[128,666],"distance":880.2181547775529},{"start_region_id":3,"end_region_id":113,"start_point":[908,281],"end_point":[128,666],"distance":869.8419396649026},{"start_region_id":2,"end_region_id":123,"start_point":[794,78],"end_point":[855,938],"distance":862.1606578822766},{"start_region_id":76,"end_region_id":113,"start_point":[937,935],"end_point":[128,666],"distance":852.5502917716937}],"complexity_score":0.6100453591422801}
{"id":7970,"query_id":"Q01594","question":"An aerial survey drone starts from a tall vertical structure with branches and foliage and needs to reach another similar vertical structure with branches and foliage. The drone can only operate over two types of terrain: tall vertical structures with branches and foliage, and liquid surfaces. The drone must avoid any collisions with the vertical structures, which could damage its rotors. The liquid surfaces are considered hazardous due to potential signal interference and splash risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A tall vertical structure with branches and foliage","end_land_type":"Another tall vertical structure with branches and 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":["Tree","Water"],"traverse_vector":[0,0,0,0,1,1,0,0],"cost_vector":[0,0,0,0,1,1,0,0],"image_name":"monrovia_28.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":170,"start_point":[81,511],"end_point":[1004,146],"distance":992.5492431108897},{"start_region_id":170,"end_region_id":199,"start_point":[1004,146],"end_point":[81,511],"distance":992.5492431108897},{"start_region_id":199,"end_region_id":167,"start_point":[81,511],"end_point":[955,149],"distance":946.0021141625424},{"start_region_id":167,"end_region_id":199,"start_point":[955,149],"end_point":[81,511],"distance":946.0021141625424},{"start_region_id":143,"end_region_id":170,"start_point":[121,111],"end_point":[1004,146],"distance":883.6933857396467}],"complexity_score":0.6100453591422801}
{"id":16861,"query_id":"Q03373","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 open grassy fields and water bodies, but must avoid any areas with tall vegetation or structures that could obstruct its flight path. The paved surfaces provide stable launch and landing zones. 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","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_28.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":113,"start_point":[915,836],"end_point":[128,666],"distance":805.1515385317226},{"start_region_id":113,"end_region_id":121,"start_point":[128,666],"end_point":[915,836],"distance":805.1515385317226},{"start_region_id":112,"end_region_id":113,"start_point":[923,658],"end_point":[128,666],"distance":795.0402505533918},{"start_region_id":113,"end_region_id":112,"start_point":[128,666],"end_point":[923,658],"distance":795.0402505533918},{"start_region_id":123,"end_region_id":113,"start_point":[855,938],"end_point":[128,666],"distance":776.2171088039737}],"complexity_score":0.6100453591422801}
{"id":3016,"query_id":"Q00604","question":"A family SUV is starting from a paved, hard-surfaced area and needs to reach a cultivated field with crops. The vehicle can only travel on surfaces that provide stable traction and predictable handling to minimize risk. It cannot travel on surfaces covered by loose sand or rocks, nor on areas with tall grass or shrubs. It also cannot travel on surfaces covered by water, through dense vegetation that could obstruct the vehicle, or into any structures. What is the safest path for the SUV to take?","agent_category":"Car","specific_agent":"A family SUV","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 SUV to take?","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":"muenster_18.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":657,"start_point":[727,924],"end_point":[961,45],"distance":909.6136542510782},{"start_region_id":200,"end_region_id":657,"start_point":[164,436],"end_point":[961,45],"distance":887.7443325642806},{"start_region_id":289,"end_region_id":657,"start_point":[886,885],"end_point":[961,45],"distance":843.3415678122359},{"start_region_id":243,"end_region_id":657,"start_point":[723,705],"end_point":[961,45],"distance":701.6010262250192},{"start_region_id":241,"end_region_id":657,"start_point":[826,698],"end_point":[961,45],"distance":666.8088181780442}],"complexity_score":0.6100810146643765}
{"id":5397,"query_id":"Q01080","question":"A quadcopter drone is positioned in a cultivated field with soft, tilled soil and needs to reach a wooded area containing tall vertical obstacles. The drone must avoid any liquid surfaces entirely due to the risk of electronic failure upon contact. The drone can fly over cultivated fields, paved lanes, and wooded areas, but flying through wooded areas requires careful navigation between vertical obstacles. What is the safest path to reach the wooded area?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","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","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_18.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":657,"end_region_id":420,"start_point":[961,45],"end_point":[55,329],"distance":949.4693254655466},{"start_region_id":657,"end_region_id":346,"start_point":[961,45],"end_point":[25,41],"distance":936.0085469695242},{"start_region_id":657,"end_region_id":542,"start_point":[961,45],"end_point":[549,876],"distance":927.5262799511397},{"start_region_id":657,"end_region_id":442,"start_point":[961,45],"end_point":[207,368],"distance":820.271296584246},{"start_region_id":657,"end_region_id":516,"start_point":[961,45],"end_point":[462,630],"distance":768.9122186569804}],"complexity_score":0.6100810146643765}
{"id":15037,"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":"muenster_18.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":657,"start_point":[727,924],"end_point":[961,45],"distance":909.6136542510782},{"start_region_id":200,"end_region_id":657,"start_point":[164,436],"end_point":[961,45],"distance":887.7443325642806},{"start_region_id":289,"end_region_id":657,"start_point":[886,885],"end_point":[961,45],"distance":843.3415678122359},{"start_region_id":243,"end_region_id":657,"start_point":[723,705],"end_point":[961,45],"distance":701.6010262250192},{"start_region_id":241,"end_region_id":657,"start_point":[826,698],"end_point":[961,45],"distance":666.8088181780442}],"complexity_score":0.6100810146643765}
{"id":10165,"query_id":"Q02033","question":"A hiker 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 water bodies or buildings. 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 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":"al_qurnah_4.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":64,"start_point":[819,219],"end_point":[268,941],"distance":908.2317986065011},{"start_region_id":64,"end_region_id":34,"start_point":[268,941],"end_point":[819,219],"distance":908.2317986065011},{"start_region_id":34,"end_region_id":51,"start_point":[819,219],"end_point":[187,774],"distance":841.0998751634671},{"start_region_id":51,"end_region_id":34,"start_point":[187,774],"end_point":[819,219],"distance":841.0998751634671},{"start_region_id":32,"end_region_id":64,"start_point":[330,186],"end_point":[268,941],"distance":757.5414180096029}],"complexity_score":0.6101616330273785}
{"id":12776,"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":"al_qurnah_4.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":132,"start_point":[330,186],"end_point":[899,952],"distance":954.2101445698427},{"start_region_id":32,"end_region_id":135,"start_point":[330,186],"end_point":[842,928],"distance":901.5031891235882},{"start_region_id":43,"end_region_id":132,"start_point":[196,422],"end_point":[899,952],"distance":880.4027487462769},{"start_region_id":43,"end_region_id":135,"start_point":[196,422],"end_point":[842,928],"distance":820.5802824830731},{"start_region_id":34,"end_region_id":132,"start_point":[819,219],"end_point":[899,952],"distance":737.3526971538112}],"complexity_score":0.6101616330273785}
{"id":4122,"query_id":"Q00825","question":"A delivery drone starts from an area of loose, sandy ground and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces including bare earth, grassy areas, hard paved surfaces, vehicle lanes, and the cultivated field. However, it must avoid flying directly through dense clusters of tall vegetation with thick trunks and cannot fly inside any solid structures. Flying over liquid surfaces is allowed but should be minimized due to potential signal interference and splash risk. The goal is to find the path that minimizes the risk of collision, signal loss, or damage from environmental hazards.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from an area of loose, sandy ground","end_land_type":"needs to reach a cultivated field with soft, tilled soil","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"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"les_cayes_27.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":212,"start_point":[75,69],"end_point":[159,837],"distance":772.5800929353538},{"start_region_id":4,"end_region_id":212,"start_point":[236,304],"end_point":[159,837],"distance":538.5331930345612},{"start_region_id":6,"end_region_id":212,"start_point":[377,577],"end_point":[159,837],"distance":339.29927792437167}],"complexity_score":0.6102367944629381}
{"id":9718,"query_id":"Q01944","question":"A quadcopter drone is deployed from a cultivated field and needs to reach an area of exposed, loose soil and rock terrain as quickly as possible. The drone can fly over open ground, paved lanes, and cultivated areas without restriction. It can also pass through areas with tall, dense vegetation if necessary, but doing so may slow it down due to navigation complexity and potential obstacles. The drone must avoid any vertical structures or buildings entirely. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"exposed, loose soil and rock terrain","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":"les_cayes_27.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":1,"start_point":[589,757],"end_point":[75,69],"distance":858.8014904504998},{"start_region_id":212,"end_region_id":1,"start_point":[159,837],"end_point":[75,69],"distance":772.5800929353538},{"start_region_id":213,"end_region_id":4,"start_point":[589,757],"end_point":[236,304],"distance":574.2978321393874},{"start_region_id":212,"end_region_id":4,"start_point":[159,837],"end_point":[236,304],"distance":538.5331930345612},{"start_region_id":212,"end_region_id":6,"start_point":[159,837],"end_point":[377,577],"distance":339.29927792437167}],"complexity_score":0.6102367944629381}
{"id":10851,"query_id":"Q02171","question":"An aerial drone starts from a dry, sandy area and needs to navigate to another dry, sandy area. The drone can fly over loose soil, vegetated fields, and liquid surfaces, but must avoid any vertical structures or dense vegetation that could pose collision risks. The objective is to minimize risk during the flight.","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"Starting from a dry, sandy area","end_land_type":"and aiming to return to another dry, 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":"les_cayes_27.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":1,"start_point":[377,577],"end_point":[75,69],"distance":590.9890015897081},{"start_region_id":1,"end_region_id":6,"start_point":[75,69],"end_point":[377,577],"distance":590.9890015897081},{"start_region_id":6,"end_region_id":4,"start_point":[377,577],"end_point":[236,304],"distance":307.2621030976648},{"start_region_id":4,"end_region_id":6,"start_point":[236,304],"end_point":[377,577],"distance":307.2621030976648},{"start_region_id":4,"end_region_id":1,"start_point":[236,304],"end_point":[75,69],"distance":284.8613697923957}],"complexity_score":0.6102367944629381}
{"id":12471,"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_27.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":18,"start_point":[291,136],"end_point":[98,963],"distance":849.2219968889171},{"start_region_id":18,"end_region_id":13,"start_point":[98,963],"end_point":[291,136],"distance":849.2219968889171},{"start_region_id":14,"end_region_id":18,"start_point":[619,377],"end_point":[98,963],"distance":784.1154251766764},{"start_region_id":18,"end_region_id":14,"start_point":[98,963],"end_point":[619,377],"distance":784.1154251766764},{"start_region_id":16,"end_region_id":18,"start_point":[871,690],"end_point":[98,963],"distance":819.7914368911156}],"complexity_score":0.6102927277142307}
{"id":8306,"query_id":"Q01662","question":"An off-road vehicle starts from a rocky, uneven surface, an off-road vehicle must reach a field of low grass and shrubs. The area consists only of unpaved, natural ground; paved roads and developed surfaces are absent. The vehicle cannot pass through trees, water, or buildings. What is the safest route?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the safest route for the off-road vehicle?","task_type":"Safest","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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":26,"start_point":[365,340],"end_point":[1007,391],"distance":644.0225151343701},{"start_region_id":2,"end_region_id":40,"start_point":[651,434],"end_point":[127,537],"distance":534.0271528677171},{"start_region_id":2,"end_region_id":26,"start_point":[651,434],"end_point":[1007,391],"distance":358.5875067539303},{"start_region_id":4,"end_region_id":40,"start_point":[365,340],"end_point":[127,537],"distance":308.9546892345219}],"complexity_score":0.610377456685387}
{"id":8313,"query_id":"Q01663","question":"A quadcopter starts from a sandy, open area and needs to fly to a region covered with grass and bushes. The environment includes only dry, solid ground and low vegetation; water, trees, and structures are to be avoided for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the safest flight path for the quadcopter?","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_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":55,"start_point":[107,233],"end_point":[990,685],"distance":991.9642130641608},{"start_region_id":3,"end_region_id":26,"start_point":[107,233],"end_point":[1007,391],"distance":913.7636455889455},{"start_region_id":1,"end_region_id":55,"start_point":[318,87],"end_point":[990,685],"distance":899.5487757759443},{"start_region_id":1,"end_region_id":26,"start_point":[318,87],"end_point":[1007,391],"distance":753.0849885637078},{"start_region_id":7,"end_region_id":26,"start_point":[502,902],"end_point":[1007,391],"distance":718.4330170586538}],"complexity_score":0.610377456685387}
{"id":11144,"query_id":"Q02229","question":"A quadcopter drone is conducting an agricultural survey. Starting from a patch of loose, dry soil with scattered rocks and no vegetation cover, and needs to reach a cultivated field with orderly rows of crops planted in soft, tilled earth. The drone must avoid all paved or hard surfaces, water bodies, trees, and structures. It can only fly over exposed earth, natural grassy or shrub-covered areas, and farmed land. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation cover","end_land_type":"and needs to reach a cultivated field with orderly rows of crops planted in soft, tilled earth","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":194,"start_point":[365,340],"end_point":[950,867],"distance":787.371576830152},{"start_region_id":4,"end_region_id":188,"start_point":[365,340],"end_point":[926,707],"distance":670.3804889762231},{"start_region_id":4,"end_region_id":190,"start_point":[365,340],"end_point":[872,736],"distance":643.3234023413107},{"start_region_id":4,"end_region_id":182,"start_point":[365,340],"end_point":[930,549],"distance":602.4167992345499},{"start_region_id":2,"end_region_id":194,"start_point":[651,434],"end_point":[950,867],"distance":526.2033827333306}],"complexity_score":0.610377456685387}
{"id":14428,"query_id":"Q02886","question":"An aerial surveillance drone starts from a flat, open area of loose soil and scattered rocks and needs to return to another similar open area of loose soil and scattered rocks. The drone must avoid any vertical structures or dense overhead obstacles that could cause collisions. It should also minimize flight over liquid surfaces where a system failure could lead to unrecoverable loss. The drone can fly over areas with sparse, low vegetation and exposed ground. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a flat, open area of loose soil and scattered rocks","end_land_type":"needing to return to another similar open area of loose soil and scattered rocks","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_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":7,"start_point":[318,87],"end_point":[502,902],"distance":835.5124176216652},{"start_region_id":7,"end_region_id":1,"start_point":[502,902],"end_point":[318,87],"distance":835.5124176216652},{"start_region_id":1,"end_region_id":8,"start_point":[318,87],"end_point":[602,865],"distance":828.2149479452783},{"start_region_id":8,"end_region_id":1,"start_point":[602,865],"end_point":[318,87],"distance":828.2149479452783},{"start_region_id":3,"end_region_id":8,"start_point":[107,233],"end_point":[602,865],"distance":802.7758093017004}],"complexity_score":0.610377456685387}
{"id":15411,"query_id":"Q03083","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach an expanse of loose, dry soil and scattered rocks. The drone can fly over areas with short vegetation, paved surfaces, vehicle lanes, water bodies, and vertical structures, but must avoid dense tree canopies and solid buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"an expanse of loose, dry soil and scattered rocks","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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":3,"start_point":[950,867],"end_point":[107,233],"distance":1054.8009290856735},{"start_region_id":194,"end_region_id":1,"start_point":[950,867],"end_point":[318,87],"distance":1003.9043779165424},{"start_region_id":196,"end_region_id":3,"start_point":[841,870],"end_point":[107,233],"distance":971.8667604152331},{"start_region_id":188,"end_region_id":3,"start_point":[926,707],"end_point":[107,233],"distance":946.275329911966},{"start_region_id":196,"end_region_id":1,"start_point":[841,870],"end_point":[318,87],"distance":941.6039507138869}],"complexity_score":0.610377456685387}
{"id":16070,"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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":3,"start_point":[990,685],"end_point":[107,233],"distance":991.9642130641608},{"start_region_id":26,"end_region_id":3,"start_point":[1007,391],"end_point":[107,233],"distance":913.7636455889455},{"start_region_id":55,"end_region_id":1,"start_point":[990,685],"end_point":[318,87],"distance":899.5487757759443},{"start_region_id":26,"end_region_id":1,"start_point":[1007,391],"end_point":[318,87],"distance":753.0849885637078},{"start_region_id":26,"end_region_id":7,"start_point":[1007,391],"end_point":[502,902],"distance":718.4330170586538}],"complexity_score":0.610377456685387}
{"id":17425,"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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":3,"start_point":[990,685],"end_point":[107,233],"distance":991.9642130641608},{"start_region_id":26,"end_region_id":3,"start_point":[1007,391],"end_point":[107,233],"distance":913.7636455889455},{"start_region_id":55,"end_region_id":1,"start_point":[990,685],"end_point":[318,87],"distance":899.5487757759443},{"start_region_id":26,"end_region_id":1,"start_point":[1007,391],"end_point":[318,87],"distance":753.0849885637078},{"start_region_id":26,"end_region_id":7,"start_point":[1007,391],"end_point":[502,902],"distance":718.4330170586538}],"complexity_score":0.610377456685387}
{"id":17721,"query_id":"Q03545","question":"An aerial surveillance drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with orderly rows of low-growing crops. The drone must avoid any tall, dense vertical structures that could cause collisions. It can fly over open ground covered by short grass or shrubs, paved vehicle lanes, and the cultivated area itself. The priority 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":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of low-growing crops.","task_description":"What is the safest path for the drone to take?","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":"ica_32.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":194,"start_point":[365,340],"end_point":[950,867],"distance":787.371576830152},{"start_region_id":4,"end_region_id":188,"start_point":[365,340],"end_point":[926,707],"distance":670.3804889762231},{"start_region_id":4,"end_region_id":190,"start_point":[365,340],"end_point":[872,736],"distance":643.3234023413107},{"start_region_id":4,"end_region_id":182,"start_point":[365,340],"end_point":[930,549],"distance":602.4167992345499},{"start_region_id":2,"end_region_id":194,"start_point":[651,434],"end_point":[950,867],"distance":526.2033827333306}],"complexity_score":0.610377456685387}
{"id":10135,"query_id":"Q02027","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation. The terrain includes hard, flat surfaces; loose, sandy ground; grassy fields; and areas with dense vegetation. The hiker can traverse all these terrain types, but must avoid any structures and water bodies. 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":["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":"mahe_27.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":86,"start_point":[989,970],"end_point":[134,476],"distance":987.4517709741575},{"start_region_id":43,"end_region_id":96,"start_point":[932,313],"end_point":[184,901],"distance":951.4452164996154},{"start_region_id":53,"end_region_id":86,"start_point":[911,976],"end_point":[134,476],"distance":923.9745667495399},{"start_region_id":64,"end_region_id":67,"start_point":[730,1004],"end_point":[754,78],"distance":926.3109629060858},{"start_region_id":54,"end_region_id":67,"start_point":[989,970],"end_point":[754,78],"distance":922.4364476753941}],"complexity_score":0.6103938883915139}
{"id":1318,"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_43.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":6,"start_point":[447,837],"end_point":[585,93],"distance":756.6901611624139},{"start_region_id":6,"end_region_id":20,"start_point":[585,93],"end_point":[447,837],"distance":756.6901611624139},{"start_region_id":20,"end_region_id":7,"start_point":[447,837],"end_point":[904,410],"distance":625.4422435365235},{"start_region_id":7,"end_region_id":20,"start_point":[904,410],"end_point":[447,837],"distance":625.4422435365235},{"start_region_id":20,"end_region_id":12,"start_point":[447,837],"end_point":[446,356],"distance":481.00103949991626}],"complexity_score":0.6106560362917494}
{"id":3537,"query_id":"Q00708","question":"A hiker starts from a grassy, open area with low vegetation and needs to reach a cluster of tall, leafy plants with distinct vertical structures. The terrain includes loose, sandy or rocky ground without plants; grassy or shrubby areas; hard, flat surfaces like sidewalks or parking lots; paved lanes for vehicles; cultivated fields with crops; and wooded patches. However, vertical structures like buildings and liquid surfaces are impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open area with low vegetation","end_land_type":"a cluster of tall, leafy plants with distinct vertical structures","task_description":"What is the shortest path from the grassy start to the wooded 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":"thousand_oaks_43.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[162,752],"end_point":[904,410],"distance":817.023867460431},{"start_region_id":3,"end_region_id":6,"start_point":[162,752],"end_point":[585,93],"distance":783.077263110097},{"start_region_id":5,"end_region_id":6,"start_point":[804,841],"end_point":[585,93],"distance":779.4004105721269},{"start_region_id":5,"end_region_id":12,"start_point":[804,841],"end_point":[446,356],"distance":602.8175511711648},{"start_region_id":3,"end_region_id":12,"start_point":[162,752],"end_point":[446,356],"distance":487.3109889998378}],"complexity_score":0.6106560362917494}
{"id":8410,"query_id":"Q01682","question":"A quadcopter drone starts from a grassy, open field with scattered low vegetation and needs to reach a cluster of tall, leafy plants with distinct vertical structures. The available terrain includes loose, dry soil surfaces, grassy areas with low bushes, and vertical plant structures. You must avoid any liquid surfaces, and while you can fly near man-made structures, you cannot pass through them. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a cluster of tall, leafy plants 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":[2,2,2,2,1,0,2,0],"image_name":"thousand_oaks_43.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[162,752],"end_point":[904,410],"distance":817.023867460431},{"start_region_id":3,"end_region_id":6,"start_point":[162,752],"end_point":[585,93],"distance":783.077263110097},{"start_region_id":5,"end_region_id":6,"start_point":[804,841],"end_point":[585,93],"distance":779.4004105721269},{"start_region_id":5,"end_region_id":12,"start_point":[804,841],"end_point":[446,356],"distance":602.8175511711648},{"start_region_id":3,"end_region_id":12,"start_point":[162,752],"end_point":[446,356],"distance":487.3109889998378}],"complexity_score":0.6106560362917494}
{"id":10070,"query_id":"Q02014","question":"A quadcopter drone is currently positioned above a densely vegetated area with tall, leafy canopies and needs to reach another such area as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; overgrown fields with tall grasses and shrubs; flat, hard surfaces like paved areas and parking lots; and through gaps in tall vegetation. However, flying directly through dense foliage significantly slows it down due to navigation complexity and collision risk. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter 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 fastest route for the 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":"thousand_oaks_43.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":6,"start_point":[447,837],"end_point":[585,93],"distance":756.6901611624139},{"start_region_id":6,"end_region_id":20,"start_point":[585,93],"end_point":[447,837],"distance":756.6901611624139},{"start_region_id":20,"end_region_id":7,"start_point":[447,837],"end_point":[904,410],"distance":625.4422435365235},{"start_region_id":7,"end_region_id":20,"start_point":[904,410],"end_point":[447,837],"distance":625.4422435365235},{"start_region_id":20,"end_region_id":12,"start_point":[447,837],"end_point":[446,356],"distance":481.00103949991626}],"complexity_score":0.6106560362917494}
{"id":897,"query_id":"Q00180","question":"An off-road vehicle starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas with soft, grassy surfaces and patches of loose soil, as well as hard, flat surfaces like paved paths or compacted grounds. However, sandy or rocky expanses, water bodies, dense tree clusters, and built structures are impassable. What is the shortest path?","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 path from the starting cultivated field to the destination cultivated 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":"swietokrzyskie_17.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":44,"start_point":[616,50],"end_point":[1020,919],"distance":958.319883963596}],"complexity_score":0.6108302153467955}
{"id":5695,"query_id":"Q01139","question":"An aerial drone starts from a paved surface and needs to reach an area with tall vertical obstacles. The 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":"Aerial drone","start_land_type":"paved surface","end_land_type":"area with tall vertical obstacles","task_description":"What is the fastest path for the aerial drone to reach the area with tall vertical obstacles from the 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":"swietokrzyskie_17.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":42,"start_point":[371,480],"end_point":[881,987],"distance":719.1307252509797},{"start_region_id":19,"end_region_id":41,"start_point":[371,480],"end_point":[781,980],"distance":646.6065264130884},{"start_region_id":19,"end_region_id":22,"start_point":[371,480],"end_point":[381,45],"distance":435.1149273467873},{"start_region_id":19,"end_region_id":38,"start_point":[371,480],"end_point":[482,883],"distance":418.0071769718793},{"start_region_id":19,"end_region_id":35,"start_point":[371,480],"end_point":[25,718],"distance":419.9523782525823}],"complexity_score":0.6108302153467955}
{"id":6898,"query_id":"Q01380","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over liquid surfaces and cultivated areas, but must avoid vertical obstacles like trees and buildings. The goal is to find the fastest path.","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":["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":"swietokrzyskie_17.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":44,"start_point":[171,275],"end_point":[758,463],"distance":616.3708299392501},{"start_region_id":18,"end_region_id":44,"start_point":[735,965],"end_point":[758,463],"distance":502.5266162105247},{"start_region_id":16,"end_region_id":44,"start_point":[605,826],"end_point":[758,463],"distance":393.92638906272833},{"start_region_id":14,"end_region_id":44,"start_point":[485,656],"end_point":[758,463],"distance":334.33217015417466}],"complexity_score":0.6108302153467955}
{"id":12293,"query_id":"Q02459","question":"An off-road vehicle starts from a paved parking lot and needs to reach a cultivated agricultural field. The vehicle can drive on paved surfaces and vehicle lanes, and is equipped to handle grassy terrain and loose soil in crop areas, but cannot pass through dense vegetation, water, or structures. 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":"a cultivated agricultural 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":"swietokrzyskie_17.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":44,"start_point":[171,275],"end_point":[758,463],"distance":616.3708299392501},{"start_region_id":18,"end_region_id":44,"start_point":[735,965],"end_point":[758,463],"distance":502.5266162105247},{"start_region_id":16,"end_region_id":44,"start_point":[605,826],"end_point":[758,463],"distance":393.92638906272833},{"start_region_id":14,"end_region_id":44,"start_point":[485,656],"end_point":[758,463],"distance":334.33217015417466}],"complexity_score":0.6108302153467955}
{"id":6930,"query_id":"Q01386","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall, vertical vegetation. The hiker is equipped with sturdy boots and can traverse soft, uneven ground with vegetation, but must avoid any liquid surfaces and solid vertical structures. The paved area is traversable, the vegetated ground is traversable due to the hiker's footwear, and the cultivated fields are traversable as they are not currently planted. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall, vertical vegetation","task_description":"What is the shortest path from the paved area to the cluster of tall vegetation?","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_66.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":192,"start_point":[148,672],"end_point":[923,48],"distance":994.9879396254007},{"start_region_id":141,"end_region_id":192,"start_point":[109,452],"end_point":[923,48],"distance":908.7419875850351},{"start_region_id":85,"end_region_id":274,"start_point":[590,62],"end_point":[113,599],"distance":718.2603984628416},{"start_region_id":85,"end_region_id":248,"start_point":[590,62],"end_point":[598,680],"distance":618.0517777662321},{"start_region_id":159,"end_region_id":229,"start_point":[148,672],"end_point":[502,193],"distance":595.6148084122825}],"complexity_score":0.6108652319390093}
{"id":10948,"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":"tyrolw_66.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":192,"start_point":[49,737],"end_point":[923,48],"distance":1112.9227286743676},{"start_region_id":8,"end_region_id":274,"start_point":[843,77],"end_point":[113,599],"distance":897.4318915661511},{"start_region_id":43,"end_region_id":274,"start_point":[858,262],"end_point":[113,599],"distance":817.6759749436203},{"start_region_id":31,"end_region_id":192,"start_point":[145,218],"end_point":[923,48],"distance":796.3567039963938},{"start_region_id":47,"end_region_id":192,"start_point":[292,518],"end_point":[923,48],"distance":786.8042958703263}],"complexity_score":0.6108652319390093}
{"id":16180,"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":"tyrolw_66.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":177,"start_point":[49,737],"end_point":[450,208],"distance":663.8087073848911},{"start_region_id":46,"end_region_id":177,"start_point":[858,360],"end_point":[450,208],"distance":435.3940743740089},{"start_region_id":8,"end_region_id":177,"start_point":[843,77],"end_point":[450,208],"distance":414.2583734820577},{"start_region_id":43,"end_region_id":177,"start_point":[858,262],"end_point":[450,208],"distance":411.5580153514204},{"start_region_id":47,"end_region_id":177,"start_point":[292,518],"end_point":[450,208],"distance":347.9425239892359}],"complexity_score":0.6108652319390093}
{"id":1717,"query_id":"Q00344","question":"A hiker is standing on a cultivated field with loose soil. They need to reach a paved lane. The hiker can only walk on surfaces that provide a stable, even footing: cultivated fields with firm, packed soil; grassy areas with short, even vegetation; and paved lanes. The cultivated fields are traversable because the soil is dry and compacted enough to walk on without sinking. The grassy areas are traversable because the vegetation is short and the ground beneath is firm. The paved lanes are traversable by default for pedestrians. All other surface types are either too soft, too rough, or obstructed and cannot be used.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Agriculture land","end_land_type":"Road","task_description":"What is the most comfortable path for the hiker to take from the cultivated field to the paved lane?","task_type":"Comfort","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"tyrolw_56.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":77,"start_point":[153,108],"end_point":[568,650],"distance":682.6338696548831}],"complexity_score":0.6108736018961682}
{"id":11343,"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":"tyrolw_56.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":76,"start_point":[153,108],"end_point":[922,133],"distance":769.4062645962795},{"start_region_id":141,"end_region_id":77,"start_point":[153,108],"end_point":[568,650],"distance":682.6338696548831}],"complexity_score":0.6108736018961682}
{"id":100,"query_id":"Q00020","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with orderly rows of crops. The drone's flight must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open liquid surfaces, but must avoid areas with tall, dense vertical obstacles that could cause turbulence or collisions. The drone cannot fly through solid vertical structures. The drone's path must prioritize surfaces that provide the smoothest and most stable flight to ensure clear data collection.","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 cultivated field with orderly rows of crops.","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":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":548,"start_point":[227,885],"end_point":[36,954],"distance":203.08126452235814}],"complexity_score":0.610905474950731}
{"id":2941,"query_id":"Q00589","question":"A passenger sedan is parked on a paved parking area and needs to reach a dry, open area of loose soil and rocks. The vehicle can only travel on surfaces that provide a smooth, stable ride: paved surfaces like roads and parking lots are always available, while cultivated fields with firm, level soil are accessible because they have been recently harvested and compacted. Rough, uneven ground composed of loose earth and rocks is also passable but less desirable. All other terrain types, including areas with standing water, dense vegetation, or vertical structures, are completely impassable. What is the most comfortable path to reach the destination?","agent_category":"Car","specific_agent":"a passenger sedan","start_land_type":"a paved parking area","end_land_type":"a dry, open area of loose soil and rocks","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,3,4,0,0,2,0],"image_name":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":8,"start_point":[791,35],"end_point":[227,885],"distance":1020.0960739067668},{"start_region_id":215,"end_region_id":8,"start_point":[831,444],"end_point":[227,885],"distance":747.8616182155627},{"start_region_id":203,"end_region_id":8,"start_point":[658,267],"end_point":[227,885],"distance":753.4487374732272},{"start_region_id":183,"end_region_id":8,"start_point":[78,189],"end_point":[227,885],"distance":711.770328125583},{"start_region_id":289,"end_region_id":8,"start_point":[911,731],"end_point":[227,885],"distance":701.1219580073071}],"complexity_score":0.610905474950731}
{"id":3072,"query_id":"Q00615","question":"A rally car starts on a paved, hard surface and needs to reach a destination on loose, sandy ground. The vehicle can only travel on paved surfaces or loose, sandy ground. What is the fastest path?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"Road","end_land_type":"Bareland","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":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":8,"start_point":[886,709],"end_point":[227,885],"distance":682.0975003619351},{"start_region_id":304,"end_region_id":8,"start_point":[552,473],"end_point":[227,885],"distance":524.7561338374236}],"complexity_score":0.610905474950731}
{"id":4008,"query_id":"Q00802","question":"A quadcopter drone is on a paved, hard surface and needs to reach a patch of loose, sandy ground. The drone can fly over paved surfaces, compacted gravel paths, grassy fields, cultivated fields with low crops, areas with scattered trees, and liquid surfaces, but must avoid vertical structures. The goal is to find the most comfortable route for stable flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved, hard surface","end_land_type":"A patch of loose, sandy ground","task_description":"What is the most comfortable flying path from the paved starting point to the sandy destination?","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_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":168,"end_region_id":8,"start_point":[939,92],"end_point":[227,885],"distance":1065.7358959892456},{"start_region_id":167,"end_region_id":8,"start_point":[791,35],"end_point":[227,885],"distance":1020.0960739067668},{"start_region_id":182,"end_region_id":8,"start_point":[646,165],"end_point":[227,885],"distance":833.0432161658841},{"start_region_id":215,"end_region_id":8,"start_point":[831,444],"end_point":[227,885],"distance":747.8616182155627},{"start_region_id":203,"end_region_id":8,"start_point":[658,267],"end_point":[227,885],"distance":753.4487374732272}],"complexity_score":0.610905474950731}
{"id":4121,"query_id":"Q00825","question":"A delivery drone starts from an area of loose, sandy ground and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces including bare earth, grassy areas, hard paved surfaces, vehicle lanes, and the cultivated field. However, it must avoid flying directly through dense clusters of tall vegetation with thick trunks and cannot fly inside any solid structures. Flying over liquid surfaces is allowed but should be minimized due to potential signal interference and splash risk. The goal is to find the path that minimizes the risk of collision, signal loss, or damage from environmental hazards.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from an area of loose, sandy ground","end_land_type":"needs to reach a cultivated field with soft, tilled soil","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"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":548,"start_point":[227,885],"end_point":[36,954],"distance":203.08126452235814}],"complexity_score":0.610905474950731}
{"id":8858,"query_id":"Q01772","question":"An aerial survey drone starts from a grassy field and needs to reach a destination on sandy, rocky ground. The drone must maintain stable flight and avoid vibrations that could disrupt its sensors. The drone can fly over open water surfaces, but must avoid flying through dense vegetation or near vertical structures. The drone can use paved areas and vehicle lanes for navigation, but these surfaces are not required for flight. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy field","end_land_type":"sandy, 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":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":8,"start_point":[971,139],"end_point":[227,885],"distance":1053.5900531041473},{"start_region_id":59,"end_region_id":8,"start_point":[916,256],"end_point":[227,885],"distance":932.9319374959783},{"start_region_id":30,"end_region_id":8,"start_point":[760,137],"end_point":[227,885],"distance":918.47318959238},{"start_region_id":60,"end_region_id":8,"start_point":[843,211],"end_point":[227,885],"distance":913.089261792077},{"start_region_id":16,"end_region_id":8,"start_point":[309,46],"end_point":[227,885],"distance":842.9976275174207}],"complexity_score":0.610905474950731}
{"id":11832,"query_id":"Q02367","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy ground area. The vehicle can traverse paved surfaces, compacted gravel paths, and loose, sandy ground, but cannot cross water bodies, enter buildings, or drive through wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","task_description":"What is the shortest path for the off-road vehicle to reach the loose, sandy ground from the paved, hard surface?","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":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":8,"start_point":[791,35],"end_point":[227,885],"distance":1020.0960739067668},{"start_region_id":215,"end_region_id":8,"start_point":[831,444],"end_point":[227,885],"distance":747.8616182155627},{"start_region_id":203,"end_region_id":8,"start_point":[658,267],"end_point":[227,885],"distance":753.4487374732272},{"start_region_id":183,"end_region_id":8,"start_point":[78,189],"end_point":[227,885],"distance":711.770328125583},{"start_region_id":289,"end_region_id":8,"start_point":[911,731],"end_point":[227,885],"distance":701.1219580073071}],"complexity_score":0.610905474950731}
{"id":16733,"query_id":"Q03347","question":"A quadcopter drone is launched from grassy, uneven terrain and needs to reach a target on loose, sandy ground. The drone can fly over natural open ground, grassy areas, paved lanes, cultivated fields, and water bodies, but must avoid flying through dense vegetation and cannot pass through or land on structures. The drone prioritizes stable, predictable airspace to maximize flight comfort and minimize turbulence. What path should the drone take to reach the target while maximizing flight comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"loose, sandy ground","task_description":"What path should the drone take to reach the target 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":"duesseldorf_1.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":8,"start_point":[971,139],"end_point":[227,885],"distance":1053.5900531041473},{"start_region_id":59,"end_region_id":8,"start_point":[916,256],"end_point":[227,885],"distance":932.9319374959783},{"start_region_id":30,"end_region_id":8,"start_point":[760,137],"end_point":[227,885],"distance":918.47318959238},{"start_region_id":60,"end_region_id":8,"start_point":[843,211],"end_point":[227,885],"distance":913.089261792077},{"start_region_id":16,"end_region_id":8,"start_point":[309,46],"end_point":[227,885],"distance":842.9976275174207}],"complexity_score":0.610905474950731}
{"id":7430,"query_id":"Q01486","question":"A hiker starts from a paved lane and needs to reach a cultivated field. The hiker can traverse paved surfaces, cultivated areas, and wooded patches, but cannot cross water bodies or enter buildings. The cultivated field is accessible because the crops are low and the ground is firm enough for walking. The wooded patches are passable as the trees are spaced apart with clear undergrowth. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a cultivated field","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":"zanzibar_35.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":245,"start_point":[264,593],"end_point":[1003,602],"distance":739.0548017569469},{"start_region_id":101,"end_region_id":248,"start_point":[264,593],"end_point":[948,832],"distance":724.5529656277724},{"start_region_id":101,"end_region_id":242,"start_point":[264,593],"end_point":[781,175],"distance":664.8405823955093},{"start_region_id":101,"end_region_id":243,"start_point":[264,593],"end_point":[734,595],"distance":470.00425529988553},{"start_region_id":101,"end_region_id":247,"start_point":[264,593],"end_point":[35,729],"distance":266.3400082601185}],"complexity_score":0.6109720441870138}
{"id":9244,"query_id":"Q01849","question":"An off-road vehicle is starting from a cultivated field with loose soil and crop stubble, needing to reach a paved lane. The vehicle can traverse loose, uneven ground like bare earth and rocky patches, as well as grassy or shrub-covered areas, and hard, flat surfaces such as parking lots and sidewalks. However, it cannot enter areas with dense trees, water bodies, or buildings. What is the fastest route to the paved lane?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest route to the 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":[1,2,4,5,0,0,3,0],"image_name":"zanzibar_35.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":101,"start_point":[1003,602],"end_point":[264,593],"distance":739.0548017569469},{"start_region_id":248,"end_region_id":101,"start_point":[948,832],"end_point":[264,593],"distance":724.5529656277724},{"start_region_id":242,"end_region_id":101,"start_point":[781,175],"end_point":[264,593],"distance":664.8405823955093},{"start_region_id":243,"end_region_id":101,"start_point":[734,595],"end_point":[264,593],"distance":470.00425529988553},{"start_region_id":247,"end_region_id":101,"start_point":[35,729],"end_point":[264,593],"distance":266.3400082601185}],"complexity_score":0.6109720441870138}
{"id":12796,"query_id":"Q02560","question":"A quadcopter drone starts from a cultivated field with vegetation at ground level and needs to reach another cultivated field through aerial navigation. You can fly over areas with soft ground covered by grasses and shrubs, hard flat surfaces, vehicle lanes, wooded areas with tall vertical obstacles, and the cultivated fields themselves. What is the fastest aerial path to the destination field?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest aerial path to the destination field?","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":"zanzibar_35.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":247,"end_region_id":245,"start_point":[35,729],"end_point":[1003,602],"distance":976.2955495135682},{"start_region_id":245,"end_region_id":247,"start_point":[1003,602],"end_point":[35,729],"distance":976.2955495135682},{"start_region_id":242,"end_region_id":247,"start_point":[781,175],"end_point":[35,729],"distance":929.2104175050988},{"start_region_id":247,"end_region_id":242,"start_point":[35,729],"end_point":[781,175],"distance":929.2104175050988},{"start_region_id":248,"end_region_id":247,"start_point":[948,832],"end_point":[35,729],"distance":918.7915976977587}],"complexity_score":0.6109720441870138}
{"id":14378,"query_id":"Q02876","question":"A quadcopter starts from a cultivated area with soft, planted soil and needs to reach a natural herb-covered zone. The terrain includes loose, sandy or rocky ground without vegetation, and hard, artificial surfaces like paved lots. All these surfaces are accessible, but flying over vertical structures or dense vegetation should be avoided for comfort. The goal is to find a path that ensures the most stable and smooth flight, reducing turbulence and abrupt movements.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the most comfortable flight path to follow?","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_35.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":247,"end_region_id":9,"start_point":[35,729],"end_point":[967,227],"distance":1058.5971849575267},{"start_region_id":245,"end_region_id":37,"start_point":[1003,602],"end_point":[42,484],"distance":968.217434257409},{"start_region_id":248,"end_region_id":37,"start_point":[948,832],"end_point":[42,484],"distance":970.5359344197411},{"start_region_id":245,"end_region_id":46,"start_point":[1003,602],"end_point":[42,631],"distance":961.4374654651232},{"start_region_id":248,"end_region_id":3,"start_point":[948,832],"end_point":[386,64],"distance":951.6659077638539}],"complexity_score":0.6109720441870138}
{"id":17294,"query_id":"Q03459","question":"A family sedan starts from a paved road surface and needs to reach another paved road surface while driving a family sedan. You can only traverse surfaces that are smooth, hard, and provide stable ride quality. Soft or uneven ground is not permitted as it would cause excessive vibration and discomfort for passengers. What is the most comfortable route?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the most comfortable route from the starting paved road surface to the destination paved road surface?","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":"zanzibar_35.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":101,"start_point":[253,356],"end_point":[129,844],"distance":503.5076960682925}],"complexity_score":0.6109720441870138}
{"id":3413,"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_50.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":3,"start_point":[161,503],"end_point":[8,366],"distance":205.37283169883986}],"complexity_score":0.6110842459053197}
{"id":5585,"query_id":"Q01117","question":"A quadcopter drone starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The drone can fly over grassy areas and hard, paved lanes, both allowing high speed. 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 from the starting grassy, uneven terrain to the destination grassy, uneven terrain?","task_type":"Fastest","input_classes":["Rangeland","Road"],"traverse_vector":[0,1,0,1,0,0,0,0],"cost_vector":[0,1,0,1,0,0,0,0],"image_name":"mexico_city_50.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":3,"start_point":[6,376],"end_point":[178,521],"distance":224.96444163467257}],"complexity_score":0.6110842459053197}
{"id":12480,"query_id":"Q02496","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 traverse open areas with low vegetation, firm ground, and hard surfaces. However. The drone must avoid any dense clusters of tall vegetation that would require maneuvering around individual obstacles, as these would slow it down. What is the fastest 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?","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":"mexico_city_50.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":673,"start_point":[957,63],"end_point":[141,990],"distance":1234.9838055618382},{"start_region_id":673,"end_region_id":16,"start_point":[141,990],"end_point":[957,63],"distance":1234.9838055618382},{"start_region_id":16,"end_region_id":501,"start_point":[957,63],"end_point":[49,770],"distance":1150.7879909001483},{"start_region_id":501,"end_region_id":16,"start_point":[49,770],"end_point":[957,63],"distance":1150.7879909001483},{"start_region_id":107,"end_region_id":673,"start_point":[967,266],"end_point":[141,990],"distance":1098.3860887684257}],"complexity_score":0.6110842459053197}
{"id":3742,"query_id":"Q00749","question":"A quadcopter drone starts from a paved road surface and needs to reach a flat, hard-surfaced area. The drone can fly over various surfaces including loose, sandy or rocky terrain, grassy or shrub-covered areas, cultivated fields, and water bodies. However. The drone must avoid flying through dense tree canopies or entering any buildings. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","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":"al_qurnah_20.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":31,"start_point":[81,895],"end_point":[895,35],"distance":1184.1435723762554},{"start_region_id":59,"end_region_id":33,"start_point":[81,895],"end_point":[914,157],"distance":1112.8939751836201},{"start_region_id":59,"end_region_id":30,"start_point":[81,895],"end_point":[597,25],"distance":1011.5117399219843},{"start_region_id":57,"end_region_id":49,"start_point":[103,277],"end_point":[885,923],"distance":1014.3175045319882},{"start_region_id":59,"end_region_id":36,"start_point":[81,895],"end_point":[892,379],"distance":961.2372235821915}],"complexity_score":0.6110994612053791}
{"id":4468,"query_id":"Q00894","question":"A quadcopter drone is currently positioned above a cultivated field with loose soil and crop rows. It needs to reach a point above a paved lane as quickly as possible. The drone can fly over open areas like bare ground, grassy fields, paved surfaces, parking lots, cultivated fields, and even liquid surfaces. However, it must avoid flying through or too close to dense clusters of tall vegetation or vertical structures. What is the fastest path for the quadcopter drone to take?","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 lane","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":"bielefeld_62.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":62,"start_point":[110,183],"end_point":[335,672],"distance":538.2805959720265},{"start_region_id":117,"end_region_id":62,"start_point":[845,738],"end_point":[335,672],"distance":514.2528560931869},{"start_region_id":115,"end_region_id":62,"start_point":[409,275],"end_point":[335,672],"distance":403.83783874223576},{"start_region_id":116,"end_region_id":62,"start_point":[72,468],"end_point":[335,672],"distance":332.84380721293286}],"complexity_score":0.6111896731070869}
{"id":7871,"query_id":"Q01575","question":"A quadcopter drone starts from a cultivated field with soft soil and crops and needs to reach another cultivated field with soft soil and crops. The drone can fly over open sandy or rocky ground, paved hard surfaces, bodies of liquid, and cultivated fields, but must avoid tall vertical obstacles like trees and buildings. The goal is to minimize risk of collision or instability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with soft soil and crops","end_land_type":"Another cultivated field with soft soil and crops","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_62.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":115,"start_point":[845,738],"end_point":[409,275],"distance":635.9756284638587},{"start_region_id":115,"end_region_id":117,"start_point":[409,275],"end_point":[845,738],"distance":635.9756284638587},{"start_region_id":114,"end_region_id":116,"start_point":[110,183],"end_point":[72,468],"distance":287.52217305800957},{"start_region_id":116,"end_region_id":114,"start_point":[72,468],"end_point":[110,183],"distance":287.52217305800957}],"complexity_score":0.6111896731070869}
{"id":17855,"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":"bielefeld_62.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":62,"start_point":[110,183],"end_point":[335,672],"distance":538.2805959720265},{"start_region_id":117,"end_region_id":62,"start_point":[845,738],"end_point":[335,672],"distance":514.2528560931869},{"start_region_id":115,"end_region_id":62,"start_point":[409,275],"end_point":[335,672],"distance":403.83783874223576},{"start_region_id":116,"end_region_id":62,"start_point":[72,468],"end_point":[335,672],"distance":332.84380721293286}],"complexity_score":0.6111896731070869}
{"id":5658,"query_id":"Q01132","question":"A quadcopter drone starts from a paved area and needs to reach another paved area. The environment contains both hard, flat surfaces and vertical obstacles that can be flown around if necessary. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved area","end_land_type":"a paved 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":"rotterdam_9.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":79,"start_point":[842,687],"end_point":[60,374],"distance":842.3140744401699},{"start_region_id":79,"end_region_id":121,"start_point":[60,374],"end_point":[842,687],"distance":842.3140744401699},{"start_region_id":135,"end_region_id":79,"start_point":[784,789],"end_point":[60,374],"distance":834.5064409577676},{"start_region_id":79,"end_region_id":135,"start_point":[60,374],"end_point":[784,789],"distance":834.5064409577676},{"start_region_id":73,"end_region_id":135,"start_point":[134,394],"end_point":[784,789],"distance":760.6083091841688}],"complexity_score":0.6113835200565024}
{"id":7549,"query_id":"Q01510","question":"A quadcopter drone is on a flat, hard, paved surface and needs to reach another flat, hard, paved surface as quickly as possible. The drone can fly over open, dry ground composed of loose earth and rocks, as well as over cultivated fields with low vegetation. It can also fly over liquid surfaces. However, it cannot fly through dense clusters of tall, vertical objects that would require complex navigation. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"another flat, hard, paved surface","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":"rotterdam_9.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":79,"start_point":[842,687],"end_point":[60,374],"distance":842.3140744401699},{"start_region_id":79,"end_region_id":121,"start_point":[60,374],"end_point":[842,687],"distance":842.3140744401699},{"start_region_id":135,"end_region_id":79,"start_point":[784,789],"end_point":[60,374],"distance":834.5064409577676},{"start_region_id":79,"end_region_id":135,"start_point":[60,374],"end_point":[784,789],"distance":834.5064409577676},{"start_region_id":73,"end_region_id":135,"start_point":[134,394],"end_point":[784,789],"distance":760.6083091841688}],"complexity_score":0.6113835200565024}
{"id":12415,"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":"rotterdam_9.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":44,"start_point":[236,195],"end_point":[859,828],"distance":888.1542658795262},{"start_region_id":189,"end_region_id":44,"start_point":[207,361],"end_point":[859,828],"distance":801.9931421153176},{"start_region_id":169,"end_region_id":43,"start_point":[585,218],"end_point":[78,819],"distance":786.2887510323418},{"start_region_id":170,"end_region_id":41,"start_point":[236,195],"end_point":[626,785],"distance":707.2481884034769},{"start_region_id":169,"end_region_id":32,"start_point":[585,218],"end_point":[67,652],"distance":675.7810296242416}],"complexity_score":0.6113835200565024}
{"id":16648,"query_id":"Q03330","question":"An aerial survey drone starts from a grassy, open field, you need to return to another grassy, open field. The area includes hard, flat surfaces suitable for vehicles, tall vertical obstacles with dense foliage, liquid bodies, and cultivated plots with soft, tilled soil. The drone can fly over most surfaces, but must avoid dense foliage areas unless absolutely necessary due to navigation risks. 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?","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_9.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":12,"start_point":[859,828],"end_point":[48,440],"distance":899.0355944010225},{"start_region_id":12,"end_region_id":44,"start_point":[48,440],"end_point":[859,828],"distance":899.0355944010225},{"start_region_id":43,"end_region_id":4,"start_point":[78,819],"end_point":[810,345],"distance":872.066511224918},{"start_region_id":4,"end_region_id":43,"start_point":[810,345],"end_point":[78,819],"distance":872.066511224918},{"start_region_id":44,"end_region_id":25,"start_point":[859,828],"end_point":[59,549],"distance":847.2549793303076}],"complexity_score":0.6113835200565024}
{"id":3503,"query_id":"Q00701","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster. The drone must avoid any liquid surfaces entirely, as they pose a risk of water damage and signal interference. It must also avoid all vertical man-made structures, as they present collision hazards and potential signal blockage. The drone can traverse open areas with loose soil or rocks, grassy or shrub-covered terrain, paved or compacted surfaces, vehicle lanes, cultivated fields, and the tall vegetation clusters themselves, but must minimize risk by prioritizing terrain that offers clear visibility, stable flight conditions, and minimal interference. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","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":"maputo_2.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":238,"start_point":[930,791],"end_point":[464,824],"distance":467.1669936971147},{"start_region_id":238,"end_region_id":230,"start_point":[464,824],"end_point":[930,791],"distance":467.1669936971147},{"start_region_id":208,"end_region_id":238,"start_point":[812,624],"end_point":[464,824],"distance":401.3776276774778},{"start_region_id":238,"end_region_id":208,"start_point":[464,824],"end_point":[812,624],"distance":401.3776276774778},{"start_region_id":244,"end_region_id":238,"start_point":[849,878],"end_point":[464,824],"distance":388.768568688365}],"complexity_score":0.6114209729104513}
{"id":5560,"query_id":"Q01112","question":"A quadcopter drone is hovering above a grassy field with soft, vegetation-covered terrain. It needs to land on a paved street with a hard, flat surface. The drone can fly over the grassy field and can land on the paved street. What is the shortest aerial path from the grassy field to the paved street?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the shortest aerial 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":"maputo_2.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":126,"start_point":[783,840],"end_point":[592,499],"distance":390.8477964630222},{"start_region_id":2,"end_region_id":126,"start_point":[817,129],"end_point":[592,499],"distance":433.0415684434925},{"start_region_id":20,"end_region_id":126,"start_point":[863,688],"end_point":[592,499],"distance":330.39673121869714},{"start_region_id":1,"end_region_id":126,"start_point":[761,220],"end_point":[592,499],"distance":326.1931942882929},{"start_region_id":17,"end_region_id":126,"start_point":[654,766],"end_point":[592,499],"distance":274.10399486326355}],"complexity_score":0.6114209729104513}
{"id":12577,"query_id":"Q02516","question":"A hiker 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. Given that you're prioritizing safety and minimizing risk of injury or getting lost, what is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","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":[0,2,4,3,1,0,0,0],"image_name":"maputo_2.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":238,"start_point":[930,791],"end_point":[464,824],"distance":467.1669936971147},{"start_region_id":238,"end_region_id":230,"start_point":[464,824],"end_point":[930,791],"distance":467.1669936971147},{"start_region_id":208,"end_region_id":238,"start_point":[812,624],"end_point":[464,824],"distance":401.3776276774778},{"start_region_id":238,"end_region_id":208,"start_point":[464,824],"end_point":[812,624],"distance":401.3776276774778},{"start_region_id":244,"end_region_id":238,"start_point":[849,878],"end_point":[464,824],"distance":388.768568688365}],"complexity_score":0.6114209729104513}
{"id":15047,"query_id":"Q03010","question":"A delivery drone starts from a grassy, uneven area with scattered shrubs and needs to reach a cluster of tall trees. The terrain includes patches of loose, sandy soil; more grassy, uneven ground; flat, paved surfaces; individual trees or groups of trees; and cultivated fields with crops. However, you must avoid flying over any water bodies. You are piloting a delivery drone and want to minimize turbulence and vibration for stable flight. Which path should you take to reach the trees while maximizing comfort?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"a cluster of tall trees","task_description":"Which path should you take to reach the trees while maximizing 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":[2,2,2,2,1,0,2,0],"image_name":"maputo_2.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":247,"start_point":[817,129],"end_point":[703,920],"distance":799.1726972313306},{"start_region_id":2,"end_region_id":238,"start_point":[817,129],"end_point":[464,824],"distance":779.5088197063584},{"start_region_id":2,"end_region_id":244,"start_point":[817,129],"end_point":[849,878],"distance":749.6832664532402},{"start_region_id":1,"end_region_id":247,"start_point":[761,220],"end_point":[703,920],"distance":702.3987471515022},{"start_region_id":1,"end_region_id":238,"start_point":[761,220],"end_point":[464,824],"distance":673.0713186579859}],"complexity_score":0.6114209729104513}
{"id":10270,"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_43.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":128,"start_point":[61,99],"end_point":[947,843],"distance":1156.949437097404},{"start_region_id":128,"end_region_id":1,"start_point":[947,843],"end_point":[61,99],"distance":1156.949437097404},{"start_region_id":1,"end_region_id":117,"start_point":[61,99],"end_point":[908,789],"distance":1092.4783750720194},{"start_region_id":117,"end_region_id":1,"start_point":[908,789],"end_point":[61,99],"distance":1092.4783750720194},{"start_region_id":141,"end_region_id":49,"start_point":[84,959],"end_point":[968,345],"distance":1076.3140805545563}],"complexity_score":0.6114619989737017}
{"id":229,"query_id":"Q00046","question":"A quadcopter drone starts from a patch of loose, sandy soil and aiming to reach a planted crop field, a quadcopter drone must navigate through terrain where loose granular surfaces, grassy or shrub-covered ground, liquid bodies, and cultivated areas are all accessible. The drone can fly over all these surfaces but must avoid any vertical structures or dense tree canopies that could pose collision risks. The safest path should prioritize open, unobstructed areas to minimize the risk of accidents or damage. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, sandy soil","end_land_type":"and aiming to reach a planted crop 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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[766,911],"end_point":[51,890],"distance":715.3083251298002},{"start_region_id":1,"end_region_id":129,"start_point":[766,911],"end_point":[618,280],"distance":648.1242164894011},{"start_region_id":1,"end_region_id":131,"start_point":[766,911],"end_point":[411,537],"distance":515.6558930139362},{"start_region_id":1,"end_region_id":132,"start_point":[766,911],"end_point":[354,623],"distance":502.68081324037024},{"start_region_id":1,"end_region_id":130,"start_point":[766,911],"end_point":[866,513],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":797,"query_id":"Q00160","question":"A surveillance drone starts from a concrete landing pad and needs to reach a sandy, open area. The drone can fly over hard surfaces, loose ground, and paved pathways, but must avoid flying close to trees or buildings to minimize collision risks and ensure stable navigation. It can also cross over water if necessary, though water is not preferred for safety. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a concrete landing pad","end_land_type":"a sandy, open area","task_description":"What is the safest path for the surveillance drone to take from the concrete landing pad to the sandy, 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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":1,"start_point":[62,71],"end_point":[766,911],"distance":1096.0},{"start_region_id":18,"end_region_id":1,"start_point":[165,160],"end_point":[766,911],"distance":961.8742121504246},{"start_region_id":20,"end_region_id":1,"start_point":[59,299],"end_point":[766,911],"distance":935.0898352564849},{"start_region_id":16,"end_region_id":1,"start_point":[393,94],"end_point":[766,911],"distance":898.1191457707602},{"start_region_id":19,"end_region_id":1,"start_point":[267,224],"end_point":[766,911],"distance":849.0995230242448}],"complexity_score":0.611470123325086}
{"id":2069,"query_id":"Q00414","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with orderly rows of crops. The drone can fly over open sandy areas, grassy and shrubby terrain, bodies of liquid, and cultivated fields. It can also navigate around or between tall vertical obstacles with foliage, but must do so cautiously to avoid collisions. The drone must avoid any permanent solid structures. The objective is to find the path that minimizes the risk of damage or loss of control.","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 cultivated field with orderly rows of crops.","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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[766,911],"end_point":[51,890],"distance":715.3083251298002},{"start_region_id":1,"end_region_id":129,"start_point":[766,911],"end_point":[618,280],"distance":648.1242164894011},{"start_region_id":1,"end_region_id":131,"start_point":[766,911],"end_point":[411,537],"distance":515.6558930139362},{"start_region_id":1,"end_region_id":132,"start_point":[766,911],"end_point":[354,623],"distance":502.68081324037024},{"start_region_id":1,"end_region_id":130,"start_point":[766,911],"end_point":[866,513],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":2779,"query_id":"Q00556","question":"A quadcopter drone 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 sidewalks and roads. However, trees and buildings are too cluttered to fly through safely. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","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","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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":1,"start_point":[51,890],"end_point":[766,911],"distance":715.3083251298002},{"start_region_id":129,"end_region_id":1,"start_point":[618,280],"end_point":[766,911],"distance":648.1242164894011},{"start_region_id":131,"end_region_id":1,"start_point":[411,537],"end_point":[766,911],"distance":515.6558930139362},{"start_region_id":132,"end_region_id":1,"start_point":[354,623],"end_point":[766,911],"distance":502.68081324037024},{"start_region_id":130,"end_region_id":1,"start_point":[866,513],"end_point":[766,911],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":8648,"query_id":"Q01730","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a loose, sandy terrain while maintaining stable flight. The drone can fly over liquid surfaces and vegetated areas with grass or shrubs, but must avoid dense vertical obstacles and man-made structures. The drone should prioritize surfaces that provide the smoothest and most predictable flight experience.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy terrain","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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":1,"start_point":[62,71],"end_point":[766,911],"distance":1096.0},{"start_region_id":18,"end_region_id":1,"start_point":[165,160],"end_point":[766,911],"distance":961.8742121504246},{"start_region_id":20,"end_region_id":1,"start_point":[59,299],"end_point":[766,911],"distance":935.0898352564849},{"start_region_id":16,"end_region_id":1,"start_point":[393,94],"end_point":[766,911],"distance":898.1191457707602},{"start_region_id":19,"end_region_id":1,"start_point":[267,224],"end_point":[766,911],"distance":849.0995230242448}],"complexity_score":0.611470123325086}
{"id":8919,"query_id":"Q01784","question":"A quadcopter drone starts from a position above dry, sandy terrain with visible rocks and needs to reach a position above an area with short grasses and scattered shrubs. The drone can fly over the sandy and rocky ground, the grassy and shrubby areas, and any paved road surfaces. The drone cannot fly through dense tree canopies or inside buildings. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"Starting from a position above dry, sandy terrain with visible rocks...","end_land_type":"...and needs to reach a position above an area with short grasses and scattered shrubs.","task_description":"What is the shortest flight path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Road"],"traverse_vector":[1,1,0,1,0,0,0,0],"cost_vector":[1,1,0,1,0,0,0,0],"image_name":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":6,"start_point":[766,911],"end_point":[582,619],"distance":345.1376536977674}],"complexity_score":0.611470123325086}
{"id":10912,"query_id":"Q02183","question":"A hiker is standing on a cultivated field with loose soil and aims to reach an area of exposed, rocky ground. The hiker can walk on hard, paved surfaces and compacted vehicle lanes, and is permitted to cross grassy or shrub-covered terrain, loose earth, and cultivated areas, but cannot enter liquid surfaces or solid structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field with loose soil","end_land_type":"exposed, 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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":1,"start_point":[51,890],"end_point":[766,911],"distance":715.3083251298002},{"start_region_id":129,"end_region_id":1,"start_point":[618,280],"end_point":[766,911],"distance":648.1242164894011},{"start_region_id":131,"end_region_id":1,"start_point":[411,537],"end_point":[766,911],"distance":515.6558930139362},{"start_region_id":132,"end_region_id":1,"start_point":[354,623],"end_point":[766,911],"distance":502.68081324037024},{"start_region_id":130,"end_region_id":1,"start_point":[866,513],"end_point":[766,911],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":11864,"query_id":"Q02373","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a paved, hard-surfaced area. The terrain includes only loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces. The quadcopter drone can traverse loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the shortest path for the quadcopter drone 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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":25,"start_point":[766,911],"end_point":[322,824],"distance":452.4433666217243},{"start_region_id":1,"end_region_id":30,"start_point":[766,911],"end_point":[561,1003],"distance":224.69757453074567}],"complexity_score":0.611470123325086}
{"id":13747,"query_id":"Q02750","question":"A quadcopter drone is launched from a patch of loose, sandy ground with scattered rocks. It needs to reach a cultivated field with neat rows of crops. The drone can fly over open, vegetation-covered ground, paved surfaces, and the crop field itself. However, it must avoid flying directly through dense clusters of tall trees or close to vertical structures like buildings. What is the fastest path to the destination?","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 cultivated field with neat rows of crops.","task_description":"What is the fastest path 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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[766,911],"end_point":[51,890],"distance":715.3083251298002},{"start_region_id":1,"end_region_id":129,"start_point":[766,911],"end_point":[618,280],"distance":648.1242164894011},{"start_region_id":1,"end_region_id":131,"start_point":[766,911],"end_point":[411,537],"distance":515.6558930139362},{"start_region_id":1,"end_region_id":132,"start_point":[766,911],"end_point":[354,623],"distance":502.68081324037024},{"start_region_id":1,"end_region_id":130,"start_point":[766,911],"end_point":[866,513],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":13752,"query_id":"Q02751","question":"A 4x4 off-road vehicle is parked on a flat area of compacted, dry soil and gravel. It needs to reach a large, open field of planted crops. The vehicle can drive on paved or hard-packed surfaces and can also traverse grassy or shrub-covered terrain and the crop field itself, as its high clearance and all-wheel drive allow it to handle uneven ground. However, it cannot drive through areas with dense trees, over water bodies, or through buildings. What is the fastest route to the destination?","agent_category":"Car","specific_agent":"A 4x4 off-road vehicle","start_land_type":"Starting from a flat area of compacted, dry soil and gravel.","end_land_type":"The destination is a large, open field of planted crops.","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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[766,911],"end_point":[51,890],"distance":715.3083251298002},{"start_region_id":1,"end_region_id":129,"start_point":[766,911],"end_point":[618,280],"distance":648.1242164894011},{"start_region_id":1,"end_region_id":131,"start_point":[766,911],"end_point":[411,537],"distance":515.6558930139362},{"start_region_id":1,"end_region_id":132,"start_point":[766,911],"end_point":[354,623],"distance":502.68081324037024},{"start_region_id":1,"end_region_id":130,"start_point":[766,911],"end_point":[866,513],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":14722,"query_id":"Q02945","question":"A quadcopter drone takes off from a crop field and must fly to a barren, rocky patch. The environment consists of loose soil and rocks, grassy areas, paved surfaces, wooded regions with trees, and cultivated plots. The drone can fly over all these terrains, but must avoid colliding with trees or buildings. What is the shortest flight route to the target?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"What is the shortest flight route to the target?","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":"viru_3.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":1,"start_point":[51,890],"end_point":[766,911],"distance":715.3083251298002},{"start_region_id":129,"end_region_id":1,"start_point":[618,280],"end_point":[766,911],"distance":648.1242164894011},{"start_region_id":131,"end_region_id":1,"start_point":[411,537],"end_point":[766,911],"distance":515.6558930139362},{"start_region_id":132,"end_region_id":1,"start_point":[354,623],"end_point":[766,911],"distance":502.68081324037024},{"start_region_id":130,"end_region_id":1,"start_point":[866,513],"end_point":[766,911],"distance":410.3705642465112}],"complexity_score":0.611470123325086}
{"id":5015,"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_20.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":75,"start_point":[340,724],"end_point":[181,357],"distance":399.96249824202266},{"start_region_id":106,"end_region_id":76,"start_point":[340,724],"end_point":[45,947],"distance":369.80265007162944},{"start_region_id":105,"end_region_id":71,"start_point":[904,318],"end_point":[715,501],"distance":263.07793522072507}],"complexity_score":0.6114782231347471}
{"id":9300,"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_20.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":105,"start_point":[340,724],"end_point":[904,318],"distance":694.9330903043832},{"start_region_id":105,"end_region_id":106,"start_point":[904,318],"end_point":[340,724],"distance":694.9330903043832},{"start_region_id":105,"end_region_id":107,"start_point":[904,318],"end_point":[855,980],"distance":663.8109670681857},{"start_region_id":107,"end_region_id":105,"start_point":[855,980],"end_point":[904,318],"distance":663.8109670681857},{"start_region_id":106,"end_region_id":107,"start_point":[340,724],"end_point":[855,980],"distance":575.1182487106456}],"complexity_score":0.6114782231347471}
{"id":12742,"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_20.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":76,"start_point":[904,318],"end_point":[45,947],"distance":1064.6699018944792},{"start_region_id":107,"end_region_id":75,"start_point":[855,980],"end_point":[181,357],"distance":917.8262362778697},{"start_region_id":107,"end_region_id":76,"start_point":[855,980],"end_point":[45,947],"distance":810.6719435135276},{"start_region_id":105,"end_region_id":75,"start_point":[904,318],"end_point":[181,357],"distance":724.0511031688302},{"start_region_id":107,"end_region_id":71,"start_point":[855,980],"end_point":[715,501],"distance":499.0400785508114}],"complexity_score":0.6114782231347471}
{"id":14115,"query_id":"Q02823","question":"A hiker starts from a cultivated field with loose soil and crop residues and needs to reach a paved parking lot. The goal is to maximize comfort while walking, so firm, even surfaces are preferred. Unpaved, soft ground like sand or loose earth is allowed but less comfortable. Smooth, hard surfaces are ideal. However, roads are closed for maintenance. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with loose soil and crop residues","end_land_type":"a paved parking lot","task_description":"What is the most comfortable walking path from the cultivated field to the paved parking lot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[1,1,1,0,1,0,1,0],"cost_vector":[2,3,5,0,1,0,4,0],"image_name":"dortmund_20.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":44,"start_point":[340,724],"end_point":[174,119],"distance":627.3603430246449},{"start_region_id":107,"end_region_id":46,"start_point":[855,980],"end_point":[795,419],"distance":564.1994328249542},{"start_region_id":106,"end_region_id":45,"start_point":[340,724],"end_point":[625,260],"distance":544.5374183653498},{"start_region_id":105,"end_region_id":61,"start_point":[904,318],"end_point":[788,827],"distance":522.0507638151677},{"start_region_id":106,"end_region_id":67,"start_point":[340,724],"end_point":[109,930],"distance":309.5109044928789}],"complexity_score":0.6114782231347471}
{"id":876,"query_id":"Q00176","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with loose soil and crops. The area includes open grassy patches and shrubs that are not cultivated or grazed, which are traversable. However, the terrain is restricted to these types of surfaces; all other surfaces, such as trees and buildings, are not traversable due to obstacles or restrictions. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with loose soil and crops","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":"kyoto_49.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":191,"start_point":[185,46],"end_point":[818,961],"distance":1112.6158366660075},{"start_region_id":122,"end_region_id":181,"start_point":[948,984],"end_point":[414,18],"distance":1103.7717155281703},{"start_region_id":122,"end_region_id":186,"start_point":[948,984],"end_point":[215,161],"distance":1102.0970919115973},{"start_region_id":35,"end_region_id":191,"start_point":[44,177],"end_point":[818,961],"distance":1101.6950576271095},{"start_region_id":36,"end_region_id":191,"start_point":[120,126],"end_point":[818,961],"distance":1088.3147522660895}],"complexity_score":0.6116094481021626}
{"id":5027,"query_id":"Q01006","question":"A delivery van is currently on a cultivated field with loose soil and crop rows. It needs to reach a paved lane designed for vehicle traffic. The van can traverse hard, flat surfaces like parking lots and sidewalks, and the cultivated field is dry and firm enough to support vehicle weight without getting stuck. However, the van cannot drive through areas with dense vegetation or trees, over liquid surfaces, or through solid structures. What is the fastest path for the van to take?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest path for the 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":"kyoto_49.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":126,"start_point":[414,18],"end_point":[475,560],"distance":545.4218550810006},{"start_region_id":191,"end_region_id":126,"start_point":[818,961],"end_point":[475,560],"distance":527.683617331446},{"start_region_id":186,"end_region_id":126,"start_point":[215,161],"end_point":[475,560],"distance":476.2362858917829},{"start_region_id":187,"end_region_id":126,"start_point":[745,169],"end_point":[475,560],"distance":475.1641821518116},{"start_region_id":190,"end_region_id":126,"start_point":[948,561],"end_point":[475,560],"distance":473.0010570812712}],"complexity_score":0.6116094481021626}
{"id":9397,"query_id":"Q01880","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a paved lane used by vehicles. The drone can fly over loose, sandy or rocky ground without vegetation, liquid surfaces like rivers or lakes, and the cultivated field itself, but cannot pass through dense vertical obstacles like individual trees or groups of trees, or man-made structures like buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path for the quadcopter drone to travel from the cultivated field to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Road","Water","Agriculture land"],"traverse_vector":[1,0,0,1,0,1,1,0],"cost_vector":[1,0,0,1,0,1,1,0],"image_name":"kyoto_49.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":126,"start_point":[818,961],"end_point":[475,560],"distance":527.683617331446},{"start_region_id":186,"end_region_id":126,"start_point":[215,161],"end_point":[475,560],"distance":476.2362858917829},{"start_region_id":187,"end_region_id":126,"start_point":[745,169],"end_point":[475,560],"distance":475.1641821518116},{"start_region_id":190,"end_region_id":126,"start_point":[948,561],"end_point":[475,560],"distance":473.0010570812712},{"start_region_id":189,"end_region_id":126,"start_point":[786,637],"end_point":[475,560],"distance":320.3903868720159}],"complexity_score":0.6116094481021626}
{"id":14518,"query_id":"Q02904","question":"A delivery van is starting from a paved road and needs to reach a cultivated field. The van can only travel on hard surfaces, loose soil, and cultivated ground. It must avoid any areas with trees, water, or buildings. Which path allows the van to reach the field as quickly as possible?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"Which path allows the van to reach the field as quickly as possible?","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":"kyoto_49.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":181,"start_point":[475,560],"end_point":[414,18],"distance":545.4218550810006},{"start_region_id":126,"end_region_id":191,"start_point":[475,560],"end_point":[818,961],"distance":527.683617331446},{"start_region_id":126,"end_region_id":186,"start_point":[475,560],"end_point":[215,161],"distance":476.2362858917829},{"start_region_id":126,"end_region_id":187,"start_point":[475,560],"end_point":[745,169],"distance":475.1641821518116},{"start_region_id":126,"end_region_id":190,"start_point":[475,560],"end_point":[948,561],"distance":473.0010570812712}],"complexity_score":0.6116094481021626}
{"id":438,"query_id":"Q00088","question":"An aerial drone starts from a cultivated field and needs to reach another cultivated field while minimizing risk. The terrain includes loose, sandy or rocky ground; areas with natural grasses and shrubs; individual or clustered tall vegetation; and cultivated crop areas. The drone can fly over all ground surfaces and vegetation, but must avoid close proximity to vertical obstacles and structures. Which path provides the safest route?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path provides the safest route?","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":"daressalaam_86.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":300,"start_point":[438,483],"end_point":[367,917],"distance":439.76925767952446}],"complexity_score":0.6117081891404924}
{"id":2954,"query_id":"Q00591","question":"A farmer starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose, tilled soil. The terrain consists entirely of cultivated areas with soft, uneven ground that has been prepared for planting. You must find a path that minimizes the total travel distance.","agent_category":"Pedestrian","specific_agent":"farmer","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":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"daressalaam_86.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":300,"start_point":[363,936],"end_point":[426,550],"distance":391.10740212887816}],"complexity_score":0.6117081891404924}
{"id":5443,"query_id":"Q01089","question":"A farm truck is currently positioned on a cultivated field with loose, tilled soil. It needs to reach another cultivated field with similar loose, tilled soil. The vehicle can only travel across rough, uneven ground composed of loose earth and rocks, or across cultivated fields with loose, tilled soil. Paved surfaces, grassy areas, wooded areas, water bodies, and structures are not accessible for this journey. What is the fastest route?","agent_category":"Car","specific_agent":"farm truck","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the farm truck to travel from its current cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,2,0],"image_name":"daressalaam_86.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":300,"start_point":[405,509],"end_point":[346,944],"distance":438.9829153850979}],"complexity_score":0.6117081891404924}
{"id":15067,"query_id":"Q03014","question":"A delivery drone starts from a cultivated field and needs to reach a paved area. The drone can fly over loose soil, vegetated ground, hard surfaces, and scattered trees, as aerial navigation allows bypassing ground obstacles. However, all structures and water bodies must be avoided due to regulatory restrictions and safety concerns. The drone operator wants to minimize turbulence and ensure a smooth flight.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"cultivated field","end_land_type":"paved area","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":"daressalaam_86.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":89,"start_point":[392,713],"end_point":[122,67],"distance":700.1542687151168},{"start_region_id":300,"end_region_id":94,"start_point":[392,713],"end_point":[626,137],"distance":621.7169774101395},{"start_region_id":300,"end_region_id":101,"start_point":[392,713],"end_point":[780,247],"distance":606.3827174318212},{"start_region_id":300,"end_region_id":106,"start_point":[392,713],"end_point":[900,406],"distance":593.5596010511497},{"start_region_id":300,"end_region_id":109,"start_point":[392,713],"end_point":[974,587],"distance":595.4829972383762}],"complexity_score":0.6117081891404924}
{"id":1662,"query_id":"Q00333","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 must avoid any tall, dense vertical structures that could cause collisions, and should minimize flight over deep liquid surfaces where a crash would be catastrophic. The terrain includes areas of loose soil, grassy and shrub-covered fields, hard paved lanes, deep liquid bodies, and cultivated crop fields. The drone is permitted to fly over all these terrain types except tall vertical structures, which are blocked. Which path minimizes the risk of collision or catastrophic failure?","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":"Which path minimizes the risk of collision or catastrophic failure?","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_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[124,423],"end_point":[71,218],"distance":211.74040710265956}],"complexity_score":0.6117625997025463}
{"id":2994,"query_id":"Q00599","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a destination on uneven, rocky ground. The drone can fly over both hard surfaces and loose, rocky terrain. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"flat, hard surface","end_land_type":"uneven, rocky ground","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":1,"start_point":[627,429],"end_point":[71,363],"distance":559.9035631249367},{"start_region_id":23,"end_region_id":1,"start_point":[464,327],"end_point":[71,363],"distance":394.64541046362115},{"start_region_id":18,"end_region_id":1,"start_point":[372,148],"end_point":[71,363],"distance":369.89998648283296},{"start_region_id":16,"end_region_id":1,"start_point":[65,59],"end_point":[71,363],"distance":304.059204761178},{"start_region_id":25,"end_region_id":1,"start_point":[334,455],"end_point":[71,363],"distance":278.6269907959385}],"complexity_score":0.6117625997025463}
{"id":3061,"query_id":"Q00613","question":"An off-road vehicle starts from a patch of compacted, rocky soil and needs to reach a smooth, paved surface. The ground is firm and dry, providing sufficient traction for vehicle wheels, and the hard surface is clear for access. What is the shortest path?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"Bareland","end_land_type":"Developed space","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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":26,"start_point":[71,363],"end_point":[627,429],"distance":559.9035631249367},{"start_region_id":1,"end_region_id":23,"start_point":[71,363],"end_point":[464,327],"distance":394.64541046362115},{"start_region_id":1,"end_region_id":18,"start_point":[71,363],"end_point":[372,148],"distance":369.89998648283296},{"start_region_id":1,"end_region_id":16,"start_point":[71,363],"end_point":[65,59],"distance":304.059204761178},{"start_region_id":1,"end_region_id":25,"start_point":[71,363],"end_point":[334,455],"distance":278.6269907959385}],"complexity_score":0.6117625997025463}
{"id":4015,"query_id":"Q00803","question":"A delivery drone starts from a grassy, uneven field and needs to reach an open, sandy area. The terrain includes loose, rocky ground; vegetated areas with shrubs and tall grass; paved, hard surfaces; vehicle lanes; scattered groups of tall vegetation; cultivated fields with crops; and liquid surfaces. All vertical structures are strictly impassable. For a delivery drone seeking maximum flight comfort, what is the optimal path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven field","end_land_type":"open, sandy area","task_description":"What is the most comfortable path for a delivery drone to take from the grassy, uneven field to the open, 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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":1,"start_point":[553,423],"end_point":[71,363],"distance":485.7200839990045},{"start_region_id":15,"end_region_id":1,"start_point":[379,568],"end_point":[71,363],"distance":369.98513483652283},{"start_region_id":9,"end_region_id":1,"start_point":[385,250],"end_point":[71,363],"distance":333.7139493638227}],"complexity_score":0.6117625997025463}
{"id":6408,"query_id":"Q01282","question":"A hiker is standing on a patch of loose, sandy ground and needs to reach a paved, hard surface. The terrain includes areas of loose soil and rocks, 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 hiker can traverse grassy and shrub-covered patches, loose soil and rocky areas, and clusters of tall vegetation only if they are dry and not densely overgrown. Smooth artificial surfaces and vehicle lanes are traversable by default. Liquid bodies and vertical structures are completely impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","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","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":26,"start_point":[71,363],"end_point":[627,429],"distance":559.9035631249367},{"start_region_id":1,"end_region_id":23,"start_point":[71,363],"end_point":[464,327],"distance":394.64541046362115},{"start_region_id":1,"end_region_id":18,"start_point":[71,363],"end_point":[372,148],"distance":369.89998648283296},{"start_region_id":1,"end_region_id":16,"start_point":[71,363],"end_point":[65,59],"distance":304.059204761178},{"start_region_id":1,"end_region_id":25,"start_point":[71,363],"end_point":[334,455],"distance":278.6269907959385}],"complexity_score":0.6117625997025463}
{"id":7725,"query_id":"Q01545","question":"An aerial photography drone starts from a paved lane and needs to reach an exposed earth surface while maintaining stable flight. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and flat artificial surfaces like parking lots and sports fields. However, it must avoid any vertical structures or dense vegetation that could disrupt its flight path. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved lane","end_land_type":"exposed earth surface","task_description":"What is the most comfortable route for the aerial photography drone to travel from the paved lane to the exposed earth 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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":1,"start_point":[290,362],"end_point":[71,363],"distance":219.00228309312212}],"complexity_score":0.6117625997025463}
{"id":9790,"query_id":"Q01958","question":"An aerial survey drone starts from a paved surface and needs to reach exposed, vegetation-free ground as quickly as possible. The drone can fly over open liquid areas, cultivated fields with low vegetation, and areas with scattered bushes or grass. However, it must avoid dense clusters of tall 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 surface","end_land_type":"exposed, vegetation-free ground","task_description":"What is the fastest route for the aerial survey drone to reach the exposed ground 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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":1,"start_point":[290,362],"end_point":[71,363],"distance":219.00228309312212}],"complexity_score":0.6117625997025463}
{"id":9905,"query_id":"Q01981","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation, an aerial survey drone must navigate to a paved, hard-surfaced lane designed for vehicle traffic. The drone can fly over areas with short grass and bushes, cultivated fields with crops, individual trees or wooded clusters, and bodies of water like rivers or ponds. However, flying through dense tree canopies or near vertical structures is prohibited due to collision risk. The drone's priority is to maintain maximum forward speed while avoiding obstacles.","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":"and needs to reach a paved, hard-surfaced lane designed for vehicle traffic","task_description":"What is the fastest route for the drone to reach the paved lane?","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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":29,"start_point":[71,363],"end_point":[290,362],"distance":219.00228309312212}],"complexity_score":0.6117625997025463}
{"id":10998,"query_id":"Q02200","question":"A hiker begins on rocky, sandy terrain and aims to reach a paved street. The hiker can use sidewalks and parking areas, as well as cross through cultivated fields, grassy meadows, and open sandy patches, provided the ground is stable and not excessively soft. However, the hiker cannot swim across water bodies or enter buildings. What is the safest path to the street?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rocky, sandy terrain","end_land_type":"paved street","task_description":"What is the safest path to the street?","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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":29,"start_point":[71,363],"end_point":[290,362],"distance":219.00228309312212}],"complexity_score":0.6117625997025463}
{"id":11820,"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_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[4,252],"end_point":[104,427],"distance":201.55644370746373}],"complexity_score":0.6117625997025463}
{"id":16641,"query_id":"Q03329","question":"An off-road vehicle starts from loose, rocky ground and needs to reach another area of loose, rocky ground while prioritizing safety. The vehicle can traverse hard, paved surfaces that provide good traction and stability. It can also cross cultivated fields with relatively flat, compacted soil, as well as grassy or shrub-covered terrain that offers moderate traction. However, the vehicle must avoid all areas with standing liquid, vertical structures, and dense vegetation that could obstruct movement or cause instability. What is the safest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, rocky ground","end_land_type":"loose, rocky ground","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":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[52,429],"end_point":[37,224],"distance":205.54804791094466}],"complexity_score":0.6117625997025463}
{"id":16652,"query_id":"Q03331","question":"A family SUV starts from a paved road surface and needs to reach a dry, sandy area. The vehicle can travel on hard, stable surfaces like roads and parking lots, and is also permitted to cross cultivated fields and grassy plains if they are dry and firm enough to support its weight without sinking or slipping. However, it cannot pass through dense vegetation clusters, liquid bodies, or vertical structures. What is the safest path to the destination?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a paved road surface","end_land_type":"a dry, sandy area","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":[1,2,4,5,0,0,3,0],"image_name":"khartoum_59.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":1,"start_point":[290,362],"end_point":[71,363],"distance":219.00228309312212}],"complexity_score":0.6117625997025463}
{"id":6082,"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":"rosario_1.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":139,"end_region_id":220,"start_point":[176,103],"end_point":[956,742],"distance":1008.3258401925441},{"start_region_id":220,"end_region_id":139,"start_point":[956,742],"end_point":[176,103],"distance":1008.3258401925441},{"start_region_id":139,"end_region_id":245,"start_point":[176,103],"end_point":[594,882],"distance":884.06164943402},{"start_region_id":245,"end_region_id":139,"start_point":[594,882],"end_point":[176,103],"distance":884.06164943402},{"start_region_id":151,"end_region_id":248,"start_point":[876,350],"end_point":[191,924],"distance":893.7007329078342}],"complexity_score":0.6119017146393607}
{"id":15840,"query_id":"Q03168","question":"A quadcopter drone starts from an area with tall vertical obstacles extending upward and needs to reach another similar area. You can fly over surfaces with loose, granular material; soft ground with natural vegetation; flat, hard artificial surfaces; paved vehicle lanes; liquid bodies; and cultivated fields. You can also fly near solid vertical structures, but must maintain a safe distance to avoid collisions. What is the safest path to your destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"An area with tall vertical obstacles extending upward","end_land_type":"Another area with tall vertical obstacles extending upward","task_description":"What is the safest path to your 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":"rosario_1.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":287,"end_region_id":419,"start_point":[706,103],"end_point":[638,998],"distance":897.5795229393326},{"start_region_id":419,"end_region_id":287,"start_point":[638,998],"end_point":[706,103],"distance":897.5795229393326},{"start_region_id":301,"end_region_id":419,"start_point":[549,286],"end_point":[638,998],"distance":717.540939598571},{"start_region_id":419,"end_region_id":301,"start_point":[638,998],"end_point":[549,286],"distance":717.540939598571},{"start_region_id":419,"end_region_id":309,"start_point":[638,998],"end_point":[452,320],"distance":703.0504960527373}],"complexity_score":0.6119017146393607}
{"id":15975,"query_id":"Q03195","question":"A quadcopter 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 ground; hard, flat surfaces; tall, vertical obstacles; liquid surfaces; and cultivated, vegetated fields. However, flying over tall, vertical obstacles is only allowed if they are sparse and low enough to avoid collision, and the liquid surfaces are calm and shallow to prevent submersion hazards. What is the safest 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 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":"rosario_1.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":139,"end_region_id":220,"start_point":[176,103],"end_point":[956,742],"distance":1008.3258401925441},{"start_region_id":220,"end_region_id":139,"start_point":[956,742],"end_point":[176,103],"distance":1008.3258401925441},{"start_region_id":139,"end_region_id":264,"start_point":[176,103],"end_point":[497,996],"distance":948.9415155846012},{"start_region_id":264,"end_region_id":139,"start_point":[497,996],"end_point":[176,103],"distance":948.9415155846012},{"start_region_id":139,"end_region_id":245,"start_point":[176,103],"end_point":[594,882],"distance":884.06164943402}],"complexity_score":0.6119017146393607}
{"id":1430,"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_25.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":339,"start_point":[200,688],"end_point":[978,360],"distance":844.3151070542325},{"start_region_id":339,"end_region_id":340,"start_point":[978,360],"end_point":[200,688],"distance":844.3151070542325},{"start_region_id":340,"end_region_id":343,"start_point":[200,688],"end_point":[899,790],"distance":706.402859563861},{"start_region_id":343,"end_region_id":340,"start_point":[899,790],"end_point":[200,688],"distance":706.402859563861},{"start_region_id":343,"end_region_id":341,"start_point":[899,790],"end_point":[411,454],"distance":592.4862867611367}],"complexity_score":0.6120949060830275}
{"id":11089,"query_id":"Q02218","question":"An agricultural drone starts from a paved lane and needs to reach a planted field as quickly as possible. The drone can fly over open ground, grassy areas, hard surfaces, roads, and cultivated land, but must avoid dense vegetation clusters and structures. Which flight path should the drone follow to minimize travel time?","agent_category":"Drone","specific_agent":"an agricultural drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"Which flight path should the drone follow to minimize travel 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":[1,1,1,1,0,0,1,0],"image_name":"pedrogao_grande_25.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":227,"end_region_id":343,"start_point":[301,417],"end_point":[899,790],"distance":704.7928773760416},{"start_region_id":232,"end_region_id":340,"start_point":[850,449],"end_point":[200,688],"distance":692.5467493245492},{"start_region_id":227,"end_region_id":339,"start_point":[301,417],"end_point":[978,360],"distance":679.395319383347},{"start_region_id":227,"end_region_id":344,"start_point":[301,417],"end_point":[579,793],"distance":467.6109494013159},{"start_region_id":232,"end_region_id":344,"start_point":[850,449],"end_point":[579,793],"distance":437.9235093027092}],"complexity_score":0.6120949060830275}
{"id":11995,"query_id":"Q02399","question":"A hiker is standing on a paved, hard surface and needs to reach another paved, hard surface area. The person must avoid any liquid surfaces and vertical structures. The terrain consists of three types of surfaces: loose, uneven ground composed of sand or rocks; smooth, stable paved areas; and vehicle lanes with hard surfaces. The hiker requires a path that minimizes risk of slipping, tripping, or encountering hazards.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the safest route 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":"pedrogao_grande_25.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":205,"start_point":[732,839],"end_point":[763,568],"distance":272.7673000929547},{"start_region_id":205,"end_region_id":222,"start_point":[763,568],"end_point":[732,839],"distance":272.7673000929547}],"complexity_score":0.6120949060830275}
{"id":41,"query_id":"Q00009","question":"An aerial survey drone is positioned on a cultivated field with soft, tilled soil and needs to reach an area of exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could pose collision risks, and should minimize flight over liquid surfaces due to potential signal interference and splash hazards. The drone can traverse open areas with low vegetation, cultivated surfaces, and hard-packed ground. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed rocky ground","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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":2,"start_point":[516,519],"end_point":[810,644],"distance":319.4698733840172},{"start_region_id":181,"end_region_id":1,"start_point":[516,519],"end_point":[742,483],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":1691,"query_id":"Q00339","question":"A quadcopter drone needs to travel from a patch of loose, sandy ground with scattered rocks and no vegetation to a cultivated field with orderly rows of crops growing in soft soil. The drone can fly over open water surfaces, but must avoid areas with tall, dense vegetation that could entangle its rotors. It can also traverse over flat, paved lanes used by vehicles, and over areas covered with low, wild grasses and shrubs. The drone cannot fly through or land on solid vertical structures. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter 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 cultivated field with orderly rows of crops growing in soft soil.","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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":1740,"query_id":"Q00348","question":"An aerial survey drone starts from an area of loose, dry soil with scattered rocks and no vegetation and needs to reach a smooth, hard, paved surface designed for vehicle traffic. The drone can fly over open ground covered with short grass or shrubs, liquid surfaces, and cultivated fields with crops, but must avoid tall vertical obstacles like trees and man-made structures. The drone's flight path should prioritize stability and smoothness to ensure clear sensor readings and minimize vibration.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a smooth, hard, paved surface designed for vehicle traffic.","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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":139,"start_point":[810,644],"end_point":[470,375],"distance":433.54469204454574},{"start_region_id":1,"end_region_id":139,"start_point":[742,483],"end_point":[470,375],"distance":292.6567955814455}],"complexity_score":0.6121513960839359}
{"id":4041,"query_id":"Q00809","question":"An aerial surveillance drone starts from a patch of loose, sandy ground and needs to reach a paved lane while minimizing risk. The drone can fly over open, flat areas with minimal vegetation, hard surfaces, and liquid surfaces, but must avoid vertical obstacles like tall structures and dense tree canopies. 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":"loose, sandy ground","end_land_type":"paved lane","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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":139,"start_point":[810,644],"end_point":[470,375],"distance":433.54469204454574},{"start_region_id":1,"end_region_id":139,"start_point":[742,483],"end_point":[470,375],"distance":292.6567955814455}],"complexity_score":0.6121513960839359}
{"id":5458,"query_id":"Q01092","question":"An off-road vehicle starts from a rough, loose soil surface and needs to reach a cultivated field with soft, tilled earth. The vehicle requires a path that minimizes vibrations and jolts, prioritizing smooth and stable terrain for a comfortable ride. Hard surfaces like paved roads or sidewalks are unavailable due to the remote location, and water bodies or structures are impassable. The vehicle can traverse both the loose soil and the tilled earth, but must choose the route that offers the most comfort.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, loose soil surface","end_land_type":"cultivated field with soft, tilled earth","task_description":"What is the most comfortable path for the off-road vehicle to take?","task_type":"Comfort","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,2,0],"image_name":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":5463,"query_id":"Q01093","question":"A hiker starts from a sandy, rocky ground and needs to reach a cultivated field with soft soil. The hiker seeks a path that minimizes discomfort, prioritizing even and stable surfaces for a pleasant walk. Paved areas like sidewalks or roads are absent in this region, and water or buildings cannot be crossed. The hiker can walk on both the sandy ground and the soft soil, but must choose the route that provides the most comfort.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"sandy, rocky ground","end_land_type":"cultivated field with soft soil","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,2,0],"image_name":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":7638,"query_id":"Q01528","question":"A hiker starts from a cultivated field with loose soil and crops and needs to reach a dry, sandy area with no vegetation. You are a hiker seeking a comfortable walk, so you prefer smooth, stable surfaces and avoid rough or uneven terrain. You can traverse areas with loose soil and crops, but you cannot cross any water bodies or enter any buildings. Additionally, you cannot use any paved surfaces like sidewalks or roads, nor any grassy or shrub-covered areas, as they are not available in this region. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"a dry, sandy area with no vegetation","task_description":"What is the most comfortable path from the cultivated field to the dry, sandy area?","task_type":"Comfort","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,2,0],"image_name":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":2,"start_point":[516,519],"end_point":[810,644],"distance":319.4698733840172},{"start_region_id":181,"end_region_id":1,"start_point":[516,519],"end_point":[742,483],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":9877,"query_id":"Q01976","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks and needs to reach a cultivated field with rows of low-growing plants. The drone's flight path must prioritize smooth, stable airspace to protect its sensitive imaging equipment from vibrations. The drone can fly over open ground covered in grass or shrubs, paved surfaces like parking lots or sidewalks, bodies of water such as rivers or ponds, and even fly near or between buildings if necessary. However, flying directly through dense clusters of tall, leafy vegetation with thick branches is to be avoided as it poses a significant risk of turbulence and physical collision. The drone cannot land or operate on building rooftops for this mission. What is the most comfortable path for the drone to take?","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":"The destination is a cultivated field with rows of low-growing 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","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,2],"image_name":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":10906,"query_id":"Q02182","question":"An off-road vehicle is positioned on a cultivated field with loose soil and needs to reach an area of exposed, rocky ground. The vehicle can traverse hard, paved surfaces, compacted dirt tracks, grassy or shrub-covered terrain, and loose earth, but cannot enter areas with dense vertical obstacles, liquid surfaces, or solid structures. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field with loose soil","end_land_type":"exposed, 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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":2,"start_point":[516,519],"end_point":[810,644],"distance":319.4698733840172},{"start_region_id":181,"end_region_id":1,"start_point":[516,519],"end_point":[742,483],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":16182,"query_id":"Q03237","question":"An off-road vehicle starts from a patch of loose, sandy ground and needs to reach a cultivated field with crops. The vehicle can only travel on surfaces that are either hard-packed and stable or soft but firm enough to support its weight without sinking. Paved surfaces like asphalt or concrete are not available in this area, and any areas with standing water or dense vegetation that could obstruct the vehicle are strictly off-limits. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, sandy ground","end_land_type":"cultivated field with crops","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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":16953,"query_id":"Q03391","question":"An aerial survey drone is positioned on a patch of loose, dry earth and scattered rocks. It needs to reach a cultivated field with planted crops to continue its monitoring mission. The drone can fly over open liquid surfaces, but must avoid any areas with tall, dense vegetation or vertical structures that could pose collision risks. The drone's operator prioritizes minimizing all operational risks during the flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of loose, dry earth and scattered rocks","end_land_type":"A cultivated field with planted 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":"lima_1.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":181,"start_point":[810,644],"end_point":[516,519],"distance":319.4698733840172},{"start_region_id":1,"end_region_id":181,"start_point":[742,483],"end_point":[516,519],"distance":228.84929538890873}],"complexity_score":0.6121513960839359}
{"id":2038,"query_id":"Q00408","question":"A quadcopter drone starts from a crop field and needs to reach a hard-surfaced roadway. The drone can fly over open ground, vegetated areas, paved surfaces, and water, but must avoid colliding with tall vertical structures like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a crop field","end_land_type":"a hard-surfaced roadway","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":"dolnoslaskie_23.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":65,"start_point":[922,532],"end_point":[104,951],"distance":919.0674621593346},{"start_region_id":216,"end_region_id":65,"start_point":[854,680],"end_point":[104,951],"distance":797.4590898597871},{"start_region_id":218,"end_region_id":65,"start_point":[778,839],"end_point":[104,951],"distance":683.2422703551061},{"start_region_id":218,"end_region_id":64,"start_point":[778,839],"end_point":[482,364],"distance":559.6793724982189},{"start_region_id":219,"end_region_id":64,"start_point":[588,915],"end_point":[482,364],"distance":561.1033772844359}],"complexity_score":0.6121703528509604}
{"id":15798,"query_id":"Q03160","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil. The hiker prefers smooth and stable surfaces for a comfortable walk. The terrain includes areas with loose, uneven ground covered by natural grass and shrubs, as well as patches of dense vegetation with tall plants and trees that can be navigated around. However, all water bodies and structures are completely blocked and cannot be crossed. What is the most comfortable path?","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 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":"dolnoslaskie_23.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":213,"start_point":[61,941],"end_point":[922,532],"distance":953.206168674962},{"start_region_id":36,"end_region_id":218,"start_point":[235,102],"end_point":[778,839],"distance":915.4332307710923},{"start_region_id":36,"end_region_id":219,"start_point":[235,102],"end_point":[588,915],"distance":886.3283815832594},{"start_region_id":53,"end_region_id":213,"start_point":[121,833],"end_point":[922,532],"distance":855.6880272622727},{"start_region_id":62,"end_region_id":216,"start_point":[61,941],"end_point":[854,680],"distance":834.8472914252043}],"complexity_score":0.6121703528509604}
{"id":15844,"query_id":"Q03169","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow with natural vegetation. The drone can fly over most surfaces but must avoid dense tree canopies that could obstruct its flight path. All other surfaces including bare earth, grassy areas, paved surfaces, vehicle lanes, water bodies, and buildings are accessible for flight. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest route to the destination?","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":"dolnoslaskie_23.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":1,"start_point":[778,839],"end_point":[95,63],"distance":1033.7625452684963},{"start_region_id":219,"end_region_id":1,"start_point":[588,915],"end_point":[95,63],"distance":984.3541029527942},{"start_region_id":216,"end_region_id":1,"start_point":[854,680],"end_point":[95,63],"distance":978.1462058404153},{"start_region_id":213,"end_region_id":1,"start_point":[922,532],"end_point":[95,63],"distance":950.7312974757905},{"start_region_id":218,"end_region_id":2,"start_point":[778,839],"end_point":[249,61],"distance":940.8108205160057}],"complexity_score":0.6121703528509604}
{"id":1156,"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_41.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":117,"start_point":[949,332],"end_point":[147,497],"distance":818.797288710704},{"start_region_id":4,"end_region_id":117,"start_point":[790,31],"end_point":[147,497],"distance":794.1064160425856},{"start_region_id":16,"end_region_id":117,"start_point":[840,221],"end_point":[147,497],"distance":745.9390055493814},{"start_region_id":3,"end_region_id":117,"start_point":[679,43],"end_point":[147,497],"distance":699.3854445153974},{"start_region_id":28,"end_region_id":117,"start_point":[826,375],"end_point":[147,497],"distance":689.8731767506257}],"complexity_score":0.6122013040453659}
{"id":6981,"query_id":"Q01397","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The hiker can traverse areas with tall, dense vegetation only if they are sparse enough to allow passage without significant obstruction. The hiker cannot cross liquid surfaces or enter solid structures. What is the fastest path?","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 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":[2,3,6,5,1,0,4,0],"image_name":"ngaoundere_41.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":152,"start_point":[942,994],"end_point":[234,113],"distance":1130.2322770121193},{"start_region_id":87,"end_region_id":151,"start_point":[942,994],"end_point":[343,41],"distance":1125.6153872437956},{"start_region_id":87,"end_region_id":154,"start_point":[942,994],"end_point":[219,225],"distance":1055.504618654035},{"start_region_id":80,"end_region_id":150,"start_point":[135,783],"end_point":[887,89],"distance":1023.2985879009118},{"start_region_id":87,"end_region_id":153,"start_point":[942,994],"end_point":[523,127],"distance":962.9382119326244}],"complexity_score":0.6122013040453659}
{"id":12510,"query_id":"Q02502","question":"A hiker is standing in a cultivated field with soft, tilled soil and needs to reach a paved, hard-surfaced area as quickly as possible. The hiker can traverse grassy or shrub-covered areas, paved surfaces, vehicle lanes, and cultivated fields, but must avoid water bodies and buildings. The grassy or shrub-covered areas are dry and firm enough for walking, and the cultivated fields are accessible because the crops are low and the soil is not muddy. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved, hard-surfaced 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":"ngaoundere_41.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":87,"start_point":[234,113],"end_point":[942,994],"distance":1130.2322770121193},{"start_region_id":151,"end_region_id":87,"start_point":[343,41],"end_point":[942,994],"distance":1125.6153872437956},{"start_region_id":154,"end_region_id":87,"start_point":[219,225],"end_point":[942,994],"distance":1055.504618654035},{"start_region_id":150,"end_region_id":80,"start_point":[887,89],"end_point":[135,783],"distance":1023.2985879009118},{"start_region_id":153,"end_region_id":87,"start_point":[523,127],"end_point":[942,994],"distance":962.9382119326244}],"complexity_score":0.6122013040453659}
{"id":14859,"query_id":"Q02972","question":"A delivery drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field with soft, tilled soil while ensuring a smooth and stable flight. The drone must avoid any areas with dense vertical obstacles that could cause turbulence or instability, and it cannot pass through areas with standing liquid. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a cultivated field with soft, tilled soil","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":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_41.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":150,"start_point":[129,737],"end_point":[887,89],"distance":997.2301640042784},{"start_region_id":91,"end_region_id":151,"start_point":[129,737],"end_point":[343,41],"distance":728.156576568529},{"start_region_id":91,"end_region_id":153,"start_point":[129,737],"end_point":[523,127],"distance":726.1790412838972},{"start_region_id":89,"end_region_id":162,"start_point":[438,189],"end_point":[616,854],"distance":688.4104880084266},{"start_region_id":91,"end_region_id":152,"start_point":[129,737],"end_point":[234,113],"distance":632.7724709561882}],"complexity_score":0.6122013040453659}
{"id":5762,"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_50.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":39,"start_point":[38,75],"end_point":[986,788],"distance":1186.2010790755503},{"start_region_id":1,"end_region_id":39,"start_point":[38,163],"end_point":[986,788],"distance":1135.4862394586735},{"start_region_id":20,"end_region_id":31,"start_point":[47,881],"end_point":[982,258],"distance":1123.5452816865015},{"start_region_id":5,"end_region_id":50,"start_point":[38,75],"end_point":[535,973],"distance":1026.3590989512393},{"start_region_id":10,"end_region_id":31,"start_point":[44,604],"end_point":[982,258],"distance":999.7799757946746}],"complexity_score":0.6122161223720742}
{"id":302,"query_id":"Q00061","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a wide, paved lane. The drone can fly over open, loose soil and rocky patches, as well as hard, flat surfaces like sidewalks and parking lots, but must navigate carefully through vertical obstacles like trees and buildings. The objective is to find the fastest path to the destination.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation","end_land_type":"A wide, paved lane","task_description":"What is the fastest path from the starting vegetation to the destination 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":"khartoum_40.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":51,"start_point":[29,563],"end_point":[375,374],"distance":394.2549936272209}],"complexity_score":0.6122599528762531}
{"id":4588,"query_id":"Q00918","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall vegetation with distinct vertical structures. The hiker can traverse areas with loose, unconsolidated earth and rocks, as well as cultivated fields with planted crops, but cannot cross any liquid surfaces or enter any enclosed structures. Which path should the hiker take to minimize the total travel distance?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall vegetation with distinct vertical structures","task_description":"Which path should the hiker take to minimize the total travel distance?","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_40.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":74,"start_point":[533,148],"end_point":[29,563],"distance":652.8713502674168},{"start_region_id":2,"end_region_id":74,"start_point":[377,19],"end_point":[29,563],"distance":645.786342376486},{"start_region_id":25,"end_region_id":74,"start_point":[540,301],"end_point":[29,563],"distance":574.2516869805434},{"start_region_id":14,"end_region_id":74,"start_point":[147,215],"end_point":[29,563],"distance":367.4615626157381},{"start_region_id":31,"end_region_id":74,"start_point":[377,415],"end_point":[29,563],"distance":378.16398559355173}],"complexity_score":0.6122599528762531}
{"id":13401,"query_id":"Q02681","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight. The drone can fly over open grassy areas, hard artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid areas with dense vertical obstacles that could cause turbulence and instability. The drone should prioritize surfaces that provide the smoothest and most predictable flight conditions to ensure stable sensor operation and minimize vibration.","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 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_40.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":51,"start_point":[3,607],"end_point":[646,175],"distance":774.6437891056767}],"complexity_score":0.6122599528762531}
{"id":13873,"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":"khartoum_40.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":38,"start_point":[377,19],"end_point":[155,567],"distance":591.2596722253261},{"start_region_id":38,"end_region_id":2,"start_point":[155,567],"end_point":[377,19],"distance":591.2596722253261},{"start_region_id":34,"end_region_id":9,"start_point":[60,489],"end_point":[533,148],"distance":583.1037643507372},{"start_region_id":9,"end_region_id":34,"start_point":[533,148],"end_point":[60,489],"distance":583.1037643507372},{"start_region_id":9,"end_region_id":38,"start_point":[533,148],"end_point":[155,567],"distance":564.309312345632}],"complexity_score":0.6122599528762531}
{"id":7930,"query_id":"Q01586","question":"A quadcopter drone is positioned on a paved lane and needs to reach a nearby paved area. The drone can fly over various surfaces, including loose sandy or rocky ground, hard artificial surfaces like concrete or asphalt, liquid bodies, and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures. 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 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":"tulsa_43.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":27,"start_point":[101,606],"end_point":[975,166],"distance":978.5070260350715},{"start_region_id":60,"end_region_id":31,"start_point":[101,606],"end_point":[965,268],"distance":927.7607450199647},{"start_region_id":60,"end_region_id":50,"start_point":[101,606],"end_point":[851,872],"distance":795.7738372175853},{"start_region_id":59,"end_region_id":27,"start_point":[483,750],"end_point":[975,166],"distance":763.6229436050229},{"start_region_id":60,"end_region_id":26,"start_point":[101,606],"end_point":[773,392],"distance":705.2517281084819}],"complexity_score":0.61230358397083}
{"id":12537,"query_id":"Q02508","question":"A quadcopter drone is currently positioned in a vegetated area with tall, vertical structures that provide overhead cover. It needs to reach an open area covered with low, natural vegetation. The drone's flight controller prioritizes smooth, stable flight to minimize vibrations and ensure clear sensor readings. For this journey, the drone can fly over: rough, loose ground composed of sand or rocks; areas with low bushes and grass; hard, paved surfaces used by vehicles; tall vertical structures that require careful navigation; liquid surfaces; and cultivated fields with crops. However, solid, enclosed vertical structures are completely impassable and must be avoided entirely.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, vertical structures that provide overhead cover","end_land_type":"an open area covered with low, natural vegetation","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":"tulsa_43.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":1,"start_point":[41,396],"end_point":[954,184],"distance":937.2902432011122},{"start_region_id":73,"end_region_id":6,"start_point":[41,396],"end_point":[852,740],"distance":880.9409741861256},{"start_region_id":80,"end_region_id":11,"start_point":[921,571],"end_point":[48,607],"distance":873.741952752642},{"start_region_id":80,"end_region_id":5,"start_point":[921,571],"end_point":[150,169],"distance":869.5084818447718},{"start_region_id":63,"end_region_id":6,"start_point":[178,261],"end_point":[852,740],"distance":826.8718159424712}],"complexity_score":0.61230358397083}
{"id":17087,"query_id":"Q03418","question":"A quadcopter drone starts from a patch of grassy, uneven ground and needs to reach another area of similar grassy, uneven ground. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as lanes used by vehicles. However, you must avoid flying through any areas with dense vertical obstacles or structures. What is the shortest path to your destination?","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 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":"viru_12.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":19,"start_point":[916,908],"end_point":[168,734],"distance":767.9713536324125},{"start_region_id":19,"end_region_id":23,"start_point":[168,734],"end_point":[916,908],"distance":767.9713536324125}],"complexity_score":0.6123925070926013}
{"id":1382,"query_id":"Q00277","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas with loose, uneven soil and sparse vegetation, as well as cultivated fields with soft, tilled earth. The hiker can traverse these surfaces, but must avoid any liquid bodies and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","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":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":340,"start_point":[6,984],"end_point":[762,59],"distance":1194.6384390266371}],"complexity_score":0.6124580081173131}
{"id":5568,"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":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":448,"start_point":[286,169],"end_point":[728,877],"distance":834.642438413001},{"start_region_id":6,"end_region_id":453,"start_point":[286,169],"end_point":[625,932],"distance":834.9191577631933},{"start_region_id":11,"end_region_id":453,"start_point":[490,216],"end_point":[625,932],"distance":728.6158109731081},{"start_region_id":21,"end_region_id":355,"start_point":[270,893],"end_point":[330,191],"distance":704.5594368114021},{"start_region_id":11,"end_region_id":448,"start_point":[490,216],"end_point":[728,877],"distance":702.5418137022166}],"complexity_score":0.6124580081173131}
{"id":8032,"query_id":"Q01607","question":"An aerial survey drone is perched on a cluster of tall vegetation and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over areas of loose, dry soil and rock; areas of cultivated, low-lying vegetation; and open bodies of liquid. However, the tall vegetation clusters are dense and require careful, slower navigation to avoid collisions. All other surface types, including those covered by low, wild vegetation or vertical, solid structures, are not available for this flight path. What is the fastest route for the drone?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation","end_land_type":"A flat, hard, artificial surface","task_description":"What is the fastest route for the drone?","task_type":"Fastest","input_classes":["Bareland","Developed space","Tree","Water","Agriculture land"],"traverse_vector":[1,0,1,0,1,1,1,0],"cost_vector":[2,0,2,0,1,2,2,0],"image_name":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":355,"end_region_id":22,"start_point":[330,191],"end_point":[180,455],"distance":303.63794229311986}],"complexity_score":0.6124580081173131}
{"id":10341,"query_id":"Q02069","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial turf. The drone can fly over loose soil, grassy areas, all paved surfaces, and water bodies, but must avoid colliding with trees or buildings. 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 turf","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":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":26,"start_point":[505,506],"end_point":[906,156],"distance":532.2602746777181},{"start_region_id":340,"end_region_id":271,"start_point":[505,506],"end_point":[48,774],"distance":529.7858057743714},{"start_region_id":340,"end_region_id":243,"start_point":[505,506],"end_point":[956,791],"distance":533.5035145151342},{"start_region_id":340,"end_region_id":302,"start_point":[505,506],"end_point":[145,882],"distance":520.5535515199181},{"start_region_id":340,"end_region_id":23,"start_point":[505,506],"end_point":[420,22],"distance":491.40716315495445}],"complexity_score":0.6124580081173131}
{"id":12571,"query_id":"Q02515","question":"A quadcopter drone 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, vehicle lanes, and liquid bodies, but these are all accessible for aerial travel. The tall, woody vegetation is passable because the drone can fly between the plants at a safe altitude. You must find a path that maximizes ride comfort by prioritizing surfaces that are smooth, stable, and predictable, avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"a quadcopter drone","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":["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":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":448,"end_region_id":6,"start_point":[728,877],"end_point":[286,169],"distance":834.642438413001},{"start_region_id":453,"end_region_id":6,"start_point":[625,932],"end_point":[286,169],"distance":834.9191577631933},{"start_region_id":453,"end_region_id":11,"start_point":[625,932],"end_point":[490,216],"distance":728.6158109731081},{"start_region_id":355,"end_region_id":21,"start_point":[330,191],"end_point":[270,893],"distance":704.5594368114021},{"start_region_id":448,"end_region_id":11,"start_point":[728,877],"end_point":[490,216],"distance":702.5418137022166}],"complexity_score":0.6124580081173131}
{"id":16898,"query_id":"Q03380","question":"An aerial surveillance drone starts from an area covered with low, natural vegetation and scattered shrubs and needs to reach a flat, hard-surfaced area with artificial materials like concrete or asphalt. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles like trees and structures. The objective is to minimize risk by prioritizing terrain that is generally controllable, predictable, and low-risk, while avoiding areas that may increase the likelihood of loss of control, damage, or hazardous situations. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area covered with low, natural vegetation and scattered shrubs.","end_land_type":"The destination is a flat, hard-surfaced area with artificial materials like concrete or asphalt.","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":"maputo_1.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":26,"start_point":[270,893],"end_point":[906,156],"distance":973.4808678140521},{"start_region_id":6,"end_region_id":243,"start_point":[286,169],"end_point":[956,791],"distance":914.2122291896997},{"start_region_id":21,"end_region_id":23,"start_point":[270,893],"end_point":[420,22],"distance":883.8218146210241},{"start_region_id":21,"end_region_id":24,"start_point":[270,893],"end_point":[567,90],"distance":856.164703780762},{"start_region_id":21,"end_region_id":40,"start_point":[270,893],"end_point":[490,109],"distance":814.2825062593448}],"complexity_score":0.6124580081173131}
{"id":32,"query_id":"Q00007","question":"An aerial surveillance drone is currently positioned over a grassy, open field with low vegetation. It needs to reach a flat, hard, paved surface for a secure landing. The drone can fly over various surfaces including loose, sandy or rocky ground; grassy or shrubby areas; all paved or compacted surfaces; cultivated fields; and bodies of water. However, it must avoid flying directly through dense clusters of tall vegetation or near vertical structures. The drone's primary concern is to minimize the risk of collision, signal interference, or loss of control during its 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 with low vegetation","end_land_type":"flat, hard, 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":"pisco_41.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":83,"start_point":[79,936],"end_point":[904,171],"distance":1125.0999955559505},{"start_region_id":65,"end_region_id":83,"start_point":[220,953],"end_point":[904,171],"distance":1038.932144078717},{"start_region_id":46,"end_region_id":83,"start_point":[99,831],"end_point":[904,171],"distance":1040.9731024382907},{"start_region_id":38,"end_region_id":83,"start_point":[65,745],"end_point":[904,171],"distance":1016.5613606664381},{"start_region_id":64,"end_region_id":80,"start_point":[79,936],"end_point":[630,135],"distance":972.2149967985476}],"complexity_score":0.6124604906359695}
{"id":4462,"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":"pisco_41.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":158,"start_point":[57,77],"end_point":[437,459],"distance":538.8172231842631},{"start_region_id":83,"end_region_id":158,"start_point":[904,171],"end_point":[437,459],"distance":548.6647428074816},{"start_region_id":121,"end_region_id":158,"start_point":[23,285],"end_point":[437,459],"distance":449.0790576279415},{"start_region_id":77,"end_region_id":158,"start_point":[185,90],"end_point":[437,459],"distance":446.83889714303075},{"start_region_id":155,"end_region_id":158,"start_point":[175,824],"end_point":[437,459],"distance":449.29834186206386}],"complexity_score":0.6124604906359695}
{"id":9115,"query_id":"Q01823","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard surface used by vehicles. The drone must avoid flying through dense vertical obstacles like trees or buildings, and cannot land on or traverse through solid structures. It can fly over loose, sandy areas; grassy or shrub-covered terrain; paved areas like sidewalks, parking lots, or artificial grass; vehicle lanes; and bodies of water. The drone's flight path should prioritize smooth, stable airspace to minimize vibrations and ensure steady sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"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":"pisco_41.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":158,"start_point":[79,936],"end_point":[437,459],"distance":596.4000335345396},{"start_region_id":65,"end_region_id":158,"start_point":[220,953],"end_point":[437,459],"distance":539.5600059307584},{"start_region_id":46,"end_region_id":158,"start_point":[99,831],"end_point":[437,459],"distance":502.6211296792048},{"start_region_id":38,"end_region_id":158,"start_point":[65,745],"end_point":[437,459],"distance":469.23341739479724},{"start_region_id":47,"end_region_id":158,"start_point":[215,823],"end_point":[437,459],"distance":426.35665821000146}],"complexity_score":0.6124604906359695}
{"id":13648,"query_id":"Q02730","question":"A hiker starts from a paved area and needs to reach a grassy field. The terrain includes loose, sandy ground and cultivated fields that are currently dry and firm enough to walk on, but avoid any liquid surfaces or vertical structures. You want to get there as quickly as possible.","agent_category":"Pedestrian","specific_agent":"hiker","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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,5,4,0,0,3,0],"image_name":"pisco_41.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":64,"start_point":[904,171],"end_point":[79,936],"distance":1125.0999955559505},{"start_region_id":83,"end_region_id":65,"start_point":[904,171],"end_point":[220,953],"distance":1038.932144078717},{"start_region_id":83,"end_region_id":46,"start_point":[904,171],"end_point":[99,831],"distance":1040.9731024382907},{"start_region_id":83,"end_region_id":38,"start_point":[904,171],"end_point":[65,745],"distance":1016.5613606664381},{"start_region_id":80,"end_region_id":64,"start_point":[630,135],"end_point":[79,936],"distance":972.2149967985476}],"complexity_score":0.6124604906359695}
{"id":1313,"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_26.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":168,"start_point":[963,989],"end_point":[167,60],"distance":1223.37933610144},{"start_region_id":3,"end_region_id":188,"start_point":[703,104],"end_point":[159,962],"distance":1015.9232254457027},{"start_region_id":56,"end_region_id":170,"start_point":[963,989],"end_point":[741,10],"distance":1003.855069220652},{"start_region_id":48,"end_region_id":168,"start_point":[912,733],"end_point":[167,60],"distance":1003.9691230311817},{"start_region_id":2,"end_region_id":188,"start_point":[505,33],"end_point":[159,962],"distance":991.3410109543537}],"complexity_score":0.6126631933493042}
{"id":7058,"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_26.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":158,"start_point":[208,194],"end_point":[809,961],"distance":974.4177748789274},{"start_region_id":158,"end_region_id":72,"start_point":[809,961],"end_point":[208,194],"distance":974.4177748789274},{"start_region_id":80,"end_region_id":158,"start_point":[208,298],"end_point":[809,961],"distance":894.8575305600327},{"start_region_id":158,"end_region_id":80,"start_point":[809,961],"end_point":[208,298],"distance":894.8575305600327},{"start_region_id":72,"end_region_id":136,"start_point":[208,194],"end_point":[847,756],"distance":850.9788481507634}],"complexity_score":0.6126631933493042}
{"id":10787,"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_26.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":195,"start_point":[809,961],"end_point":[196,111],"distance":1047.9833013936816},{"start_region_id":140,"end_region_id":190,"start_point":[279,795],"end_point":[843,64],"distance":923.2859795318025},{"start_region_id":158,"end_region_id":223,"start_point":[809,961],"end_point":[60,388],"distance":943.0429470602068},{"start_region_id":148,"end_region_id":195,"start_point":[609,936],"end_point":[196,111],"distance":922.6017559055477},{"start_region_id":74,"end_region_id":301,"start_point":[739,154],"end_point":[88,812],"distance":925.6160110974745}],"complexity_score":0.6126631933493042}
{"id":459,"query_id":"Q00092","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a grassy field. The drone prioritizes flying over surfaces that minimize turbulence and vibration for stable footage. Loose, sandy ground and grassy fields are traversable and generally flat. Areas with tall, dense vegetation are passable only if the vegetation is low enough to fly over safely. Cultivated fields are accessible if the crops are short. Vertical structures and bodies of water are avoidable but may cause discomfort if flown too close. What is the most comfortable path for the quadcopter drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a grassy field","task_description":"What is the most comfortable 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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[304,701],"end_point":[427,38],"distance":674.312983710087},{"start_region_id":1,"end_region_id":40,"start_point":[304,701],"end_point":[756,649],"distance":454.9813182977956},{"start_region_id":1,"end_region_id":27,"start_point":[304,701],"end_point":[575,420],"distance":390.38698748805655},{"start_region_id":1,"end_region_id":48,"start_point":[304,701],"end_point":[623,834],"distance":345.61539317570913},{"start_region_id":1,"end_region_id":25,"start_point":[304,701],"end_point":[429,393],"distance":332.3988567970714}],"complexity_score":0.6127421907704178}
{"id":3458,"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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[378,776],"end_point":[125,636],"distance":289.1522090526026}],"complexity_score":0.6127421907704178}
{"id":8224,"query_id":"Q01645","question":"An off-road vehicle starts from a stretch of loose, sandy terrain and needs to traverse a landscape that includes areas of soft, grassy vegetation and flat, hard surfaces made of compacted materials like concrete or asphalt. The vehicle has high clearance and all-terrain tires suitable for both soft and hard surfaces. The goal is to find the fastest route to reach another stretch of similar loose, sandy terrain.","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"Starting from a stretch of loose, sandy terrain","end_land_type":"and needing to reach another stretch of similar loose, sandy terrain","task_description":"What is the fastest path for the off-road vehicle to take?","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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[381,770],"end_point":[181,682],"distance":218.5040045399626}],"complexity_score":0.6127421907704178}
{"id":8470,"query_id":"Q01694","question":"A hiker starts on a grassy, shrub-covered terrain and aims to reach an open, sandy or rocky ground area. The hiker can walk on paved surfaces and vehicle lanes if available, but these are not present in this environment. The hiker is permitted to traverse grassy areas, shrublands, and open sandy/rocky terrain as the vegetation is sparse enough and the ground is firm enough for safe walking. However, dense wooded areas with trees are impassable due to thick undergrowth and obstacles. Liquid surfaces and man-made structures cannot be crossed. What is the shortest path for the hiker?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy, shrub-covered terrain","end_land_type":"open, sandy or rocky ground","task_description":"What is the shortest path for the hiker?","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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":1,"start_point":[427,38],"end_point":[304,701],"distance":674.312983710087},{"start_region_id":40,"end_region_id":1,"start_point":[756,649],"end_point":[304,701],"distance":454.9813182977956},{"start_region_id":27,"end_region_id":1,"start_point":[575,420],"end_point":[304,701],"distance":390.38698748805655},{"start_region_id":48,"end_region_id":1,"start_point":[623,834],"end_point":[304,701],"distance":345.61539317570913},{"start_region_id":25,"end_region_id":1,"start_point":[429,393],"end_point":[304,701],"distance":332.3988567970714}],"complexity_score":0.6127421907704178}
{"id":9140,"query_id":"Q01828","question":"An off-road vehicle starts from an area of loose soil and rocks with no plant cover and needs to reach a smooth, paved surface like a parking lot or sidewalk. The vehicle can drive across grassy or shrub-covered terrain and cultivated fields, and can use paved roads and other artificial hard surfaces. However, it cannot go through wooded areas, water bodies, or buildings. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"Starting from an area of loose soil and rocks with no plant cover.","end_land_type":"The destination is a smooth, paved surface like a parking lot or sidewalk.","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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":55,"start_point":[304,701],"end_point":[962,82],"distance":903.3963692643446},{"start_region_id":1,"end_region_id":53,"start_point":[304,701],"end_point":[728,91],"distance":742.8835709584645},{"start_region_id":1,"end_region_id":66,"start_point":[304,701],"end_point":[921,328],"distance":720.9840497542231},{"start_region_id":1,"end_region_id":52,"start_point":[304,701],"end_point":[211,28],"distance":679.395319383347},{"start_region_id":1,"end_region_id":81,"start_point":[304,701],"end_point":[938,758],"distance":636.5571459028639}],"complexity_score":0.6127421907704178}
{"id":11465,"query_id":"Q02293","question":"A delivery drone is hovering above a dry, rocky area. It needs to land on a smooth, artificial surface for package drop-off. The drone can fly over grassy expanses, paved lanes, cultivated plots, and liquid bodies, but must avoid areas with tall, dense vegetation or solid vertical structures. What is the most comfortable flight route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the most comfortable flight 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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":55,"start_point":[304,701],"end_point":[962,82],"distance":903.3963692643446},{"start_region_id":1,"end_region_id":53,"start_point":[304,701],"end_point":[728,91],"distance":742.8835709584645},{"start_region_id":1,"end_region_id":66,"start_point":[304,701],"end_point":[921,328],"distance":720.9840497542231},{"start_region_id":1,"end_region_id":52,"start_point":[304,701],"end_point":[211,28],"distance":679.395319383347},{"start_region_id":1,"end_region_id":81,"start_point":[304,701],"end_point":[938,758],"distance":636.5571459028639}],"complexity_score":0.6127421907704178}
{"id":11608,"query_id":"Q02322","question":"An aerial photography drone starts from loose, sandy ground and needs to reach a flat, paved surface while maintaining stable flight for clear image capture. The drone can fly over grassy areas with low vegetation, but must avoid dense tree canopies that could cause turbulence and damage. Water surfaces are accessible but may create wind disturbances. The drone cannot enter or pass through solid structures. What is the most comfortable path for the drone?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"loose, sandy ground","end_land_type":"flat, paved surface","task_description":"What is the most comfortable path 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_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":55,"start_point":[304,701],"end_point":[962,82],"distance":903.3963692643446},{"start_region_id":1,"end_region_id":53,"start_point":[304,701],"end_point":[728,91],"distance":742.8835709584645},{"start_region_id":1,"end_region_id":66,"start_point":[304,701],"end_point":[921,328],"distance":720.9840497542231},{"start_region_id":1,"end_region_id":52,"start_point":[304,701],"end_point":[211,28],"distance":679.395319383347},{"start_region_id":1,"end_region_id":81,"start_point":[304,701],"end_point":[938,758],"distance":636.5571459028639}],"complexity_score":0.6127421907704178}
{"id":12955,"query_id":"Q02591","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks, an aerial surveillance drone must navigate to a paved, hard-surfaced lane. The drone can fly over open, vegetation-free areas; hard, flat surfaces; artificial grass fields; liquid bodies; and cultivated fields with low vegetation. However, it must avoid densely packed vertical obstacles that could cause collisions. The drone's priority is to minimize the risk of damage or loss of control during flight.","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":"and needs to reach a paved, hard-surfaced lane","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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":108,"start_point":[304,701],"end_point":[522,542],"distance":269.82401672201087}],"complexity_score":0.6127421907704178}
{"id":14297,"query_id":"Q02860","question":"A delivery drone begins on a flat, hard surface and must reach a target location on dry, loose terrain. The drone can fly over open liquid areas and avoid any vegetated regions, cultivated plots, or vertical obstacles. The objective is to select a route that ensures the most stable and vibration-free flight.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Road","end_land_type":"Bareland","task_description":"What is the most comfortable flight path for the delivery drone from the hard surface to the loose terrain?","task_type":"Comfort","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":"chicago_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":1,"start_point":[522,542],"end_point":[304,701],"distance":269.82401672201087}],"complexity_score":0.6127421907704178}
{"id":17861,"query_id":"Q03573","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved lane. The terrain includes areas of soft, grassy vegetation; rough, uneven ground with scattered rocks; hard, flat surfaces; clusters of tall, vertical obstacles; and cultivated fields with soft, tilled soil. You must avoid any liquid surfaces or solid structures. What is the shortest path to the paved lane?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Bareland","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","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_2.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":108,"start_point":[304,701],"end_point":[522,542],"distance":269.82401672201087},{"start_region_id":1,"end_region_id":111,"start_point":[304,701],"end_point":[151,899],"distance":250.2258979402412}],"complexity_score":0.6127421907704178}
{"id":1243,"query_id":"Q00249","question":"An off-road vehicle starts from a paved road and needs to reach a cultivated field. The terrain includes grassy areas and loose soil, and your vehicle has off-road capability to drive on them. You cannot cross water bodies, trees, or buildings. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","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","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_10.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":308,"start_point":[168,181],"end_point":[877,228],"distance":710.5561202325964},{"start_region_id":135,"end_region_id":308,"start_point":[575,797],"end_point":[877,228],"distance":644.1777704950707},{"start_region_id":106,"end_region_id":308,"start_point":[530,59],"end_point":[877,228],"distance":385.9663197741482},{"start_region_id":120,"end_region_id":308,"start_point":[781,446],"end_point":[877,228],"distance":238.20159529272678}],"complexity_score":0.6128607497049333}
{"id":2906,"query_id":"Q00582","question":"A farmer inspecting crops starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose, tilled soil. The terrain consists entirely of cultivated areas with loose soil that can shift underfoot. You must avoid any hard surfaces like pavement or roads, any natural vegetation areas like grasslands or shrubs, any sandy or rocky bare ground, any water bodies, any vertical structures, and any wooded areas. What path should you take?","agent_category":"Pedestrian","specific_agent":"A farmer inspecting crops","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path to reach the destination while minimizing risk?","task_type":"Safest","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"thousand_oaks_10.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":308,"end_region_id":308,"start_point":[675,276],"end_point":[1018,124],"distance":375.17062784818324}],"complexity_score":0.6128607497049333}
{"id":5698,"query_id":"Q01140","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall, vertical structures with overhead canopy. The hiker is equipped with appropriate footwear and can traverse soft, uneven ground with vegetation, but must avoid any liquid surfaces and solid, enclosed vertical obstacles. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","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 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":"thousand_oaks_10.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":286,"start_point":[976,430],"end_point":[28,847],"distance":1035.660658710178},{"start_region_id":91,"end_region_id":286,"start_point":[973,563],"end_point":[28,847],"distance":986.7527552533106},{"start_region_id":85,"end_region_id":305,"start_point":[976,430],"end_point":[173,998],"distance":983.5817200416038},{"start_region_id":85,"end_region_id":248,"start_point":[976,430],"end_point":[26,669],"distance":979.6024703929651},{"start_region_id":84,"end_region_id":296,"start_point":[70,463],"end_point":[908,950],"distance":969.2332020726487}],"complexity_score":0.6128607497049333}
{"id":2605,"query_id":"Q00521","question":"A delivery van starts from a paved lane and needs to reach another paved lane. The vehicle requires a hard, smooth surface for movement. What is the shortest route?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest route?","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":"lambayeque_14.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":131,"start_point":[137,897],"end_point":[979,47],"distance":1196.4380468707939}],"complexity_score":0.612928151778622}
{"id":7085,"query_id":"Q01417","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; smooth, flat areas; liquid surfaces; and cultivated fields with low vegetation. However, it must avoid tall, dense vegetation and solid vertical structures. 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 for the quadcopter drone to travel 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":"lambayeque_14.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":114,"start_point":[970,261],"end_point":[55,982],"distance":1164.9317576579326},{"start_region_id":114,"end_region_id":47,"start_point":[55,982],"end_point":[970,261],"distance":1164.9317576579326},{"start_region_id":47,"end_region_id":121,"start_point":[970,261],"end_point":[215,974],"distance":1038.457509963696},{"start_region_id":121,"end_region_id":47,"start_point":[215,974],"end_point":[970,261],"distance":1038.457509963696},{"start_region_id":45,"end_region_id":114,"start_point":[659,130],"end_point":[55,982],"distance":1044.3754114302003}],"complexity_score":0.612928151778622}
{"id":5627,"query_id":"Q01126","question":"A hiker starts from a paved, hard surface area and needs to reach another paved, hard surface area. The terrain includes only firm, stable surfaces and open, grassy or shrub-covered ground. The hiker must avoid any liquid areas, vertical structures, loose sandy or rocky expanses, cultivated fields, and wooded zones to minimize risk. What is the safest 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 safest path?","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":"chisinau_51.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":213,"start_point":[466,136],"end_point":[125,980],"distance":910.2840216108377},{"start_region_id":213,"end_region_id":121,"start_point":[125,980],"end_point":[466,136],"distance":910.2840216108377},{"start_region_id":123,"end_region_id":213,"start_point":[364,115],"end_point":[125,980],"distance":897.4107197933397},{"start_region_id":213,"end_region_id":123,"start_point":[125,980],"end_point":[364,115],"distance":897.4107197933397},{"start_region_id":197,"end_region_id":123,"start_point":[505,889],"end_point":[364,115],"distance":786.738202962078}],"complexity_score":0.6129440003858502}
{"id":7736,"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":"chisinau_51.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":123,"start_point":[316,797],"end_point":[364,115],"distance":683.6870629169459},{"start_region_id":254,"end_region_id":121,"start_point":[316,797],"end_point":[466,136],"distance":677.8060194480423},{"start_region_id":245,"end_region_id":121,"start_point":[87,570],"end_point":[466,136],"distance":576.191808341632},{"start_region_id":245,"end_region_id":123,"start_point":[87,570],"end_point":[364,115],"distance":532.6856483893667},{"start_region_id":254,"end_region_id":143,"start_point":[316,797],"end_point":[256,263],"distance":537.3602143813775}],"complexity_score":0.6129440003858502}
{"id":12447,"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":"chisinau_51.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":213,"start_point":[727,92],"end_point":[125,980],"distance":1072.8224457010583},{"start_region_id":245,"end_region_id":134,"start_point":[87,570],"end_point":[970,183],"distance":964.084021234664},{"start_region_id":245,"end_region_id":153,"start_point":[87,570],"end_point":[985,345],"distance":925.7586078454793},{"start_region_id":254,"end_region_id":134,"start_point":[316,797],"end_point":[970,183],"distance":897.0574117635949},{"start_region_id":239,"end_region_id":186,"start_point":[727,92],"end_point":[147,781],"distance":900.6225624533287}],"complexity_score":0.6129440003858502}
{"id":16787,"query_id":"Q03358","question":"A delivery drone starts from a paved road surface and needs to reach a grassy field with low vegetation. The drone prioritizes a smooth and stable flight for payload safety, so it can fly over hard surfaces, firm ground, short vegetation, and agricultural fields, but must avoid tall trees, buildings, and water bodies due to turbulence or collision risk. 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 grassy field with low vegetation","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":[1,1,1,1,0,0,1,0],"image_name":"chisinau_51.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":81,"start_point":[87,570],"end_point":[563,692],"distance":491.38579548049614},{"start_region_id":254,"end_region_id":41,"start_point":[316,797],"end_point":[131,386],"distance":450.71720623912285},{"start_region_id":254,"end_region_id":57,"start_point":[316,797],"end_point":[38,501],"distance":406.07881008493905},{"start_region_id":254,"end_region_id":67,"start_point":[316,797],"end_point":[46,600],"distance":334.22896343674347},{"start_region_id":254,"end_region_id":81,"start_point":[316,797],"end_point":[563,692],"distance":268.3915050816624}],"complexity_score":0.6129440003858502}
{"id":4405,"query_id":"Q00881","question":"A quadcopter drone is starting from a cultivated field and needs to reach another cultivated field. The terrain includes soft, grassy ground and areas with dense, tall vegetation. The drone can fly over most surfaces but must avoid any hard, paved areas, liquid bodies, and solid structures due to safety regulations. The grassy areas and cultivated fields are safe to fly over, and the dense vegetation can be navigated if it is not too thick. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the quadcopter 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":"bielefeld_9.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":90,"start_point":[769,351],"end_point":[502,96],"distance":369.2072588668863},{"start_region_id":90,"end_region_id":91,"start_point":[502,96],"end_point":[769,351],"distance":369.2072588668863},{"start_region_id":91,"end_region_id":93,"start_point":[769,351],"end_point":[411,429],"distance":366.3986899539899},{"start_region_id":93,"end_region_id":91,"start_point":[411,429],"end_point":[769,351],"distance":366.3986899539899},{"start_region_id":90,"end_region_id":93,"start_point":[502,96],"end_point":[411,429],"distance":345.21008096520006}],"complexity_score":0.6130070272458188}
{"id":13285,"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":"bielefeld_9.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":96,"start_point":[30,161],"end_point":[732,890],"distance":1012.0498999555308},{"start_region_id":26,"end_region_id":94,"start_point":[30,161],"end_point":[877,598],"distance":953.0886632417784},{"start_region_id":28,"end_region_id":96,"start_point":[67,305],"end_point":[732,890],"distance":885.6918199915815},{"start_region_id":28,"end_region_id":94,"start_point":[67,305],"end_point":[877,598],"distance":861.3646150150353},{"start_region_id":32,"end_region_id":89,"start_point":[453,778],"end_point":[191,32],"distance":790.6706014517044}],"complexity_score":0.6130070272458188}
{"id":17935,"query_id":"Q03587","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a wooded area with tall vegetation and uneven ground. The terrain includes grassy and shrub-covered open spaces, paved lanes used by vehicles, and cultivated plots. For comfort, you prefer surfaces that are smooth and stable, avoiding rough or uneven ground that could cause discomfort. Which path should you take to maximize ride comfort?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"Which path should you take to maximize ride 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":"bielefeld_9.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":41,"start_point":[135,882],"end_point":[681,143],"distance":918.8237045266083},{"start_region_id":89,"end_region_id":73,"start_point":[191,32],"end_point":[819,693],"distance":911.7592884089528},{"start_region_id":96,"end_region_id":39,"start_point":[732,890],"end_point":[318,84],"distance":906.1081613140894},{"start_region_id":96,"end_region_id":40,"start_point":[732,890],"end_point":[382,123],"distance":843.0830326842072},{"start_region_id":95,"end_region_id":39,"start_point":[135,882],"end_point":[318,84],"distance":818.7142358601077}],"complexity_score":0.6130070272458188}
{"id":1492,"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":"piura_10.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":403,"end_region_id":265,"start_point":[869,84],"end_point":[131,399],"distance":802.4144814246563},{"start_region_id":402,"end_region_id":264,"start_point":[240,21],"end_point":[866,437],"distance":751.6195846304166},{"start_region_id":403,"end_region_id":262,"start_point":[869,84],"end_point":[490,591],"distance":633.0007898889227},{"start_region_id":402,"end_region_id":262,"start_point":[240,21],"end_point":[490,591],"distance":622.4146527838175},{"start_region_id":402,"end_region_id":265,"start_point":[240,21],"end_point":[131,399],"distance":393.4018301940142}],"complexity_score":0.6131702554389146}
{"id":11226,"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":"piura_10.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":264,"start_point":[15,967],"end_point":[866,437],"distance":1002.5472557440871},{"start_region_id":152,"end_region_id":265,"start_point":[977,778],"end_point":[131,399],"distance":927.0151023581008},{"start_region_id":27,"end_region_id":264,"start_point":[46,64],"end_point":[866,437],"distance":900.8490439579764},{"start_region_id":153,"end_region_id":265,"start_point":[849,898],"end_point":[131,399],"distance":874.3712026365004},{"start_region_id":150,"end_region_id":264,"start_point":[58,754],"end_point":[866,437],"distance":867.959100418908}],"complexity_score":0.6131702554389146}
{"id":11800,"query_id":"Q02360","question":"A hiker is standing in a dense cluster of tall vertical structures with overhead canopy. They need to reach a flat, hard, and open surface. The hiker can walk across loose, dry, and uneven ground composed of sand or rocks, and they are allowed to pass through the vertical structures if there is enough space between them. However, they must avoid any liquid areas and cannot enter solid, enclosed vertical obstacles. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a dense cluster of tall vertical structures with overhead canopy","end_land_type":"a flat, hard, and open surface","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":"piura_10.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":301,"end_region_id":215,"start_point":[903,282],"end_point":[15,967],"distance":1121.5030093584235},{"start_region_id":380,"end_region_id":27,"start_point":[760,881],"end_point":[46,64],"distance":1085.0276494172856},{"start_region_id":293,"end_region_id":215,"start_point":[770,199],"end_point":[15,967],"distance":1076.9628591553192},{"start_region_id":306,"end_region_id":152,"start_point":[49,259],"end_point":[977,778],"distance":1063.2708968085226},{"start_region_id":276,"end_region_id":215,"start_point":[610,101],"end_point":[15,967],"distance":1050.7050014157162}],"complexity_score":0.6131702554389146}
{"id":4160,"query_id":"Q00832","question":"A quadcopter drone is currently positioned over a cultivated field with neat rows of crops. It needs to reach a grassy meadow area. The drone can fly over open water surfaces, but must avoid flying directly through dense tree canopies or close to building structures, as these present collision risks. Flying over water also carries some risk if the drone were to experience a failure. The grassy meadow, cultivated fields, and open water are all accessible airspace for the drone. What is the safest flight path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest flight 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":"tulsa_46.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":2,"start_point":[614,982],"end_point":[335,120],"distance":906.0270415390481},{"start_region_id":159,"end_region_id":3,"start_point":[614,982],"end_point":[572,80],"distance":902.9772976105213},{"start_region_id":159,"end_region_id":1,"start_point":[614,982],"end_point":[227,194],"distance":877.9026141890682},{"start_region_id":156,"end_region_id":31,"start_point":[798,343],"end_point":[201,913],"distance":825.414441356583},{"start_region_id":156,"end_region_id":27,"start_point":[798,343],"end_point":[140,770],"distance":784.4061448000009}],"complexity_score":0.6132308641007469}
{"id":4700,"query_id":"Q00940","question":"A quadcopter drone starts from a paved road surface and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The drone can fly over paved surfaces, compacted gravel or dirt areas, open sandy or rocky ground, water bodies, and cultivated fields, but must avoid dense tree clusters and buildings unless they are low enough to fly over safely. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the fastest path for the quadcopter drone to reach the cultivated 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":"tulsa_46.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":159,"start_point":[71,337],"end_point":[614,982],"distance":843.1334413958446},{"start_region_id":98,"end_region_id":156,"start_point":[176,805],"end_point":[798,343],"distance":774.8083634034934},{"start_region_id":85,"end_region_id":156,"start_point":[71,337],"end_point":[798,343],"distance":727.0247588631353},{"start_region_id":80,"end_region_id":159,"start_point":[505,314],"end_point":[614,982],"distance":676.8345440356898},{"start_region_id":98,"end_region_id":159,"start_point":[176,805],"end_point":[614,982],"distance":472.4118965479172}],"complexity_score":0.6132308641007469}
{"id":2303,"query_id":"Q00461","question":"A motorboat is currently floating on a liquid surface and needs to reach another location on a liquid surface. The boat can only travel across liquid surfaces since it requires buoyancy to remain operational. All solid ground, vegetation, and artificial structures are completely impassable for this vessel. What path should the boat take?","agent_category":"Boat","specific_agent":"A motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the fastest route for the motorboat to reach its destination?","task_type":"Fastest","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"chiangmai_3.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":245,"start_point":[1008,67],"end_point":[954,435],"distance":371.9408555133464}],"complexity_score":0.6132810803979878}
{"id":11902,"query_id":"Q02381","question":"A sedan starts from a paved, hard surface area and needs to reach a vehicle lane. The sedan can traverse hard, compacted surfaces like parking lots and sidewalks, as well as loose, sandy or rocky ground without vegetation, and vehicle lanes. The sedan cannot traverse areas with standing liquid, vertical structures, cultivated crops, dense vegetation, or grassy fields. What is the shortest path?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the shortest path for the sedan 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":"chiangmai_3.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":98,"start_point":[751,64],"end_point":[815,489],"distance":429.79181006622264},{"start_region_id":89,"end_region_id":98,"start_point":[845,863],"end_point":[815,489],"distance":375.2012793155162}],"complexity_score":0.6132810803979878}
{"id":520,"query_id":"Q00104","question":"A quadcopter drone is positioned on a hard, artificial surface and needs to fly to a dry, open ground of loose soil and rocks. The drone can fly over all types of terrain including hard surfaces, vehicle lanes, open ground, and areas with trees or structures, though flying through areas with dense vertical obstacles like trees is slower. It can also fly over liquid surfaces. What is the fastest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a dry, open ground of loose soil and rocks","task_description":"What is the fastest flight 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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":1,"start_point":[190,143],"end_point":[895,504],"distance":792.051765985027},{"start_region_id":95,"end_region_id":1,"start_point":[206,221],"end_point":[895,504],"distance":744.8556907213638},{"start_region_id":105,"end_region_id":1,"start_point":[209,281],"end_point":[895,504],"distance":721.3355668480517},{"start_region_id":77,"end_region_id":1,"start_point":[289,117],"end_point":[895,504],"distance":719.0305974018074},{"start_region_id":83,"end_region_id":1,"start_point":[476,72],"end_point":[895,504],"distance":601.8180788244899}],"complexity_score":0.61331663291397}
{"id":543,"query_id":"Q00109","question":"A hiker starts from a paved road and needs to reach a patch of loose, sandy ground. The hiker can walk on paved surfaces, compacted artificial surfaces, and natural rocky or sandy areas without vegetation. The hiker can also pass through areas with individual trees or small groups of trees, as long as there is enough space between them to walk through. However, the hiker cannot enter any structures or cross any water bodies. What is the shortest path to reach the sandy ground?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Road","end_land_type":"Bareland","task_description":"What is the shortest path to reach the sandy ground?","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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":1,"start_point":[38,163],"end_point":[895,504],"distance":922.3502588496411},{"start_region_id":150,"end_region_id":1,"start_point":[222,798],"end_point":[895,504],"distance":734.4147329676877},{"start_region_id":148,"end_region_id":1,"start_point":[450,591],"end_point":[895,504],"distance":453.4247456855437},{"start_region_id":143,"end_region_id":1,"start_point":[513,251],"end_point":[895,504],"distance":458.1844606705906},{"start_region_id":147,"end_region_id":1,"start_point":[652,639],"end_point":[895,504],"distance":277.98201380664904}],"complexity_score":0.61331663291397}
{"id":8312,"query_id":"Q01663","question":"A quadcopter starts from a sandy, open area and needs to fly to a region covered with grass and bushes. The environment includes only dry, solid ground and low vegetation; water, trees, and structures are to be avoided for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the safest flight path for the quadcopter?","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_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":43,"start_point":[895,504],"end_point":[58,518],"distance":837.1170766386265},{"start_region_id":1,"end_region_id":10,"start_point":[895,504],"end_point":[222,39],"distance":818.0183372027793},{"start_region_id":1,"end_region_id":55,"start_point":[895,504],"end_point":[128,730],"distance":799.603026507529},{"start_region_id":1,"end_region_id":16,"start_point":[895,504],"end_point":[314,188],"distance":661.3750826875776},{"start_region_id":1,"end_region_id":34,"start_point":[895,504],"end_point":[313,432],"distance":586.436697351044}],"complexity_score":0.61331663291397}
{"id":8321,"query_id":"Q01665","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy, shrub-covered area. The hiker can traverse loose, sandy ground; grassy, shrub-covered areas; and hard, paved surfaces. However, the hiker cannot cross water bodies, enter buildings, walk through dense tree stands, or traverse cultivated crop fields. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a grassy, shrub-covered 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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":43,"start_point":[895,504],"end_point":[58,518],"distance":837.1170766386265},{"start_region_id":1,"end_region_id":10,"start_point":[895,504],"end_point":[222,39],"distance":818.0183372027793},{"start_region_id":1,"end_region_id":55,"start_point":[895,504],"end_point":[128,730],"distance":799.603026507529},{"start_region_id":1,"end_region_id":16,"start_point":[895,504],"end_point":[314,188],"distance":661.3750826875776},{"start_region_id":1,"end_region_id":34,"start_point":[895,504],"end_point":[313,432],"distance":586.436697351044}],"complexity_score":0.61331663291397}
{"id":9234,"query_id":"Q01847","question":"An off-road vehicle starts from an uneven, rocky terrain and needs to reach a field with low vegetation. Your vehicle can traverse hard paved surfaces like roads and parking areas, as well as natural ground surfaces that are firm and relatively flat. The natural ground surfaces include rocky terrain, fields with low vegetation, and cultivated agricultural areas. You cannot drive through areas with dense trees, cross any water bodies, or enter any buildings. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"field with low vegetation","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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":43,"start_point":[895,504],"end_point":[58,518],"distance":837.1170766386265},{"start_region_id":1,"end_region_id":10,"start_point":[895,504],"end_point":[222,39],"distance":818.0183372027793},{"start_region_id":1,"end_region_id":55,"start_point":[895,504],"end_point":[128,730],"distance":799.603026507529},{"start_region_id":1,"end_region_id":16,"start_point":[895,504],"end_point":[314,188],"distance":661.3750826875776},{"start_region_id":1,"end_region_id":34,"start_point":[895,504],"end_point":[313,432],"distance":586.436697351044}],"complexity_score":0.61331663291397}
{"id":11581,"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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":1,"start_point":[190,143],"end_point":[895,504],"distance":792.051765985027},{"start_region_id":95,"end_region_id":1,"start_point":[206,221],"end_point":[895,504],"distance":744.8556907213638},{"start_region_id":105,"end_region_id":1,"start_point":[209,281],"end_point":[895,504],"distance":721.3355668480517},{"start_region_id":77,"end_region_id":1,"start_point":[289,117],"end_point":[895,504],"distance":719.0305974018074},{"start_region_id":138,"end_region_id":1,"start_point":[663,950],"end_point":[895,504],"distance":502.7325332619722}],"complexity_score":0.61331663291397}
{"id":13089,"query_id":"Q02618","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to reach another patch of similar loose, sandy ground. The drone can fly over any terrain except for areas with dense vertical obstacles like tall, closely-packed structures or thick canopies. It must avoid any liquid surfaces that could cause signal interference or corrosion. The drone's path must also avoid any cultivated fields with tall crops that could entangle its rotors. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground.","end_land_type":"The destination is another patch of similar loose, sandy 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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[1016,113],"end_point":[820,948],"distance":857.6951672943015}],"complexity_score":0.61331663291397}
{"id":14304,"query_id":"Q02861","question":"A quadcopter drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a paved, hard surface lane as quickly as possible. The drone can fly over liquid areas, but must avoid any tall, dense vertical obstacles like 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, dry soil and scattered rocks","end_land_type":"a paved, hard surface lane","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":"san_tome_19.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":145,"start_point":[895,504],"end_point":[38,163],"distance":922.3502588496411},{"start_region_id":1,"end_region_id":150,"start_point":[895,504],"end_point":[222,798],"distance":734.4147329676877},{"start_region_id":1,"end_region_id":148,"start_point":[895,504],"end_point":[450,591],"distance":453.4247456855437},{"start_region_id":1,"end_region_id":143,"start_point":[895,504],"end_point":[513,251],"distance":458.1844606705906},{"start_region_id":1,"end_region_id":147,"start_point":[895,504],"end_point":[652,639],"distance":277.98201380664904}],"complexity_score":0.61331663291397}
{"id":5707,"query_id":"Q01142","question":"An off-road vehicle starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, paved area. The terrain includes only grassy, uneven ground with scattered shrubs and flat, paved surfaces; all other surfaces, such as water bodies, buildings, bare sand or rocks, agricultural fields, trees, and roads, are not traversable due to safety hazards or physical barriers. The off-road vehicle must find a path that minimizes risk.","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, paved area","task_description":"What is the safest path for the off-road vehicle to take?","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":"chincha_6.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":90,"start_point":[785,627],"end_point":[412,903],"distance":464.00969817451016},{"start_region_id":51,"end_region_id":69,"start_point":[206,831],"end_point":[169,503],"distance":330.0802932621092},{"start_region_id":38,"end_region_id":90,"start_point":[642,635],"end_point":[412,903],"distance":353.16285195359944},{"start_region_id":21,"end_region_id":69,"start_point":[448,246],"end_point":[169,503],"distance":379.3283538044579}],"complexity_score":0.6134256562586092}
{"id":10934,"query_id":"Q02187","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a paved area with a hard, flat surface. The terrain includes loose, sandy ground; grassy, uneven fields; compacted, stable surfaces; vehicle lanes; and planted crop areas. You cannot travel through dense vegetation clusters, liquid bodies, or vertical structures. What is the shortest route to your destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved 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":"chincha_6.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":86,"start_point":[997,44],"end_point":[90,870],"distance":1226.7538465397204},{"start_region_id":219,"end_region_id":86,"start_point":[893,135],"end_point":[90,870],"distance":1088.592669459059},{"start_region_id":218,"end_region_id":90,"start_point":[997,44],"end_point":[412,903],"distance":1039.2814825637952},{"start_region_id":216,"end_region_id":86,"start_point":[599,68],"end_point":[90,870],"distance":949.8868353651397},{"start_region_id":218,"end_region_id":69,"start_point":[997,44],"end_point":[169,503],"distance":946.7127336209227}],"complexity_score":0.6134256562586092}
{"id":856,"query_id":"Q00172","question":"An off-road vehicle 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, buildings, or roads are accessible. The off-road vehicle can traverse grassy and shrubby open areas and cultivated fields due to its high clearance and all-terrain tires, but must avoid trees, water bodies, buildings, and roads. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"cultivated fields","end_land_type":"paved area","task_description":"What is the shortest path for the off-road vehicle 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":"kyoto_67.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":64,"start_point":[959,551],"end_point":[837,793],"distance":271.01291482141585}],"complexity_score":0.6134319572935203}
{"id":3761,"query_id":"Q00753","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 loose earth and rocks without vegetation, patches of wild grass and shrubs, hard artificial surfaces like sidewalks and parking lots, individual trees or groups of trees, and the cultivated fields themselves. All these surfaces are accessible for traversal. 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":["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_67.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":75,"start_point":[959,551],"end_point":[507,104],"distance":635.6988280624718},{"start_region_id":167,"end_region_id":73,"start_point":[965,107],"end_point":[569,589],"distance":623.810868773541},{"start_region_id":178,"end_region_id":75,"start_point":[814,609],"end_point":[507,104],"distance":590.9940778045072},{"start_region_id":168,"end_region_id":73,"start_point":[884,154],"end_point":[569,589],"distance":537.0754136990447},{"start_region_id":170,"end_region_id":75,"start_point":[961,333],"end_point":[507,104],"distance":508.4850046953204}],"complexity_score":0.6134319572935203}
{"id":5006,"query_id":"Q01002","question":"A hiker is standing in a cultivated field with loose, tilled soil. They need to reach a paved street. The only surfaces available for travel are: hard, flat paved surfaces; compacted, stable artificial surfaces like parking lots or sidewalks; and cultivated fields with loose soil. What is the shortest path to the street?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the shortest path from the cultivated field to the paved street?","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":"kyoto_67.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":75,"start_point":[959,551],"end_point":[507,104],"distance":635.6988280624718},{"start_region_id":167,"end_region_id":73,"start_point":[965,107],"end_point":[569,589],"distance":623.810868773541},{"start_region_id":178,"end_region_id":75,"start_point":[814,609],"end_point":[507,104],"distance":590.9940778045072},{"start_region_id":168,"end_region_id":73,"start_point":[884,154],"end_point":[569,589],"distance":537.0754136990447},{"start_region_id":170,"end_region_id":75,"start_point":[961,333],"end_point":[507,104],"distance":508.4850046953204}],"complexity_score":0.6134319572935203}
{"id":323,"query_id":"Q00065","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, liquid bodies, cultivated fields, and vertical obstacles, but it must avoid dense overhead vegetation that could entangle its rotors. What is the shortest path?","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?","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":"khartoum_34.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":15,"start_point":[38,100],"end_point":[488,568],"distance":649.2487966873716}],"complexity_score":0.6134624817533616}
{"id":4605,"query_id":"Q00921","question":"A hiker starts from a paved walkway and needs to reach a vehicle lane. The hiker can only travel on hard, stable surfaces that provide good traction and predictable footing. Vegetated areas with tall vertical obstacles are not allowed due to potential tripping hazards and poor visibility. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved walkway","end_land_type":"vehicle lane","task_description":"What is the safest path to reach the 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":"khartoum_34.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":15,"start_point":[38,611],"end_point":[322,318],"distance":408.0502420045845},{"start_region_id":4,"end_region_id":15,"start_point":[52,40],"end_point":[322,318],"distance":387.5358047974406},{"start_region_id":11,"end_region_id":15,"start_point":[191,607],"end_point":[322,318],"distance":317.3042703778189},{"start_region_id":10,"end_region_id":15,"start_point":[502,603],"end_point":[322,318],"distance":337.08307581366347},{"start_region_id":5,"end_region_id":15,"start_point":[360,33],"end_point":[322,318],"distance":287.52217305800957}],"complexity_score":0.6134624817533616}
{"id":9475,"query_id":"Q01895","question":"A surveillance drone starts from a paved landing pad and needs to reach another paved landing pad. The drone can fly over liquid surfaces, loose soil areas, and cultivated fields, but must avoid vertical obstacles like trees and structures. The drone cannot pass through dense vegetation or man-made vertical structures. What is the safest path for the surveillance drone to take?","agent_category":"Drone","specific_agent":"A surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","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":"khartoum_34.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":15,"start_point":[182,96],"end_point":[633,642],"distance":708.1786497770178}],"complexity_score":0.6134624817533616}
{"id":13384,"query_id":"Q02677","question":"An aerial photography drone starts from a paved lane and needs to reach a flat artificial surface while maintaining stable flight. The drone can fly over open grassy areas, hard paved surfaces, liquid bodies, and cultivated fields, but must avoid areas with tall vertical obstacles. The drone prioritizes smooth, predictable flight paths to prevent camera shake and ensure stable footage.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved lane","end_land_type":"flat artificial 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":"khartoum_34.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":12,"start_point":[322,318],"end_point":[38,611],"distance":408.0502420045845},{"start_region_id":15,"end_region_id":4,"start_point":[322,318],"end_point":[52,40],"distance":387.5358047974406},{"start_region_id":15,"end_region_id":11,"start_point":[322,318],"end_point":[191,607],"distance":317.3042703778189},{"start_region_id":15,"end_region_id":10,"start_point":[322,318],"end_point":[502,603],"distance":337.08307581366347},{"start_region_id":15,"end_region_id":5,"start_point":[322,318],"end_point":[360,33],"distance":287.52217305800957}],"complexity_score":0.6134624817533616}
{"id":6305,"query_id":"Q01261","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 various surfaces including loose, sandy or rocky ground; grassy or shrub-covered terrain; other paved or compacted areas; vehicle lanes; liquid bodies; and cultivated fields. However, it must avoid flying directly through dense vertical obstacles like tall vegetation clusters or man-made structures. What is the shortest 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 shortest path for the aerial survey drone to reach the destination 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":"dolnoslaskie_28.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":46,"start_point":[737,354],"end_point":[857,929],"distance":587.3882872512867},{"start_region_id":46,"end_region_id":28,"start_point":[857,929],"end_point":[737,354],"distance":587.3882872512867},{"start_region_id":46,"end_region_id":29,"start_point":[857,929],"end_point":[765,358],"distance":578.3640721898275},{"start_region_id":29,"end_region_id":46,"start_point":[765,358],"end_point":[857,929],"distance":578.3640721898275}],"complexity_score":0.61346989233259}
{"id":3502,"query_id":"Q00701","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster. The drone must avoid any liquid surfaces entirely, as they pose a risk of water damage and signal interference. It must also avoid all vertical man-made structures, as they present collision hazards and potential signal blockage. The drone can traverse open areas with loose soil or rocks, grassy or shrub-covered terrain, paved or compacted surfaces, vehicle lanes, cultivated fields, and the tall vegetation clusters themselves, but must minimize risk by prioritizing terrain that offers clear visibility, stable flight conditions, and minimal interference. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","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":"maputo_15.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":279,"end_region_id":202,"start_point":[602,789],"end_point":[687,287],"distance":509.14536234753234},{"start_region_id":202,"end_region_id":279,"start_point":[687,287],"end_point":[602,789],"distance":509.14536234753234},{"start_region_id":279,"end_region_id":221,"start_point":[602,789],"end_point":[833,396],"distance":455.8618211695294},{"start_region_id":221,"end_region_id":279,"start_point":[833,396],"end_point":[602,789],"distance":455.8618211695294},{"start_region_id":258,"end_region_id":221,"start_point":[498,642],"end_point":[833,396],"distance":415.62122178733847}],"complexity_score":0.6135923610506743}
{"id":5574,"query_id":"Q01115","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The path must avoid any soft, uneven, or unstable ground, and must only use surfaces that are firm, predictable, and provide good traction for walking. Which route minimizes risk?","agent_category":"Pedestrian","specific_agent":"A person walking","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":[0,0,2,1,0,0,0,0],"image_name":"maputo_15.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":160,"start_point":[47,971],"end_point":[676,688],"distance":689.7318319463008},{"start_region_id":90,"end_region_id":160,"start_point":[95,790],"end_point":[676,688],"distance":589.8855821258899},{"start_region_id":19,"end_region_id":158,"start_point":[759,207],"end_point":[433,615],"distance":522.2451531608504},{"start_region_id":113,"end_region_id":160,"start_point":[246,918],"end_point":[676,688],"distance":487.64741360946437},{"start_region_id":121,"end_region_id":158,"start_point":[47,971],"end_point":[433,615],"distance":525.1018948737474}],"complexity_score":0.6135923610506743}
{"id":7236,"query_id":"Q01448","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach a cluster of tall trees. The drone can fly over open sandy or rocky ground, paved hard surfaces like sidewalks or parking lots, and the cultivated field itself, but must avoid liquid areas and vertical structures like buildings. To ensure a smooth and stable flight, the drone should prioritize terrains that minimize turbulence and vibration, such as open ground and hard surfaces, while being cautious around trees which may cause instability due to branches and leaves. What is the most comfortable 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 cluster of tall trees","task_description":"What is the most comfortable path for the 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":"dortmund_24.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":435,"start_point":[924,45],"end_point":[51,884],"distance":1210.8055170009757},{"start_region_id":470,"end_region_id":435,"start_point":[979,120],"end_point":[51,884],"distance":1202.0316135609746},{"start_region_id":469,"end_region_id":441,"start_point":[924,45],"end_point":[210,894],"distance":1109.3227663759542},{"start_region_id":470,"end_region_id":441,"start_point":[979,120],"end_point":[210,894],"distance":1091.0714916997877},{"start_region_id":470,"end_region_id":413,"start_point":[979,120],"end_point":[146,652],"distance":988.3890934242445}],"complexity_score":0.6136198916062782}
{"id":9726,"query_id":"Q01946","question":"An aerial survey drone starts from a flat, cultivated field with soft soil and needs to reach a tall, leafy canopy with dense branches. The drone must maintain stable flight and avoid vibrations. You can only use these surfaces: loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved or compacted artificial surfaces; tall vegetation with vertical structure; liquid bodies; and cultivated fields. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Tree","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":"dortmund_24.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":435,"start_point":[924,45],"end_point":[51,884],"distance":1210.8055170009757},{"start_region_id":470,"end_region_id":435,"start_point":[979,120],"end_point":[51,884],"distance":1202.0316135609746},{"start_region_id":469,"end_region_id":441,"start_point":[924,45],"end_point":[210,894],"distance":1109.3227663759542},{"start_region_id":470,"end_region_id":441,"start_point":[979,120],"end_point":[210,894],"distance":1091.0714916997877},{"start_region_id":470,"end_region_id":413,"start_point":[979,120],"end_point":[146,652],"distance":988.3890934242445}],"complexity_score":0.6136198916062782}
{"id":12551,"query_id":"Q02511","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes hard, flat surfaces like sidewalks and paved roads, as well as soft, vegetated areas. However, you cannot cross any water bodies or enter any buildings. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest route from the cultivated field to the grassy meadow?","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":"dortmund_24.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":143,"start_point":[924,45],"end_point":[63,780],"distance":1132.0538856432586},{"start_region_id":470,"end_region_id":143,"start_point":[979,120],"end_point":[63,780],"distance":1129.0066430274005},{"start_region_id":469,"end_region_id":169,"start_point":[924,45],"end_point":[411,935],"distance":1027.2628680138303},{"start_region_id":470,"end_region_id":169,"start_point":[979,120],"end_point":[411,935],"distance":993.402738067497},{"start_region_id":470,"end_region_id":85,"start_point":[979,120],"end_point":[78,438],"distance":955.4710879979572}],"complexity_score":0.6136198916062782}
{"id":14931,"query_id":"Q02987","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow. The terrain includes areas of loose earth and rocks without vegetation, patches of low bushes and wild grasses, hard paved surfaces like sidewalks and parking lots, individual trees or groups of trees with visible trunks and canopies, and the cultivated fields themselves. However, all water bodies such as rivers and lakes are completely impassable, and all structures like houses and buildings are strictly blocked. What is the shortest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","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_24.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":469,"end_region_id":143,"start_point":[924,45],"end_point":[63,780],"distance":1132.0538856432586},{"start_region_id":470,"end_region_id":143,"start_point":[979,120],"end_point":[63,780],"distance":1129.0066430274005},{"start_region_id":469,"end_region_id":169,"start_point":[924,45],"end_point":[411,935],"distance":1027.2628680138303},{"start_region_id":470,"end_region_id":169,"start_point":[979,120],"end_point":[411,935],"distance":993.402738067497},{"start_region_id":470,"end_region_id":85,"start_point":[979,120],"end_point":[78,438],"distance":955.4710879979572}],"complexity_score":0.6136198916062782}
{"id":1239,"query_id":"Q00248","question":"A hiker starts from a paved road and needs to reach a cultivated field. The terrain includes grassy areas and loose soil, but you can walk on them. You cannot cross water bodies or buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","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","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_23.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":265,"start_point":[902,101],"end_point":[33,961],"distance":1222.604187789327},{"start_region_id":123,"end_region_id":263,"start_point":[902,101],"end_point":[49,798],"distance":1101.5525407351208},{"start_region_id":122,"end_region_id":265,"start_point":[818,242],"end_point":[33,961],"distance":1064.512094811515},{"start_region_id":123,"end_region_id":264,"start_point":[902,101],"end_point":[417,945],"distance":973.4274497876048},{"start_region_id":122,"end_region_id":263,"start_point":[818,242],"end_point":[49,798],"distance":948.9452038974642}],"complexity_score":0.6136547478578436}
{"id":9729,"query_id":"Q01946","question":"An aerial survey drone starts from a flat, cultivated field with soft soil and needs to reach a tall, leafy canopy with dense branches. The drone must maintain stable flight and avoid vibrations. You can only use these surfaces: loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved or compacted artificial surfaces; tall vegetation with vertical structure; liquid bodies; and cultivated fields. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Tree","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":"muenster_23.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":164,"start_point":[33,961],"end_point":[669,81],"distance":1085.769773018203},{"start_region_id":265,"end_region_id":240,"start_point":[33,961],"end_point":[905,572],"distance":954.8324460343815},{"start_region_id":263,"end_region_id":164,"start_point":[49,798],"end_point":[669,81],"distance":947.8865965926515},{"start_region_id":265,"end_region_id":222,"start_point":[33,961],"end_point":[775,411],"distance":923.6146382555876},{"start_region_id":264,"end_region_id":160,"start_point":[417,945],"end_point":[96,99],"distance":904.8519215871733}],"complexity_score":0.6136547478578436}
{"id":12552,"query_id":"Q02511","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes hard, flat surfaces like sidewalks and paved roads, as well as soft, vegetated areas. However, you cannot cross any water bodies or enter any buildings. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest route from the cultivated field to the grassy meadow?","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":"muenster_23.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":3,"start_point":[33,961],"end_point":[707,63],"distance":1122.8000712504431},{"start_region_id":265,"end_region_id":31,"start_point":[33,961],"end_point":[926,516],"distance":997.7344336044537},{"start_region_id":263,"end_region_id":3,"start_point":[49,798],"end_point":[707,63],"distance":986.5034211800788},{"start_region_id":264,"end_region_id":3,"start_point":[417,945],"end_point":[707,63],"distance":928.4524758973935},{"start_region_id":263,"end_region_id":31,"start_point":[49,798],"end_point":[926,516],"distance":921.2236427708528}],"complexity_score":0.6136547478578436}
{"id":14821,"query_id":"Q02965","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with similar soft soil. The terrain includes rough, loose ground composed of sand or rocks, and paved lanes. You must avoid any areas with water bodies or buildings, as they are impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","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","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_23.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":263,"start_point":[417,945],"end_point":[49,798],"distance":396.27389517857466},{"start_region_id":263,"end_region_id":264,"start_point":[49,798],"end_point":[417,945],"distance":396.27389517857466},{"start_region_id":264,"end_region_id":265,"start_point":[417,945],"end_point":[33,961],"distance":384.33318878285803},{"start_region_id":265,"end_region_id":264,"start_point":[33,961],"end_point":[417,945],"distance":384.33318878285803}],"complexity_score":0.6136547478578436}
{"id":568,"query_id":"Q00114","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a dry, sandy area without vegetation. The hiker can traverse paved surfaces, vehicle lanes, and areas with loose soil or rocks, but cannot cross water bodies or enter structures. The hiker can also walk through areas with trees and shrubs, though these may slow movement slightly. 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 dry, sandy area without vegetation","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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":1,"start_point":[237,915],"end_point":[354,16],"distance":906.5814910971876},{"start_region_id":122,"end_region_id":1,"start_point":[364,933],"end_point":[354,16],"distance":917.0545240060702},{"start_region_id":115,"end_region_id":2,"start_point":[237,915],"end_point":[716,183],"distance":874.7942615266746},{"start_region_id":122,"end_region_id":2,"start_point":[364,933],"end_point":[716,183],"distance":828.4950211075502},{"start_region_id":81,"end_region_id":1,"start_point":[877,635],"end_point":[354,16],"distance":810.364115691212}],"complexity_score":0.613702086158106}
{"id":7161,"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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[716,183],"end_point":[354,16],"distance":398.6640189432701},{"start_region_id":1,"end_region_id":2,"start_point":[354,16],"end_point":[716,183],"distance":398.6640189432701}],"complexity_score":0.613702086158106}
{"id":8242,"query_id":"Q01649","question":"A quadcopter drone starts from a point above exposed, loose-soil ground and needs to reach another point above similar exposed, loose-soil ground. The drone can fly over firm artificial surfaces, grassy areas, and loose-soil terrain. However, vertical structures and dense vegetation are prohibited due to flight regulations. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"exposed, loose-soil ground","end_land_type":"exposed, loose-soil ground","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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[716,183],"end_point":[354,16],"distance":398.6640189432701},{"start_region_id":1,"end_region_id":2,"start_point":[354,16],"end_point":[716,183],"distance":398.6640189432701}],"complexity_score":0.613702086158106}
{"id":9229,"query_id":"Q01846","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy area with scattered shrubs. You can only traverse surfaces that are either hard and paved, or natural ground surfaces that are firm enough to support foot traffic. The hard paved surfaces include sidewalks, parking lots, and similar constructed areas. Natural ground surfaces include loose sandy areas, grassy areas with shrubs, and cultivated fields with crops. You cannot cross any water bodies or enter any buildings. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy area with scattered shrubs","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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":40,"start_point":[354,16],"end_point":[815,908],"distance":1004.0841598192852},{"start_region_id":1,"end_region_id":52,"start_point":[354,16],"end_point":[631,979],"distance":1002.0469050897767},{"start_region_id":1,"end_region_id":39,"start_point":[354,16],"end_point":[963,762],"distance":963.0145377926546},{"start_region_id":2,"end_region_id":42,"start_point":[716,183],"end_point":[33,849],"distance":953.9627875341889},{"start_region_id":1,"end_region_id":42,"start_point":[354,16],"end_point":[33,849],"distance":892.7093591981659}],"complexity_score":0.613702086158106}
{"id":9310,"query_id":"Q01862","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a destination on rough, loose ground. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over liquid surfaces, but these may cause minor turbulence. It can also fly over cultivated fields with low vegetation, which provide moderate stability. However, it must avoid flying directly through dense vertical obstacles like trees or solid structures, as these require careful navigation and could cause discomfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"rough, loose ground","task_description":"What is the most comfortable path for the aerial survey drone to reach the destination on rough, loose ground from the paved, hard 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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":1,"start_point":[225,890],"end_point":[354,16],"distance":883.4687317613453},{"start_region_id":135,"end_region_id":2,"start_point":[225,890],"end_point":[716,183],"distance":860.7729084956147},{"start_region_id":134,"end_region_id":1,"start_point":[525,241],"end_point":[354,16],"distance":282.6057324259365},{"start_region_id":134,"end_region_id":2,"start_point":[525,241],"end_point":[716,183],"distance":199.6121238802894}],"complexity_score":0.613702086158106}
{"id":13139,"query_id":"Q02628","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, hard-surfaced area with artificial pavement. The drone can fly over open sandy areas, hard paved surfaces, vehicle lanes, cultivated fields with low vegetation, and water bodies. It can also navigate around vertical structures if necessary, but must avoid dense clusters of tall vegetation that could entangle its rotors. The drone's primary concern is minimizing the risk of collision, loss of control, or damage. What is the safest path for the drone to take?","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-surfaced area with artificial pavement.","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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":115,"start_point":[354,16],"end_point":[237,915],"distance":906.5814910971876},{"start_region_id":1,"end_region_id":122,"start_point":[354,16],"end_point":[364,933],"distance":917.0545240060702},{"start_region_id":2,"end_region_id":115,"start_point":[716,183],"end_point":[237,915],"distance":874.7942615266746},{"start_region_id":2,"end_region_id":122,"start_point":[716,183],"end_point":[364,933],"distance":828.4950211075502},{"start_region_id":1,"end_region_id":81,"start_point":[354,16],"end_point":[877,635],"distance":810.364115691212}],"complexity_score":0.613702086158106}
{"id":17440,"query_id":"Q03488","question":"An aerial surveillance drone begins its mission on a paved, hard surface and needs to reach an open, dry area of loose earth and rocks. The drone can fly over areas with low vegetation, bodies of liquid, and vertical obstacles like tall structures, but these present varying levels of risk. The paved surface and the open, dry area are both safe for operation. The drone must avoid any terrain that could cause a crash 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":"paved, hard surface","end_land_type":"open, dry area of loose earth and rocks","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":"tonga_2.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":1,"start_point":[225,890],"end_point":[354,16],"distance":883.4687317613453},{"start_region_id":135,"end_region_id":2,"start_point":[225,890],"end_point":[716,183],"distance":860.7729084956147},{"start_region_id":134,"end_region_id":1,"start_point":[525,241],"end_point":[354,16],"distance":282.6057324259365},{"start_region_id":134,"end_region_id":2,"start_point":[525,241],"end_point":[716,183],"distance":199.6121238802894}],"complexity_score":0.613702086158106}
{"id":4066,"query_id":"Q00814","question":"A delivery drone starts from a densely vegetated area with tall, woody plants and needs to reach a cultivated field with planted crops. You are piloting a delivery drone seeking the most comfortable route. The terrain includes loose, sandy or rocky ground without vegetation; open areas with natural grasses and shrubs; hard, artificial surfaces like sidewalks and parking lots; paved lanes used by vehicles; densely wooded areas; and soft, tilled soil used for growing plants. However, you must avoid flying over any liquid surfaces or through any structures. Which path provides the most comfortable journey?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a cultivated field with planted crops","task_description":"Which path provides the most comfortable journey?","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":"duesseldorf_50.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":143,"start_point":[228,45],"end_point":[819,876],"distance":1019.7264339027404},{"start_region_id":71,"end_region_id":143,"start_point":[289,69],"end_point":[819,876],"distance":965.4786377750675},{"start_region_id":123,"end_region_id":139,"start_point":[290,954],"end_point":[515,62],"distance":919.9396719350677},{"start_region_id":93,"end_region_id":143,"start_point":[156,260],"end_point":[819,876],"distance":905.0},{"start_region_id":112,"end_region_id":140,"start_point":[22,705],"end_point":[744,230],"distance":864.238971581356}],"complexity_score":0.6137979262010937}
{"id":4725,"query_id":"Q00945","question":"An agricultural drone starts from flat paved ground and needs to reach cultivated terrain. The drone can fly over paved surfaces, vehicle lanes, cultivated terrain, and open ground, but must avoid dense vegetation clusters and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"An agricultural drone","start_land_type":"flat paved ground","end_land_type":"cultivated terrain","task_description":"What is the shortest path from the flat paved ground to the cultivated terrain?","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_50.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":143,"start_point":[87,221],"end_point":[819,876],"distance":982.2672752362262},{"start_region_id":55,"end_region_id":139,"start_point":[492,954],"end_point":[515,62],"distance":892.2964753936889},{"start_region_id":54,"end_region_id":139,"start_point":[753,909],"end_point":[515,62],"distance":879.8028188179441},{"start_region_id":51,"end_region_id":139,"start_point":[198,829],"end_point":[515,62],"distance":829.9265027699741},{"start_region_id":35,"end_region_id":143,"start_point":[573,102],"end_point":[819,876],"distance":812.1526950026085}],"complexity_score":0.6137979262010937}
{"id":7600,"query_id":"Q01520","question":"A quadcopter drone starts from a paved surface adjacent to a water body and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces, but liquid areas may cause discomfort due to spray or turbulence, and vertical obstacles like trees or buildings are blocked. The objective is to find the most comfortable path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface adjacent to a water body","end_land_type":"A cultivated field with soft, tilled soil","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":"duesseldorf_50.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":143,"start_point":[99,99],"end_point":[819,876],"distance":1059.305904826363},{"start_region_id":66,"end_region_id":140,"start_point":[60,702],"end_point":[744,230],"distance":831.0475317332938},{"start_region_id":66,"end_region_id":139,"start_point":[60,702],"end_point":[515,62],"distance":785.2547357386646},{"start_region_id":57,"end_region_id":142,"start_point":[99,99],"end_point":[661,643],"distance":782.1636657375489},{"start_region_id":66,"end_region_id":143,"start_point":[60,702],"end_point":[819,876],"distance":778.6892833473439}],"complexity_score":0.6137979262010937}
{"id":8158,"query_id":"Q01632","question":"A farm truck is currently in a cultivated field with loose, plowed soil and needs to reach a paved lane. The truck can traverse the field because it has high clearance and off-road tires suitable for soft, uneven ground. However, the paved lane is the only other traversable surface available, as all other terrain types—such as water bodies, vertical structures, dense vegetation, and natural sandy or rocky areas—are either physically impassable or blocked for this vehicle. What is the fastest path for the farm truck to take?","agent_category":"Car","specific_agent":"a farm truck","start_land_type":"a cultivated field with loose, plowed soil","end_land_type":"a paved lane","task_description":"What is the fastest path for the farm truck 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":"duesseldorf_50.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":67,"start_point":[819,876],"end_point":[325,844],"distance":495.0353522729463}],"complexity_score":0.6137979262010937}
{"id":171,"query_id":"Q00035","question":"An aerial drone starts from a dry, sandy area with loose soil and scattered rocks, and need to reach a cultivated field with planted crops. The aerial drone can fly over open water surfaces, grassy or shrub-covered terrain, and the planted crop fields. However, it must avoid any areas with tall, dense vegetation or vertical structures that could obstruct flight. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks","end_land_type":"and need to reach a cultivated field with planted crops","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":197,"start_point":[241,330],"end_point":[351,509],"distance":210.09759636892565}],"complexity_score":0.6138274340100972}
{"id":3203,"query_id":"Q00641","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground while prioritizing safety. The terrain consists of two types of surfaces: loose, sandy ground and areas covered with low, dry vegetation. The drone must avoid all other surfaces including paved areas, roads, water bodies, buildings, trees, and cultivated fields. The loose, sandy ground is traversable by air. The low, dry vegetation areas are traversable by air. What is the safest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[305,210],"end_point":[108,438],"distance":301.3187680845652}],"complexity_score":0.6138274340100972}
{"id":4592,"query_id":"Q00919","question":"A hiker starts on a paved walkway and needs to reach a destination on a sandy patch. The hiker can use paved walkways and vehicle lanes, but cannot enter liquid areas or vertical structures. The hiker can also cross cultivated fields, grassy areas, and areas with scattered trees if needed, though these may be slower. What is the fastest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved walkway","end_land_type":"sandy patch","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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":1,"start_point":[952,954],"end_point":[241,330],"distance":945.9899576633993},{"start_region_id":64,"end_region_id":1,"start_point":[826,827],"end_point":[241,330],"distance":767.6157893112934},{"start_region_id":45,"end_region_id":1,"start_point":[967,226],"end_point":[241,330],"distance":733.411207986352},{"start_region_id":57,"end_region_id":1,"start_point":[935,456],"end_point":[241,330],"distance":705.345305506459},{"start_region_id":42,"end_region_id":1,"start_point":[890,96],"end_point":[241,330],"distance":689.8963690294362}],"complexity_score":0.6138274340100972}
{"id":7351,"query_id":"Q01471","question":"A quadcopter starts from a crop-covered plot with low vegetation and needs to reach exposed, sandy ground. The environment includes hard, artificial surfaces, areas with tall trees, and cultivated lands. All surfaces are accessible except that trees may obstruct flight if too dense. What is the shortest route to the target?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"crop-covered plot","end_land_type":"exposed, sandy ground","task_description":"What is the shortest route to the target?","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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":1,"start_point":[990,772],"end_point":[241,330],"distance":869.6924743839054},{"start_region_id":200,"end_region_id":1,"start_point":[613,677],"end_point":[241,330],"distance":508.71701367263114},{"start_region_id":199,"end_region_id":1,"start_point":[50,419],"end_point":[241,330],"distance":210.71782079359116},{"start_region_id":197,"end_region_id":1,"start_point":[351,509],"end_point":[241,330],"distance":210.09759636892565}],"complexity_score":0.6138274340100972}
{"id":7974,"query_id":"Q01595","question":"An aerial surveillance drone starts from a cultivated field and needs to reach exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions, and should minimize flight over liquid surfaces due to potential signal interference and splash hazards. The drone can traverse open areas with loose soil, flat paved surfaces, and cultivated vegetation. 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":"exposed rocky ground","task_description":"What is the safest path to reach the destination?","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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":1,"start_point":[990,772],"end_point":[241,330],"distance":869.6924743839054},{"start_region_id":200,"end_region_id":1,"start_point":[613,677],"end_point":[241,330],"distance":508.71701367263114},{"start_region_id":199,"end_region_id":1,"start_point":[50,419],"end_point":[241,330],"distance":210.71782079359116}],"complexity_score":0.6138274340100972}
{"id":8983,"query_id":"Q01797","question":"An aerial surveillance drone is deployed from a grassy, vegetated area with low bushes and scattered patches of soil. It needs to reach an open, dry area of exposed earth and loose sand for a landing site. The drone's flight path must prioritize safety by avoiding any tall, dense vegetation or vertical structures that could cause collisions. It can fly over flat, open surfaces like paved areas, vehicle lanes, and water bodies, but must steer clear of any areas with tall trees or buildings. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A grassy, vegetated area with low bushes and scattered patches of soil.","end_land_type":"An open, dry area of exposed earth and loose sand.","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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":1,"start_point":[915,531],"end_point":[241,330],"distance":703.3327804105252},{"start_region_id":15,"end_region_id":1,"start_point":[547,440],"end_point":[241,330],"distance":325.17072438951203},{"start_region_id":3,"end_region_id":1,"start_point":[304,76],"end_point":[241,330],"distance":261.69638897011936},{"start_region_id":22,"end_region_id":1,"start_point":[147,563],"end_point":[241,330],"distance":251.24689052802225}],"complexity_score":0.6138274340100972}
{"id":11392,"query_id":"Q02279","question":"An off-road vehicle starts from an area of loose, sandy soil with exposed rocks and no plant growth and needs to reach a cultivated agricultural area with planted rows and tilled earth. The off-road vehicle can drive across the loose sandy ground, can travel through grassy and shrub-covered terrain, and can cross the cultivated field. The vehicle cannot go onto any paved surfaces like streets or parking lots, cannot enter any structures, cannot drive through wooded areas, and cannot cross any water bodies.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Starting from an area of loose, sandy soil with exposed rocks and no plant growth","end_land_type":"and needing to reach a cultivated agricultural area with planted rows and tilled earth","task_description":"What is the shortest path to reach 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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":197,"start_point":[241,330],"end_point":[351,509],"distance":210.09759636892565}],"complexity_score":0.6138274340100972}
{"id":14536,"query_id":"Q02908","question":"A quadcopter drone is launched from a cultivated field with low vegetation. It must fly to a destination on a sandy, rocky area without any plants. The drone can fly over cultivated fields, sandy areas, and any paved surfaces, but it must avoid flying through dense tree canopies or close to buildings. The drone's priority is to minimize flight time to reach the destination.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"sandy, rocky area","task_description":"What is the fastest aerial path from the cultivated field to the sandy, rocky 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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":1,"start_point":[990,772],"end_point":[241,330],"distance":869.6924743839054},{"start_region_id":200,"end_region_id":1,"start_point":[613,677],"end_point":[241,330],"distance":508.71701367263114},{"start_region_id":199,"end_region_id":1,"start_point":[50,419],"end_point":[241,330],"distance":210.71782079359116}],"complexity_score":0.6138274340100972}
{"id":16955,"query_id":"Q03391","question":"An aerial survey drone is positioned on a patch of loose, dry earth and scattered rocks. It needs to reach a cultivated field with planted crops to continue its monitoring mission. The drone can fly over open liquid surfaces, but must avoid any areas with tall, dense vegetation or vertical structures that could pose collision risks. The drone's operator prioritizes minimizing all operational risks during the flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of loose, dry earth and scattered rocks","end_land_type":"A cultivated field with planted 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":"chincha_20.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":203,"start_point":[241,330],"end_point":[990,772],"distance":869.6924743839054},{"start_region_id":1,"end_region_id":200,"start_point":[241,330],"end_point":[613,677],"distance":508.71701367263114},{"start_region_id":1,"end_region_id":199,"start_point":[241,330],"end_point":[50,419],"distance":210.71782079359116},{"start_region_id":1,"end_region_id":197,"start_point":[241,330],"end_point":[351,509],"distance":210.09759636892565}],"complexity_score":0.6138274340100972}
{"id":10834,"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_38.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":16,"start_point":[938,982],"end_point":[173,73],"distance":1188.0681798617452},{"start_region_id":161,"end_region_id":27,"start_point":[938,982],"end_point":[131,304],"distance":1054.0080644852771},{"start_region_id":136,"end_region_id":76,"start_point":[202,21],"end_point":[640,945],"distance":1022.5556219590209},{"start_region_id":161,"end_region_id":29,"start_point":[938,982],"end_point":[247,361],"distance":929.0435942408731},{"start_region_id":136,"end_region_id":41,"start_point":[202,21],"end_point":[904,563],"distance":886.8866894930828}],"complexity_score":0.6138373818364161}
{"id":16228,"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_38.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":41,"start_point":[118,442],"end_point":[904,563],"distance":795.2590772823659},{"start_region_id":120,"end_region_id":19,"start_point":[118,442],"end_point":[859,189],"distance":783.0006385693437},{"start_region_id":120,"end_region_id":76,"start_point":[118,442],"end_point":[640,945],"distance":724.9089598011601},{"start_region_id":121,"end_region_id":41,"start_point":[250,452],"end_point":[904,563],"distance":663.3528472841584},{"start_region_id":121,"end_region_id":19,"start_point":[250,452],"end_point":[859,189],"distance":663.3626459185051}],"complexity_score":0.6138373818364161}
{"id":1529,"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":"pointenoire_7.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[752,96],"end_point":[88,167],"distance":667.7851450878494},{"start_region_id":4,"end_region_id":1,"start_point":[88,167],"end_point":[752,96],"distance":667.7851450878494}],"complexity_score":0.6139114369952556}
{"id":1233,"query_id":"Q00247","question":"A quadcopter starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes soft grassy areas, loose cultivated soil, and paved lanes. You can traverse all these surfaces by flying over them, but avoid vertical structures like trees and buildings. What is the fastest path to the grassy meadow?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path to the grassy meadow?","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":"chincha_31.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":38,"start_point":[235,18],"end_point":[700,989],"distance":1076.599275496691},{"start_region_id":67,"end_region_id":38,"start_point":[146,102],"end_point":[700,989],"distance":1045.7939567620383},{"start_region_id":65,"end_region_id":27,"start_point":[235,18],"end_point":[801,777],"distance":946.8035699129995},{"start_region_id":67,"end_region_id":27,"start_point":[146,102],"end_point":[801,777],"distance":940.558344814398},{"start_region_id":68,"end_region_id":38,"start_point":[235,198],"end_point":[700,989],"distance":917.5543580627799}],"complexity_score":0.6139914946991474}
{"id":16717,"query_id":"Q03344","question":"A quadcopter starts from an open cultivated area and needs to reach a vegetated field with low bushes. The drone requires a stable flight path with minimal turbulence and obstacles. Avoid areas with tall, dense vegetation or structures that could cause instability, and liquid surfaces that may induce spray or reflection issues. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the most comfortable flight path from the cultivated area to the vegetated field?","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":"chincha_31.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":38,"start_point":[235,18],"end_point":[700,989],"distance":1076.599275496691},{"start_region_id":67,"end_region_id":38,"start_point":[146,102],"end_point":[700,989],"distance":1045.7939567620383},{"start_region_id":65,"end_region_id":27,"start_point":[235,18],"end_point":[801,777],"distance":946.8035699129995},{"start_region_id":67,"end_region_id":27,"start_point":[146,102],"end_point":[801,777],"distance":940.558344814398},{"start_region_id":68,"end_region_id":38,"start_point":[235,198],"end_point":[700,989],"distance":917.5543580627799}],"complexity_score":0.6139914946991474}
{"id":10154,"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_8.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":31,"start_point":[97,311],"end_point":[959,611],"distance":912.7124410240062},{"start_region_id":127,"end_region_id":31,"start_point":[96,835],"end_point":[959,611],"distance":891.5968820044179},{"start_region_id":88,"end_region_id":31,"start_point":[231,128],"end_point":[959,611],"distance":873.6549662195025},{"start_region_id":89,"end_region_id":31,"start_point":[279,222],"end_point":[959,611],"distance":783.4034720372383},{"start_region_id":101,"end_region_id":31,"start_point":[184,558],"end_point":[959,611],"distance":776.8101441150212}],"complexity_score":0.613994069257032}
{"id":14767,"query_id":"Q02954","question":"An aerial survey drone is positioned on a grassy, open field with low vegetation and needs to reach a flat, hard-surfaced area suitable for landing. The drone can fly over any terrain except dense tree canopies and solid structures, which are blocked. The open field, loose sandy patches, paved surfaces, water bodies, and cultivated fields are all accessible for flight. To complete the survey mission urgently, what is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Rangeland","end_land_type":"Developed space","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_8.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":46,"start_point":[959,611],"end_point":[162,385],"distance":828.4232010271079},{"start_region_id":31,"end_region_id":62,"start_point":[959,611],"end_point":[149,640],"distance":810.518969549757},{"start_region_id":31,"end_region_id":58,"start_point":[959,611],"end_point":[295,533],"distance":668.5656287904726},{"start_region_id":32,"end_region_id":46,"start_point":[724,611],"end_point":[162,385],"distance":605.7392178157198},{"start_region_id":32,"end_region_id":62,"start_point":[724,611],"end_point":[149,640],"distance":575.7308398896137}],"complexity_score":0.613994069257032}
{"id":1050,"query_id":"Q00210","question":"A quadcopter drone starts from a grassy, uneven ground and needs to reach a densely wooded area. The drone requires a path that minimizes vibration and ensures stable flight for comfort, preferring open or hard surfaces over areas with dense vertical obstacles or liquid surfaces. The drone can fly over grassy areas, paved lanes, and wooded areas, but must avoid buildings and water bodies unless necessary, and trees are passable only with careful navigation. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, uneven ground","end_land_type":"a densely wooded area","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":[2,2,2,2,1,0,2,0],"image_name":"oklahoma_50.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":138,"start_point":[100,102],"end_point":[856,852],"distance":1064.9112639088762},{"start_region_id":3,"end_region_id":138,"start_point":[310,105],"end_point":[856,852],"distance":925.2702307974681},{"start_region_id":14,"end_region_id":138,"start_point":[174,249],"end_point":[856,852],"distance":910.3477357581552},{"start_region_id":29,"end_region_id":138,"start_point":[33,552],"end_point":[856,852],"distance":875.9731731052042},{"start_region_id":10,"end_region_id":138,"start_point":[821,93],"end_point":[856,852],"distance":759.8065543281396}],"complexity_score":0.614053286106748}
{"id":8069,"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":"oklahoma_50.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":138,"start_point":[873,685],"end_point":[866,984],"distance":299.0819285747636}],"complexity_score":0.614053286106748}
{"id":16971,"query_id":"Q03395","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 can traverse open, dry ground with loose soil and rocks; areas covered with low vegetation and shrubs; hard, flat surfaces; vehicle lanes; liquid surfaces; cultivated fields with crops; and man-made structures. However, the tall vertical obstacles can only be traversed when there is sufficient clearance between them to fly through safely. The drone's priority is to reach 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 that require careful navigation.","end_land_type":"The destination is another location with similar tall, vertical obstacles.","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":"oklahoma_50.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":138,"start_point":[866,694],"end_point":[842,988],"distance":294.9779652787645}],"complexity_score":0.614053286106748}
{"id":671,"query_id":"Q00135","question":"An aerial survey drone starts from a cultivated field and needs to reach a paved roadway while prioritizing smooth, stable flight to protect its sensitive imaging equipment. The drone can fly over open water bodies and cultivated areas, but must avoid dense vegetation areas that could cause turbulence and instability. Vertical structures are completely impassable. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the most comfortable path for the aerial survey drone to travel from the cultivated field to the paved roadway?","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":"mazowieckie_6.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":34,"start_point":[30,297],"end_point":[462,659],"distance":563.6204396577541},{"start_region_id":60,"end_region_id":34,"start_point":[299,187],"end_point":[462,659],"distance":499.3525808484422},{"start_region_id":61,"end_region_id":33,"start_point":[30,297],"end_point":[340,336],"distance":312.44359490954525}],"complexity_score":0.614170376836838}
{"id":4977,"query_id":"Q00996","question":"A quadcopter drone starts from above a cultivated field and needs to reach a paved street. The drone can fly over most surfaces but must avoid areas with dense overhead obstacles and prioritize stable, open airspace for safety. The cultivated field is clear of tall obstructions. What is the safest path to the paved street?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the safest path to the paved street?","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":"mazowieckie_6.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":34,"start_point":[30,297],"end_point":[462,659],"distance":563.6204396577541},{"start_region_id":60,"end_region_id":34,"start_point":[299,187],"end_point":[462,659],"distance":499.3525808484422},{"start_region_id":61,"end_region_id":33,"start_point":[30,297],"end_point":[340,336],"distance":312.44359490954525}],"complexity_score":0.614170376836838}
{"id":9214,"query_id":"Q01843","question":"A quadcopter drone starts from a crop field with low vegetation and needs to reach a paved plaza with a flat, hard surface. The quadcopter drone can fly over dry ground, grassy areas, hard artificial surfaces, paved lanes, cultivated land, and liquid bodies, but must avoid tall vertical obstacles and solid overhead structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"crop field","end_land_type":"paved plaza","task_description":"What is the fastest route for the quadcopter drone to fly from the crop field to the paved plaza?","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":"mazowieckie_6.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":26,"start_point":[30,297],"end_point":[870,751],"distance":954.8382061899283},{"start_region_id":61,"end_region_id":30,"start_point":[30,297],"end_point":[659,939],"distance":898.7797282983189},{"start_region_id":60,"end_region_id":30,"start_point":[299,187],"end_point":[659,939],"distance":833.7289727483386},{"start_region_id":60,"end_region_id":26,"start_point":[299,187],"end_point":[870,751],"distance":802.5814600400386},{"start_region_id":60,"end_region_id":28,"start_point":[299,187],"end_point":[406,881],"distance":702.2001139276467}],"complexity_score":0.614170376836838}
{"id":17545,"query_id":"Q03509","question":"A hiker starts from a cultivated field and needs to reach another cultivated field. The area includes grassy and shrubby open spaces, paved lanes for vehicles, areas with tall woody vegetation, and other cultivated fields. Grassy and shrubby open spaces are traversable because the vegetation is low and sparse. Paved lanes are traversable. Areas with tall woody vegetation are traversable as the trees are widely spaced. Other cultivated fields are traversable. All other surface types are not allowed due to rough, loose, or obstructed conditions.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field","end_land_type":"another cultivated field","task_description":"What is the shortest path to reach the destination?","task_type":"Shortest","input_classes":["Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[0,1,0,1,1,0,1,0],"cost_vector":[0,1,0,1,1,0,1,0],"image_name":"mazowieckie_6.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":61,"start_point":[299,187],"end_point":[30,297],"distance":290.6217472936256},{"start_region_id":61,"end_region_id":60,"start_point":[30,297],"end_point":[299,187],"distance":290.6217472936256}],"complexity_score":0.614170376836838}
{"id":3013,"query_id":"Q00603","question":"A family sedan 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 asphalt or concrete, which provide good traction and predictable handling for vehicles. All other surfaces—including loose soil, vegetation, water bodies, trees, and vertical structures—are impassable due to safety restrictions. You must avoid any uneven ground, soft materials, or obstacles that could pose a risk to vehicle control.","agent_category":"Car","specific_agent":"A family sedan","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":[0,0,1,2,0,0,0,0],"image_name":"joplin_12.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":123,"start_point":[621,204],"end_point":[984,865],"distance":754.1153757880819},{"start_region_id":123,"end_region_id":93,"start_point":[984,865],"end_point":[621,204],"distance":754.1153757880819},{"start_region_id":121,"end_region_id":93,"start_point":[757,859],"end_point":[621,204],"distance":668.9701039657901},{"start_region_id":93,"end_region_id":121,"start_point":[621,204],"end_point":[757,859],"distance":668.9701039657901},{"start_region_id":98,"end_region_id":123,"start_point":[688,335],"end_point":[984,865],"distance":607.0551869476119}],"complexity_score":0.6141855702152292}
{"id":5671,"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":"joplin_12.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":123,"start_point":[705,487],"end_point":[984,865],"distance":469.81379290097476},{"start_region_id":127,"end_region_id":121,"start_point":[705,487],"end_point":[757,859],"distance":375.6168260341914},{"start_region_id":127,"end_region_id":97,"start_point":[705,487],"end_point":[905,334],"distance":251.81143738917024},{"start_region_id":127,"end_region_id":93,"start_point":[705,487],"end_point":[621,204],"distance":295.2033197645311}],"complexity_score":0.6141855702152292}
{"id":2935,"query_id":"Q00587","question":"An agricultural drone starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field across the area. The terrain consists entirely of soft, tilled earth used for crop production. You must stay on these cultivated surfaces and cannot fly over any trees, structures, water bodies, paved areas, roads, natural vegetation areas, or rocky ground. What is the fastest path to the destination field?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path to the destination field?","task_type":"Fastest","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"wielkopolskie_36.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":114,"start_point":[447,989],"end_point":[878,298],"distance":814.3967092271432}],"complexity_score":0.6141953379041354}
{"id":5449,"query_id":"Q01090","question":"An agricultural drone is currently hovering above a cultivated field with loose, tilled soil. It needs to reach another cultivated field with similar loose, tilled soil. The drone can only fly over rough, uneven ground composed of loose earth and rocks, or over cultivated fields with loose, tilled soil. Areas with dense vertical obstacles (like trees or buildings) and liquid surfaces are to be avoided to ensure stable and efficient flight. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the agricultural drone to fly from its current cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,1,0],"image_name":"wielkopolskie_36.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":114,"start_point":[224,1015],"end_point":[1014,219],"distance":1121.47938010469}],"complexity_score":0.6141953379041354}
{"id":12364,"query_id":"Q02473","question":"An off-road vehicle starts from a paved lane and needs to reach a cultivated field. The vehicle can drive on hard surfaces like roads and parking lots, and is equipped to handle grassy terrain and cultivated fields. However, the vehicle cannot drive through dense vegetation, water, or buildings. What is the shortest path to the cultivated field?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"paved lane","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","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_36.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":114,"start_point":[332,140],"end_point":[684,658],"distance":626.2810870527705},{"start_region_id":55,"end_region_id":114,"start_point":[769,59],"end_point":[684,658],"distance":605.0008264457165},{"start_region_id":56,"end_region_id":114,"start_point":[130,572],"end_point":[684,658],"distance":560.6353538620268}],"complexity_score":0.6141953379041354}
{"id":667,"query_id":"Q00134","question":"A hiker starts from a patch of rough, loose ground composed of sand and rocks and needs to reach another similar area of loose, sandy and rocky terrain. The hiker can walk on hard, paved surfaces like sidewalks and roads, and can also pass through areas with trees if necessary, but cannot enter buildings or water bodies. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rough, loose ground of sand and rocks","end_land_type":"another patch of similar loose, sandy and rocky terrain","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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":5,"start_point":[753,698],"end_point":[937,238],"distance":495.4351622563744},{"start_region_id":5,"end_region_id":8,"start_point":[937,238],"end_point":[753,698],"distance":495.4351622563744},{"start_region_id":8,"end_region_id":1,"start_point":[753,698],"end_point":[660,227],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":8,"start_point":[660,227],"end_point":[753,698],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":5,"start_point":[660,227],"end_point":[937,238],"distance":277.2183255125822}],"complexity_score":0.6143356649929868}
{"id":2718,"query_id":"Q00544","question":"A quadcopter drone starts from loose, rocky ground and needs to reach another area of loose, rocky ground. The drone can only travel over loose, rocky ground and hard, paved surfaces. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, rocky ground","end_land_type":"loose, rocky ground","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":5,"start_point":[753,698],"end_point":[937,238],"distance":495.4351622563744},{"start_region_id":5,"end_region_id":8,"start_point":[937,238],"end_point":[753,698],"distance":495.4351622563744},{"start_region_id":8,"end_region_id":1,"start_point":[753,698],"end_point":[660,227],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":8,"start_point":[660,227],"end_point":[753,698],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":5,"start_point":[660,227],"end_point":[937,238],"distance":277.2183255125822}],"complexity_score":0.6143356649929868}
{"id":3265,"query_id":"Q00653","question":"A quadcopter drone starts from a patch of rough, loose ground and needs to reach another area of similar rough, loose ground. The drone can fly over both the rough ground and areas with tall vertical obstacles, but must prioritize smooth, stable flight to minimize vibrations and ensure stable camera footage. Which path would provide the most comfortable flight?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"rough, loose ground","end_land_type":"rough, loose ground","task_description":"Which path would provide 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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":5,"start_point":[753,698],"end_point":[937,238],"distance":495.4351622563744},{"start_region_id":5,"end_region_id":8,"start_point":[937,238],"end_point":[753,698],"distance":495.4351622563744},{"start_region_id":8,"end_region_id":1,"start_point":[753,698],"end_point":[660,227],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":8,"start_point":[660,227],"end_point":[753,698],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":5,"start_point":[660,227],"end_point":[937,238],"distance":277.2183255125822}],"complexity_score":0.6143356649929868}
{"id":3493,"query_id":"Q00699","question":"An off-road vehicle is positioned on uneven, rocky terrain and must reach a hard-surfaced lane. Only two surface types are available: uneven, rocky terrain and hard-surfaced lanes. All other surfaces including grassy fields, cultivated areas, wooded zones, water bodies, and structures are impassable. The driver prioritizes safety and wants to avoid surfaces that could cause loss of control, vehicle damage, or hazardous conditions. Which route should the off-road vehicle follow to reach the hard-surfaced lane while minimizing risk?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"hard-surfaced lane","task_description":"Which route should the off-road vehicle follow to reach the hard-surfaced lane while minimizing risk?","task_type":"Safest","input_classes":["Bareland","Road"],"traverse_vector":[1,0,0,1,0,0,0,0],"cost_vector":[1,0,0,2,0,0,0,0],"image_name":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":129,"start_point":[937,238],"end_point":[362,415],"distance":601.6261297516922},{"start_region_id":8,"end_region_id":129,"start_point":[753,698],"end_point":[362,415],"distance":482.66965929090674},{"start_region_id":1,"end_region_id":129,"start_point":[660,227],"end_point":[362,415],"distance":352.3464204444257}],"complexity_score":0.6143356649929868}
{"id":7458,"query_id":"Q01492","question":"An aerial surveillance drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a flat, hard-surfaced lane used by vehicles. The drone can fly over open liquid areas and vertical obstacles with foliage, but must avoid any contact with solid vertical structures or dense overhead canopies. The drone's priority is to minimize risk of collision or instability during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance 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-surfaced 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","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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":129,"start_point":[937,238],"end_point":[362,415],"distance":601.6261297516922},{"start_region_id":8,"end_region_id":129,"start_point":[753,698],"end_point":[362,415],"distance":482.66965929090674},{"start_region_id":1,"end_region_id":129,"start_point":[660,227],"end_point":[362,415],"distance":352.3464204444257}],"complexity_score":0.6143356649929868}
{"id":9045,"query_id":"Q01809","question":"A quadcopter drone starts above a paved, hard-surfaced area and needs to reach a dry, loose-soil area as quickly as possible. The drone can fly over paved surfaces, vehicle lanes, cultivated fields, grassy fields, and loose-soil terrain. However, the drone must avoid dense vegetation clusters and vertical structures. 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 dry, loose-soil area","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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":5,"start_point":[174,950],"end_point":[937,238],"distance":1043.6057684777331},{"start_region_id":55,"end_region_id":8,"start_point":[46,92],"end_point":[753,698],"distance":931.1739901865816},{"start_region_id":83,"end_region_id":5,"start_point":[71,542],"end_point":[937,238],"distance":917.8082588427716},{"start_region_id":55,"end_region_id":5,"start_point":[46,92],"end_point":[937,238],"distance":902.8826058796349},{"start_region_id":124,"end_region_id":1,"start_point":[174,950],"end_point":[660,227],"distance":871.1630157438963}],"complexity_score":0.6143356649929868}
{"id":13683,"query_id":"Q02737","question":"An off-road vehicle starts from rocky, sandy terrain and needs to reach a hard, paved surface. The vehicle can drive across cultivated fields with firm soil, but cannot go through any wooded areas, water bodies, or structures. What is the shortest route?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rocky, sandy terrain","end_land_type":"hard, paved 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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":124,"start_point":[937,238],"end_point":[174,950],"distance":1043.6057684777331},{"start_region_id":8,"end_region_id":55,"start_point":[753,698],"end_point":[46,92],"distance":931.1739901865816},{"start_region_id":5,"end_region_id":83,"start_point":[937,238],"end_point":[71,542],"distance":917.8082588427716},{"start_region_id":5,"end_region_id":55,"start_point":[937,238],"end_point":[46,92],"distance":902.8826058796349},{"start_region_id":1,"end_region_id":124,"start_point":[660,227],"end_point":[174,950],"distance":871.1630157438963}],"complexity_score":0.6143356649929868}
{"id":14212,"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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":5,"start_point":[19,981],"end_point":[937,238],"distance":1181.0050804293774},{"start_region_id":124,"end_region_id":5,"start_point":[174,950],"end_point":[937,238],"distance":1043.6057684777331},{"start_region_id":127,"end_region_id":1,"start_point":[19,981],"end_point":[660,227],"distance":989.6448858050043},{"start_region_id":55,"end_region_id":8,"start_point":[46,92],"end_point":[753,698],"distance":931.1739901865816},{"start_region_id":83,"end_region_id":5,"start_point":[71,542],"end_point":[937,238],"distance":917.8082588427716}],"complexity_score":0.6143356649929868}
{"id":17365,"query_id":"Q03473","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 soil and rocks. The drone must maintain stable flight for sensor accuracy, so it should avoid areas with dense vertical obstacles that require constant altitude adjustments. It can fly over grassy fields with low vegetation, paved vehicle lanes, liquid surfaces, and areas with scattered tall vegetation, but dense clusters of tall vegetation that would force frequent maneuvering should be minimized. The drone cannot enter solid vertical structures. What is the most comfortable path?","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":"ending at another patch of similar loose, dry soil and rocks","task_description":"What is the most comfortable 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":"al_qurnah_2.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":5,"start_point":[753,698],"end_point":[937,238],"distance":495.4351622563744},{"start_region_id":5,"end_region_id":8,"start_point":[937,238],"end_point":[753,698],"distance":495.4351622563744},{"start_region_id":8,"end_region_id":1,"start_point":[753,698],"end_point":[660,227],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":8,"start_point":[660,227],"end_point":[753,698],"distance":480.09374084651427},{"start_region_id":1,"end_region_id":5,"start_point":[660,227],"end_point":[937,238],"distance":277.2183255125822}],"complexity_score":0.6143356649929868}
{"id":2106,"query_id":"Q00422","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over hard surfaces, cultivated fields, and liquid areas, but must avoid dense vegetation with obstacles and vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the safest path for the delivery 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":"vienna_30.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":50,"start_point":[409,449],"end_point":[962,954],"distance":748.8885097262475},{"start_region_id":50,"end_region_id":47,"start_point":[962,954],"end_point":[409,449],"distance":748.8885097262475}],"complexity_score":0.6144039059346014}
{"id":2397,"query_id":"Q00480","question":"A quadcopter drone starts from a flat, hard, paved surface and needs to reach a long, linear, hard surface used for vehicle movement. The drone can fly over areas with loose soil and vegetation used for crop growth, as well as liquid bodies, but must avoid vertical structures and dense overhead obstacles. Which path should it take to minimize the overall travel distance?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a long, linear, hard surface used for vehicle movement","task_description":"Which path should it take to minimize the overall 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":"vienna_30.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":50,"start_point":[153,45],"end_point":[962,954],"distance":1216.865645829481},{"start_region_id":27,"end_region_id":50,"start_point":[167,399],"end_point":[962,954],"distance":969.5617566715387},{"start_region_id":29,"end_region_id":50,"start_point":[447,140],"end_point":[962,954],"distance":963.2346546921991},{"start_region_id":42,"end_region_id":50,"start_point":[135,907],"end_point":[962,954],"distance":828.3344735069282},{"start_region_id":37,"end_region_id":50,"start_point":[294,811],"end_point":[962,954],"distance":683.1346865735921}],"complexity_score":0.6144039059346014}
{"id":16484,"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_6.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":48,"start_point":[929,698],"end_point":[28,90],"distance":1086.9521608608172},{"start_region_id":48,"end_region_id":98,"start_point":[28,90],"end_point":[929,698],"distance":1086.9521608608172},{"start_region_id":105,"end_region_id":48,"start_point":[714,862],"end_point":[28,90],"distance":1032.7536008167679},{"start_region_id":48,"end_region_id":105,"start_point":[28,90],"end_point":[714,862],"distance":1032.7536008167679},{"start_region_id":109,"end_region_id":48,"start_point":[601,929],"end_point":[28,90],"distance":1015.9970472398037}],"complexity_score":0.6144608916370979}
{"id":2509,"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_5.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":234,"start_point":[182,122],"end_point":[933,736],"distance":970.0499987114066},{"start_region_id":234,"end_region_id":164,"start_point":[933,736],"end_point":[182,122],"distance":970.0499987114066},{"start_region_id":207,"end_region_id":169,"start_point":[111,581],"end_point":[899,34],"distance":959.2460581102223},{"start_region_id":169,"end_region_id":207,"start_point":[899,34],"end_point":[111,581],"distance":959.2460581102223},{"start_region_id":234,"end_region_id":195,"start_point":[933,736],"end_point":[37,349],"distance":976.0046106448473}],"complexity_score":0.6144967159483611}
{"id":5934,"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_5.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":234,"start_point":[182,122],"end_point":[933,736],"distance":970.0499987114066},{"start_region_id":234,"end_region_id":164,"start_point":[933,736],"end_point":[182,122],"distance":970.0499987114066},{"start_region_id":207,"end_region_id":169,"start_point":[111,581],"end_point":[899,34],"distance":959.2460581102223},{"start_region_id":169,"end_region_id":207,"start_point":[899,34],"end_point":[111,581],"distance":959.2460581102223},{"start_region_id":234,"end_region_id":195,"start_point":[933,736],"end_point":[37,349],"distance":976.0046106448473}],"complexity_score":0.6144967159483611}
{"id":16200,"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_5.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":295,"start_point":[80,767],"end_point":[573,424],"distance":600.5813849929084},{"start_region_id":110,"end_region_id":295,"start_point":[92,690],"end_point":[573,424],"distance":549.651707902377},{"start_region_id":49,"end_region_id":295,"start_point":[88,358],"end_point":[573,424],"distance":489.47012166219093},{"start_region_id":18,"end_region_id":295,"start_point":[914,127],"end_point":[573,424],"distance":452.20570540407823},{"start_region_id":127,"end_region_id":295,"start_point":[759,850],"end_point":[573,424],"distance":464.83545475791755}],"complexity_score":0.6144967159483611}
{"id":564,"query_id":"Q00113","question":"A quadcopter drone starts from a paved tennis court and needs to reach a paved runway. The area includes hard, flat surfaces like tennis courts and runways, as well as rough, uneven ground with loose soil and rocks, and areas with tall vertical obstacles like trees. You must avoid any liquid surfaces. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved tennis court","end_land_type":"a paved runway","task_description":"What is the shortest path from the paved tennis court to the paved runway?","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":"mexico_city_17.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":190,"start_point":[61,228],"end_point":[836,845],"distance":990.6129415669876},{"start_region_id":73,"end_region_id":190,"start_point":[46,269],"end_point":[836,845],"distance":977.6891121414823},{"start_region_id":165,"end_region_id":177,"start_point":[648,992],"end_point":[854,37],"distance":976.9651989707719},{"start_region_id":133,"end_region_id":180,"start_point":[906,817],"end_point":[174,310],"distance":890.4341637650703},{"start_region_id":154,"end_region_id":177,"start_point":[677,946],"end_point":[854,37],"distance":926.0723513851389}],"complexity_score":0.6145878352756016}
{"id":8879,"query_id":"Q01776","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 soil and rocks, open grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, and bodies of water. However, it must avoid any tall vertical structures or dense vegetation clusters that could pose collision risks. The drone's primary concern is minimizing operational hazards during 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":"mexico_city_17.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":190,"start_point":[174,310],"end_point":[836,845],"distance":851.1574472446329},{"start_region_id":190,"end_region_id":180,"start_point":[836,845],"end_point":[174,310],"distance":851.1574472446329},{"start_region_id":176,"end_region_id":190,"start_point":[461,138],"end_point":[836,845],"distance":800.2961951677642},{"start_region_id":190,"end_region_id":176,"start_point":[836,845],"end_point":[461,138],"distance":800.2961951677642},{"start_region_id":177,"end_region_id":190,"start_point":[854,37],"end_point":[836,845],"distance":808.2004701805116}],"complexity_score":0.6145878352756016}
{"id":13773,"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":"mexico_city_17.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":62,"start_point":[896,399],"end_point":[536,237],"distance":394.7708195903036},{"start_region_id":13,"end_region_id":92,"start_point":[716,258],"end_point":[1002,455],"distance":347.28230591263934},{"start_region_id":13,"end_region_id":83,"start_point":[716,258],"end_point":[639,550],"distance":301.9817875303079},{"start_region_id":25,"end_region_id":54,"start_point":[896,399],"end_point":[836,114],"distance":291.247317584214},{"start_region_id":25,"end_region_id":83,"start_point":[896,399],"end_point":[639,550],"distance":298.0771712157776}],"complexity_score":0.6145878352756016}
{"id":17682,"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":"mexico_city_17.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":274,"end_region_id":204,"start_point":[911,958],"end_point":[28,55],"distance":1262.9718920071025},{"start_region_id":204,"end_region_id":274,"start_point":[28,55],"end_point":[911,958],"distance":1262.9718920071025},{"start_region_id":204,"end_region_id":279,"start_point":[28,55],"end_point":[751,982],"distance":1175.609629086118},{"start_region_id":279,"end_region_id":204,"start_point":[751,982],"end_point":[28,55],"distance":1175.609629086118},{"start_region_id":254,"end_region_id":204,"start_point":[1005,663],"end_point":[28,55],"distance":1150.735851531532}],"complexity_score":0.6145878352756016}
{"id":363,"query_id":"Q00073","question":"A quadcopter drone starts from a concrete surface and needs to reach an asphalt lane while prioritizing a smooth and stable flight. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, paved areas and footpaths, vehicle lanes, cultivated fields, and vertical structures, as these offer stable flight conditions. It can also fly over bodies of liquid, though this may cause some discomfort due to potential turbulence. Wooded areas are passable but should be avoided as they may cause instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete surface","end_land_type":"an asphalt lane","task_description":"What is the most comfortable path from the starting concrete surface to the destination asphalt 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":"khartoum_61.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":40,"start_point":[20,153],"end_point":[560,525],"distance":655.7316524310841},{"start_region_id":17,"end_region_id":40,"start_point":[51,410],"end_point":[560,525],"distance":521.8294740621691},{"start_region_id":9,"end_region_id":40,"start_point":[193,147],"end_point":[560,525],"distance":526.8519716201126},{"start_region_id":29,"end_region_id":39,"start_point":[622,591],"end_point":[271,293],"distance":460.440006949874},{"start_region_id":7,"end_region_id":40,"start_point":[497,55],"end_point":[560,525],"distance":474.2035427957071}],"complexity_score":0.6146509944338889}
{"id":8975,"query_id":"Q01795","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, soft ground with vegetation, and liquid areas, but must avoid vertical obstacles like trees and buildings. Which path should it take to minimize the total travel distance?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a paved lane","end_land_type":"a paved lane","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":"khartoum_61.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":40,"start_point":[271,293],"end_point":[560,525],"distance":370.600863463646},{"start_region_id":40,"end_region_id":39,"start_point":[560,525],"end_point":[271,293],"distance":370.600863463646}],"complexity_score":0.6146509944338889}
{"id":13877,"query_id":"Q02776","question":"A delivery drone starts from a flat, hard-surfaced landing pad and needs to reach a paved lane while flying a delivery drone. You can fly over grassy areas, paved surfaces, cultivated fields, and liquid surfaces. However, you must avoid flying through areas with dense vertical obstacles or entering any enclosed structures. You should prioritize flight paths that minimize turbulence and provide stable air conditions for comfort.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a flat, hard-surfaced landing pad","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":"khartoum_61.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":40,"start_point":[20,153],"end_point":[560,525],"distance":655.7316524310841},{"start_region_id":17,"end_region_id":40,"start_point":[51,410],"end_point":[560,525],"distance":521.8294740621691},{"start_region_id":9,"end_region_id":40,"start_point":[193,147],"end_point":[560,525],"distance":526.8519716201126},{"start_region_id":29,"end_region_id":39,"start_point":[622,591],"end_point":[271,293],"distance":460.440006949874},{"start_region_id":7,"end_region_id":40,"start_point":[497,55],"end_point":[560,525],"distance":474.2035427957071}],"complexity_score":0.6146509944338889}
{"id":17843,"query_id":"Q03569","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over various terrains, including grassy areas, liquid surfaces, and cultivated fields, as it operates above ground level. However, flying over liquid surfaces is less comfortable due to potential downdraft turbulence and spray. The drone cannot pass through solid vertical obstacles or enter enclosed structures. 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 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":["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_61.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":40,"start_point":[271,293],"end_point":[560,525],"distance":370.600863463646},{"start_region_id":40,"end_region_id":39,"start_point":[560,525],"end_point":[271,293],"distance":370.600863463646}],"complexity_score":0.6146509944338889}
{"id":8189,"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_32.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":307,"end_region_id":319,"start_point":[540,440],"end_point":[893,905],"distance":583.8099005669568},{"start_region_id":319,"end_region_id":307,"start_point":[893,905],"end_point":[540,440],"distance":583.8099005669568}],"complexity_score":0.614698003070809}
{"id":10232,"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_32.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":24,"start_point":[329,854],"end_point":[918,61],"distance":987.8107106121091},{"start_region_id":18,"end_region_id":32,"start_point":[329,854],"end_point":[1004,147],"distance":977.4835036971213},{"start_region_id":18,"end_region_id":23,"start_point":[329,854],"end_point":[747,26],"distance":927.5278971545815},{"start_region_id":18,"end_region_id":44,"start_point":[329,854],"end_point":[869,201],"distance":847.3541172378877},{"start_region_id":18,"end_region_id":107,"start_point":[329,854],"end_point":[998,364],"distance":829.2532785584872}],"complexity_score":0.614698003070809}
{"id":17043,"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_32.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":307,"end_region_id":319,"start_point":[540,440],"end_point":[893,905],"distance":583.8099005669568},{"start_region_id":319,"end_region_id":307,"start_point":[893,905],"end_point":[540,440],"distance":583.8099005669568}],"complexity_score":0.614698003070809}
{"id":808,"query_id":"Q00162","question":"A quadcopter drone is starting from a grassy, uneven area with shrubs and needs to reach a paved, hard surface as quickly as possible. The terrain includes soft, vegetated ground and smooth, stable paved areas, both of which are traversable. The drone must avoid any water bodies, buildings, and tree clusters, as these are either conditionally traversable but not allowed here or non-traversable, and also avoid any roads and bare rocky or sandy patches, as these are not part of the allowed path. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"paved, hard surface like a tennis court or parking lot","task_description":"What is the fastest route for the quadcopter drone to travel from the grassy starting point to the paved destination?","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":"zanzibar_100.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":230,"start_point":[409,736],"end_point":[248,500],"distance":285.68689154387187},{"start_region_id":47,"end_region_id":230,"start_point":[476,499],"end_point":[248,500],"distance":228.0021929719098}],"complexity_score":0.6147046050429226}
{"id":5612,"query_id":"Q01123","question":"An aerial survey drone starts from a location with tall vertical obstacles that require careful navigation and needs to reach a hard, flat surface that provides excellent visibility and stability. The drone can fly over most terrain types, but must avoid areas with dense vertical obstructions unless they are sparse enough to navigate through safely. The drone cannot traverse liquid surfaces or enter enclosed structures. The terrain includes loose, uneven ground; areas with low vegetation; paved surfaces; hard, flat vehicle pathways; and locations with vertical obstacles. Which path allows the drone to reach 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 that require careful navigation.","end_land_type":"The destination is a hard, flat surface that provides excellent visibility and stability.","task_description":"Which path allows the drone to reach the destination as quickly as possible?","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":"zanzibar_100.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":555,"end_region_id":343,"start_point":[992,890],"end_point":[69,253],"distance":1121.4713549618643},{"start_region_id":535,"end_region_id":343,"start_point":[861,836],"end_point":[69,253],"distance":983.4393728135965},{"start_region_id":475,"end_region_id":343,"start_point":[916,665],"end_point":[69,253],"distance":941.8879975878236},{"start_region_id":369,"end_region_id":343,"start_point":[938,95],"end_point":[69,253],"distance":883.246851112417},{"start_region_id":559,"end_region_id":343,"start_point":[637,898],"end_point":[69,253],"distance":859.4469151727756}],"complexity_score":0.6147046050429226}
{"id":1718,"query_id":"Q00344","question":"A hiker is standing on a cultivated field with loose soil. They need to reach a paved lane. The hiker can only walk on surfaces that provide a stable, even footing: cultivated fields with firm, packed soil; grassy areas with short, even vegetation; and paved lanes. The cultivated fields are traversable because the soil is dry and compacted enough to walk on without sinking. The grassy areas are traversable because the vegetation is short and the ground beneath is firm. The paved lanes are traversable by default for pedestrians. All other surface types are either too soft, too rough, or obstructed and cannot be used.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Agriculture land","end_land_type":"Road","task_description":"What is the most comfortable path for the hiker to take from the cultivated field to the paved lane?","task_type":"Comfort","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"tyrolw_60.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":30,"start_point":[767,203],"end_point":[337,313],"distance":443.8468204234429},{"start_region_id":70,"end_region_id":30,"start_point":[699,515],"end_point":[337,313],"distance":414.54553429026345},{"start_region_id":70,"end_region_id":31,"start_point":[699,515],"end_point":[652,256],"distance":263.2299375071156}],"complexity_score":0.6148280278987164}
{"id":11338,"query_id":"Q02268","question":"A hiker starts in a cultivated field with soft, tilled soil. They aim to reach a paved vehicle lane. The hiker can walk on surfaces that are firm and even underfoot: loose sandy or rocky ground, grassy or shrubby areas, artificial hard surfaces like sidewalks or parking lots, paved lanes, and cultivated fields. All other terrain types are blocked. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Agriculture land","end_land_type":"Road","task_description":"What is the most comfortable path 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":[1,2,5,4,0,0,3,0],"image_name":"tyrolw_60.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":32,"start_point":[767,203],"end_point":[293,643],"distance":646.7426072248526},{"start_region_id":69,"end_region_id":30,"start_point":[767,203],"end_point":[337,313],"distance":443.8468204234429},{"start_region_id":70,"end_region_id":32,"start_point":[699,515],"end_point":[293,643],"distance":425.6994244769424},{"start_region_id":70,"end_region_id":30,"start_point":[699,515],"end_point":[337,313],"distance":414.54553429026345},{"start_region_id":70,"end_region_id":31,"start_point":[699,515],"end_point":[652,256],"distance":263.2299375071156}],"complexity_score":0.6148280278987164}
{"id":15645,"query_id":"Q03129","question":"A quadcopter drone needs to travel from a cultivated field with rows of crops to a flat, paved surface like a parking lot or tennis court as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, all paved areas including roads and sidewalks, bodies of water like rivers or lakes, and cultivated fields. It can also fly near or around buildings and vertical structures like trees, but must navigate them carefully which slows it down. 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 flat, paved surface like a parking lot or tennis court","task_description":"What is the fastest path for the drone?","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":"tyrolw_60.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":29,"start_point":[767,203],"end_point":[176,800],"distance":840.0535697204077},{"start_region_id":69,"end_region_id":27,"start_point":[767,203],"end_point":[57,568],"distance":798.3263743607623},{"start_region_id":69,"end_region_id":25,"start_point":[767,203],"end_point":[94,389],"distance":698.2299048307799},{"start_region_id":70,"end_region_id":27,"start_point":[699,515],"end_point":[57,568],"distance":644.1839799311995},{"start_region_id":70,"end_region_id":25,"start_point":[699,515],"end_point":[94,389],"distance":617.9813913055958}],"complexity_score":0.6148280278987164}
{"id":4358,"query_id":"Q00872","question":"A hiker starts from a vegetated area with tall, leafy structures and needs to reach another vegetated area with tall, leafy structures. The hiker can traverse hard, paved surfaces and compacted pathways, and is allowed to pass through vegetated areas if they are not densely overgrown. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","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 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":"duesseldorf_68.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":43,"start_point":[599,17],"end_point":[984,663],"distance":752.0246006614411}],"complexity_score":0.614858776042477}
{"id":8898,"query_id":"Q01780","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an area covered with natural, low-growing vegetation. The drone must avoid any vertical structures or dense clusters of tall vegetation that could pose collision risks. The mission requires staying over open, unobstructed surfaces, including flat bare earth, grassy patches, paved areas, vehicle lanes, and calm liquid surfaces, all of which provide clear visibility and minimal physical hazards. 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":"area covered with natural, low-growing 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":"duesseldorf_68.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":20,"start_point":[252,315],"end_point":[919,979],"distance":941.1615164253158},{"start_region_id":39,"end_region_id":20,"start_point":[150,542],"end_point":[919,979],"distance":884.4942057469907},{"start_region_id":40,"end_region_id":20,"start_point":[55,877],"end_point":[919,979],"distance":870.0},{"start_region_id":40,"end_region_id":2,"start_point":[55,877],"end_point":[760,479],"distance":809.5856965139639},{"start_region_id":39,"end_region_id":2,"start_point":[150,542],"end_point":[760,479],"distance":613.244649385545}],"complexity_score":0.614858776042477}
{"id":7010,"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":"ica_9.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":196,"start_point":[147,119],"end_point":[959,899],"distance":1125.9413839094823},{"start_region_id":196,"end_region_id":34,"start_point":[959,899],"end_point":[147,119],"distance":1125.9413839094823},{"start_region_id":56,"end_region_id":196,"start_point":[129,243],"end_point":[959,899],"distance":1057.939506777207},{"start_region_id":196,"end_region_id":56,"start_point":[959,899],"end_point":[129,243],"distance":1057.939506777207},{"start_region_id":38,"end_region_id":145,"start_point":[921,120],"end_point":[179,850],"distance":1040.895768076708}],"complexity_score":0.615052750206647}
{"id":10846,"query_id":"Q02170","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach a flat, hard artificial surface. The drone can fly over most terrain types, including liquid surfaces and vertical structures, but must avoid dense clusters of tall vegetation that could obstruct its flight path. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"flat, hard artificial surface","task_description":"What is the fastest route for the aerial survey drone to reach the flat, hard artificial surface from the grassy, open 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":"ica_9.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":145,"start_point":[979,40],"end_point":[179,850],"distance":1138.4638773364748},{"start_region_id":1,"end_region_id":194,"start_point":[979,40],"end_point":[316,905],"distance":1089.8596239883373},{"start_region_id":1,"end_region_id":92,"start_point":[979,40],"end_point":[185,603],"distance":973.3473172511444},{"start_region_id":1,"end_region_id":208,"start_point":[979,40],"end_point":[797,987],"distance":964.3303375918441},{"start_region_id":31,"end_region_id":34,"start_point":[731,857],"end_point":[147,119],"distance":941.1163583744574}],"complexity_score":0.615052750206647}
{"id":15656,"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":"ica_9.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":31,"start_point":[979,40],"end_point":[731,857],"distance":853.8108689868031},{"start_region_id":31,"end_region_id":1,"start_point":[731,857],"end_point":[979,40],"distance":853.8108689868031}],"complexity_score":0.615052750206647}
{"id":2168,"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_6.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":106,"start_point":[392,730],"end_point":[562,134],"distance":619.7709254232567},{"start_region_id":77,"end_region_id":106,"start_point":[365,112],"end_point":[562,134],"distance":198.22462006521792}],"complexity_score":0.6151502701312626}
{"id":2355,"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_6.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":139,"end_region_id":125,"start_point":[730,590],"end_point":[457,232],"distance":450.21439337275746},{"start_region_id":125,"end_region_id":139,"start_point":[457,232],"end_point":[730,590],"distance":450.21439337275746},{"start_region_id":139,"end_region_id":123,"start_point":[730,590],"end_point":[769,178],"distance":413.84175719712},{"start_region_id":123,"end_region_id":139,"start_point":[769,178],"end_point":[730,590],"distance":413.84175719712},{"start_region_id":125,"end_region_id":123,"start_point":[457,232],"end_point":[769,178],"distance":316.6385952470103}],"complexity_score":0.6151502701312626}
{"id":6084,"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_6.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":101,"start_point":[365,112],"end_point":[392,730],"distance":618.589524644574},{"start_region_id":101,"end_region_id":77,"start_point":[392,730],"end_point":[365,112],"distance":618.589524644574},{"start_region_id":101,"end_region_id":87,"start_point":[392,730],"end_point":[693,218],"distance":593.923395733827},{"start_region_id":87,"end_region_id":101,"start_point":[693,218],"end_point":[392,730],"distance":593.923395733827},{"start_region_id":77,"end_region_id":87,"start_point":[365,112],"end_point":[693,218],"distance":344.70277051396033}],"complexity_score":0.6151502701312626}
{"id":1779,"query_id":"Q00356","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, uneven terrain while maintaining stable flight. The drone can fly over loose, sandy ground; grassy areas with shrubs; paved surfaces; liquid surfaces; and cultivated fields with crops. However. The drone must avoid areas with dense, tall vegetation that could interfere with sensors and maintain a smooth, vibration-free flight path. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain","task_description":"What is 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":"ica_4.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":10,"start_point":[874,465],"end_point":[26,361],"distance":854.3535567901616},{"start_region_id":276,"end_region_id":10,"start_point":[721,138],"end_point":[26,361],"distance":729.8999931497465},{"start_region_id":273,"end_region_id":10,"start_point":[606,612],"end_point":[26,361],"distance":631.9818035355132}],"complexity_score":0.6151758472460741}
{"id":11907,"query_id":"Q02382","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane. The drone can traverse hard, compacted surfaces like parking lots and sidewalks, loose, sandy or rocky ground without vegetation, and vehicle lanes. The drone cannot traverse areas with dense vegetation or vertical 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","task_description":"What is the shortest path for the quadcopter drone 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":"ica_4.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":273,"start_point":[104,21],"end_point":[606,612],"distance":775.4256895409128},{"start_region_id":78,"end_region_id":273,"start_point":[90,180],"end_point":[606,612],"distance":672.9635948548777},{"start_region_id":103,"end_region_id":273,"start_point":[255,214],"end_point":[606,612],"distance":530.664677550711},{"start_region_id":145,"end_region_id":273,"start_point":[237,501],"end_point":[606,612],"distance":385.3336216838598},{"start_region_id":193,"end_region_id":273,"start_point":[930,791],"end_point":[606,612],"distance":370.1580743412198}],"complexity_score":0.6151758472460741}
{"id":15856,"query_id":"Q03172","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over loose, sandy ground and liquid surfaces, but must avoid vertical obstacles like trees and structures. The drone's sensors are sensitive to vibration, so the flight path should prioritize smooth, stable surfaces that minimize turbulence and jitter.","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 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":"ica_4.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":10,"start_point":[874,465],"end_point":[26,361],"distance":854.3535567901616},{"start_region_id":276,"end_region_id":10,"start_point":[721,138],"end_point":[26,361],"distance":729.8999931497465},{"start_region_id":273,"end_region_id":10,"start_point":[606,612],"end_point":[26,361],"distance":631.9818035355132}],"complexity_score":0.6151758472460741}
{"id":2109,"query_id":"Q00422","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over hard surfaces, cultivated fields, and liquid areas, but must avoid dense vegetation with obstacles and vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the safest path for the delivery 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":"vienna_33.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":59,"start_point":[269,807],"end_point":[724,268],"distance":705.3694067649943},{"start_region_id":59,"end_region_id":62,"start_point":[724,268],"end_point":[269,807],"distance":705.3694067649943},{"start_region_id":58,"end_region_id":62,"start_point":[574,356],"end_point":[269,807],"distance":544.45018137567},{"start_region_id":62,"end_region_id":58,"start_point":[269,807],"end_point":[574,356],"distance":544.45018137567},{"start_region_id":61,"end_region_id":59,"start_point":[382,443],"end_point":[724,268],"distance":384.1731380510615}],"complexity_score":0.6151864415529666}
{"id":2305,"query_id":"Q00461","question":"A motorboat is currently floating on a liquid surface and needs to reach another location on a liquid surface. The boat can only travel across liquid surfaces since it requires buoyancy to remain operational. All solid ground, vegetation, and artificial structures are completely impassable for this vessel. What path should the boat take?","agent_category":"Boat","specific_agent":"A motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the fastest route for the motorboat to reach its destination?","task_type":"Fastest","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"vienna_33.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":106,"start_point":[974,196],"end_point":[740,14],"distance":296.44561052577586}],"complexity_score":0.6151864415529666}
{"id":11161,"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":"vienna_33.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":60,"start_point":[113,862],"end_point":[748,189],"distance":925.2859017622608},{"start_region_id":18,"end_region_id":59,"start_point":[113,862],"end_point":[724,268],"distance":852.1484612436967},{"start_region_id":2,"end_region_id":62,"start_point":[669,90],"end_point":[269,807],"distance":821.0292321227058},{"start_region_id":1,"end_region_id":62,"start_point":[731,210],"end_point":[269,807],"distance":754.8860841213063},{"start_region_id":12,"end_region_id":60,"start_point":[179,670],"end_point":[748,189],"distance":745.0650978270288}],"complexity_score":0.6151864415529666}
{"id":1942,"query_id":"Q00389","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach a flat, paved surface like a parking lot or sports court. The drone can fly over open water bodies and use lanes or streets for vehicles, but must avoid areas with dense vertical obstacles like trees or structures. 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 surface like a parking lot or sports court","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":"san_tome_43.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":190,"start_point":[429,140],"end_point":[85,963],"distance":892.0005605379405},{"start_region_id":341,"end_region_id":179,"start_point":[429,140],"end_point":[31,820],"distance":787.9111625050124},{"start_region_id":341,"end_region_id":170,"start_point":[429,140],"end_point":[898,641],"distance":686.2667120005166},{"start_region_id":341,"end_region_id":171,"start_point":[429,140],"end_point":[171,757],"distance":668.7697660630301},{"start_region_id":341,"end_region_id":173,"start_point":[429,140],"end_point":[384,788],"distance":649.5606207275807}],"complexity_score":0.6153448338125678}
{"id":1947,"query_id":"Q00390","question":"An aerial survey drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field area with planted crops. The drone can fly over open water bodies, but must avoid areas with tall vertical obstacles like trees and structures. The drone can traverse all other surfaces including paved areas, hard-packed open spaces, and planted fields. What is the fastest path to reach the cultivated field?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest path to reach the cultivated 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":"san_tome_43.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":341,"start_point":[263,636],"end_point":[429,140],"distance":523.0411073711128},{"start_region_id":198,"end_region_id":341,"start_point":[651,225],"end_point":[429,140],"distance":237.71621736852538}],"complexity_score":0.6153448338125678}
{"id":6374,"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_43.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":190,"start_point":[883,47],"end_point":[85,963],"distance":1214.8497849528558},{"start_region_id":190,"end_region_id":129,"start_point":[85,963],"end_point":[883,47],"distance":1214.8497849528558},{"start_region_id":129,"end_region_id":179,"start_point":[883,47],"end_point":[31,820],"distance":1150.4055806540578},{"start_region_id":179,"end_region_id":129,"start_point":[31,820],"end_point":[883,47],"distance":1150.4055806540578},{"start_region_id":134,"end_region_id":190,"start_point":[927,213],"end_point":[85,963],"distance":1127.592124839474}],"complexity_score":0.6153448338125678}
{"id":11479,"query_id":"Q02296","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area while prioritizing a smooth and stable flight. The drone can fly over loose, granular surfaces like sand or rock accumulations, open areas covered with natural grasses and shrubs, compacted, level surfaces like sidewalks and parking lots, vehicle lanes with hard pavement, and cultivated fields with planted crops. However, the drone must avoid flying directly through dense clusters of tall vegetation or near vertical structures, as these could cause turbulence or collision risk, and should minimize flight over liquid bodies to reduce the impact of wind and moisture on stability.","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":"san_tome_43.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":190,"start_point":[883,47],"end_point":[85,963],"distance":1214.8497849528558},{"start_region_id":190,"end_region_id":129,"start_point":[85,963],"end_point":[883,47],"distance":1214.8497849528558},{"start_region_id":129,"end_region_id":179,"start_point":[883,47],"end_point":[31,820],"distance":1150.4055806540578},{"start_region_id":179,"end_region_id":129,"start_point":[31,820],"end_point":[883,47],"distance":1150.4055806540578},{"start_region_id":134,"end_region_id":190,"start_point":[927,213],"end_point":[85,963],"distance":1127.592124839474}],"complexity_score":0.6153448338125678}
{"id":11551,"query_id":"Q02311","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over loose, sandy or rocky ground, grassy or shrub-covered terrain, paved areas, water bodies, and agricultural fields, but must avoid tall, dense vegetation and vertical structures. The drone prioritizes smooth, stable flight to minimize vibrations and ensure stable sensor readings. What is the most comfortable path?","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 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":"san_tome_43.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":13,"start_point":[85,963],"end_point":[890,131],"distance":1157.691236902137},{"start_region_id":129,"end_region_id":90,"start_point":[883,47],"end_point":[114,847],"distance":1109.6670671872712},{"start_region_id":179,"end_region_id":13,"start_point":[31,820],"end_point":[890,131],"distance":1101.1820921173755},{"start_region_id":123,"end_region_id":86,"start_point":[84,96],"end_point":[914,812],"distance":1096.1550985148042},{"start_region_id":129,"end_region_id":102,"start_point":[883,47],"end_point":[268,904],"distance":1054.8336361720742}],"complexity_score":0.6153448338125678}
{"id":2459,"query_id":"Q00492","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over loose, sandy or rocky ground, other paved or compacted surfaces, and liquid bodies, but must avoid tall vertical obstacles and structures. What is the safest 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 safest path for the quadcopter drone to take?","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":"tonga_34.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":85,"start_point":[256,857],"end_point":[508,798],"distance":258.81460546112925},{"start_region_id":85,"end_region_id":83,"start_point":[508,798],"end_point":[256,857],"distance":258.81460546112925}],"complexity_score":0.6153651154967406}
{"id":5989,"query_id":"Q01198","question":"A car starts from a paved, hard surface area such as a parking lot or construction site and needs to reach another paved, hard surface area such as a parking lot or construction site. The terrain consists only of hard, flat surfaces suitable for driving, including paved roads and parking 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":"Car","specific_agent":"a car","start_land_type":"a paved, hard surface area such as a parking lot or construction site","end_land_type":"another paved, hard surface area such as a parking lot or construction site","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_34.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":85,"start_point":[256,857],"end_point":[508,798],"distance":258.81460546112925},{"start_region_id":85,"end_region_id":83,"start_point":[508,798],"end_point":[256,857],"distance":258.81460546112925}],"complexity_score":0.6153651154967406}
{"id":16221,"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":"tonga_34.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":3,"start_point":[906,917],"end_point":[51,39],"distance":1225.523969573831},{"start_region_id":116,"end_region_id":6,"start_point":[906,917],"end_point":[302,40],"distance":1064.8685364870164},{"start_region_id":116,"end_region_id":14,"start_point":[906,917],"end_point":[159,181],"distance":1048.6682030079867},{"start_region_id":113,"end_region_id":34,"start_point":[849,342],"end_point":[129,959],"distance":948.2030373290311},{"start_region_id":116,"end_region_id":8,"start_point":[906,917],"end_point":[549,55],"distance":933.0021436202599}],"complexity_score":0.6153651154967406}
{"id":5704,"query_id":"Q01141","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, paved area. The terrain includes only grassy, uneven ground with scattered shrubs and flat, paved surfaces; all other surfaces, such as water bodies, buildings, bare sand or rocks, agricultural fields, trees, and roads, are not traversable due to safety hazards or physical barriers. The hiker must find a path that minimizes risk.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, paved area","task_description":"What is the safest path for the hiker to take?","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":"chincha_22.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":48,"start_point":[411,263],"end_point":[975,164],"distance":572.6229125698692},{"start_region_id":18,"end_region_id":47,"start_point":[411,263],"end_point":[749,143],"distance":358.6697645467206}],"complexity_score":0.6154051273896819}
{"id":16661,"query_id":"Q03333","question":"A quadcopter drone is starting from a cultivated field with loose soil and crop residues and needs to reach a paved lane used by vehicles. The drone can fly over areas with loose, dry soil, sparse vegetation, compacted dirt tracks, and paved surfaces, but must avoid dense tree canopies and buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","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":"chincha_22.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":81,"start_point":[450,700],"end_point":[892,905],"distance":487.2258203338571},{"start_region_id":212,"end_region_id":80,"start_point":[902,678],"end_point":[598,863],"distance":355.8665480204623},{"start_region_id":212,"end_region_id":81,"start_point":[902,678],"end_point":[892,905],"distance":227.2201575564985},{"start_region_id":211,"end_region_id":80,"start_point":[450,700],"end_point":[598,863],"distance":220.16584657934573}],"complexity_score":0.6154051273896819}
{"id":1077,"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_10.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":160,"start_point":[876,83],"end_point":[587,963],"distance":926.2402496112982},{"start_region_id":110,"end_region_id":146,"start_point":[876,83],"end_point":[44,367],"distance":879.1359394314397},{"start_region_id":110,"end_region_id":158,"start_point":[876,83],"end_point":[644,912],"distance":860.8513228194518},{"start_region_id":106,"end_region_id":160,"start_point":[198,228],"end_point":[587,963],"distance":831.5924482581597},{"start_region_id":106,"end_region_id":158,"start_point":[198,228],"end_point":[644,912],"distance":816.561081609943}],"complexity_score":0.6154269706706013}
{"id":3807,"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_10.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":110,"start_point":[545,781],"end_point":[876,83],"distance":772.5056634096607},{"start_region_id":110,"end_region_id":115,"start_point":[876,83],"end_point":[545,781],"distance":772.5056634096607},{"start_region_id":110,"end_region_id":106,"start_point":[876,83],"end_point":[198,228],"distance":693.3318108957644},{"start_region_id":106,"end_region_id":110,"start_point":[198,228],"end_point":[876,83],"distance":693.3318108957644},{"start_region_id":115,"end_region_id":106,"start_point":[545,781],"end_point":[198,228],"distance":652.8537355334654}],"complexity_score":0.6154269706706013}
{"id":10133,"query_id":"Q02027","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation. The terrain includes hard, flat surfaces; loose, sandy ground; grassy fields; and areas with dense vegetation. The hiker can traverse all these terrain types, but must avoid any structures and water bodies. 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":["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":"melbourne_10.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":138,"start_point":[220,962],"end_point":[802,40],"distance":1090.32472227314},{"start_region_id":95,"end_region_id":138,"start_point":[253,886],"end_point":[802,40],"distance":1008.5221861714298},{"start_region_id":96,"end_region_id":138,"start_point":[438,931],"end_point":[802,40],"distance":962.4848050748645},{"start_region_id":99,"end_region_id":142,"start_point":[220,962],"end_point":[675,148],"distance":932.5347178523704},{"start_region_id":67,"end_region_id":138,"start_point":[126,682],"end_point":[802,40],"distance":932.2767829351968}],"complexity_score":0.6154269706706013}
{"id":15517,"query_id":"Q03104","question":"A quadcopter drone is deployed from a grassy, uneven field with scattered shrubs and needs to reach a flat, paved area. The drone can fly over liquid surfaces and cultivated fields, but must avoid dense vertical obstacles like trees and solid structures. The mission requires a smooth, stable flight path to minimize vibrations and ensure stable camera footage. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field with scattered shrubs","end_land_type":"a flat, paved area","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":"christchurch_19.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":307,"start_point":[963,98],"end_point":[141,997],"distance":1218.1481847460102},{"start_region_id":5,"end_region_id":308,"start_point":[963,98],"end_point":[258,973],"distance":1123.6769998536056},{"start_region_id":208,"end_region_id":235,"start_point":[910,937],"end_point":[114,200],"distance":1084.797216073124},{"start_region_id":17,"end_region_id":307,"start_point":[852,182],"end_point":[141,997],"distance":1081.5479647246348},{"start_region_id":4,"end_region_id":307,"start_point":[617,31],"end_point":[141,997],"distance":1076.9085383634026}],"complexity_score":0.6154443599928058}
{"id":16341,"query_id":"Q03269","question":"A hiker begins on 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, as well as cultivated fields with crops, but cannot cross liquid areas or vertical structures. What is the fastest path to reach 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 fastest path 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":"christchurch_19.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":330,"start_point":[963,98],"end_point":[143,978],"distance":1202.8299963003915},{"start_region_id":17,"end_region_id":330,"start_point":[852,182],"end_point":[143,978],"distance":1065.9723260948194},{"start_region_id":4,"end_region_id":330,"start_point":[617,31],"end_point":[143,978],"distance":1059.0018885724426},{"start_region_id":10,"end_region_id":330,"start_point":[476,72],"end_point":[143,978],"distance":965.2590325917702},{"start_region_id":125,"end_region_id":330,"start_point":[872,578],"end_point":[143,978],"distance":831.5293139751599}],"complexity_score":0.6154443599928058}
{"id":9912,"query_id":"Q01983","question":"An aerial survey drone is positioned over a cultivated field and needs to reach a grassy meadow as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved lanes, individual or clustered tall vegetation, liquid surfaces, and cultivated plots. However, it must avoid flying directly through dense clusters of tall vegetation that could obstruct its path. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest route for the aerial survey drone to travel from the cultivated field to the grassy meadow?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,1,1,1,1,0],"cost_vector":[2,2,0,2,1,2,2,0],"image_name":"wielkopolskie_16.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":10,"start_point":[745,359],"end_point":[841,721],"distance":374.5130171302461},{"start_region_id":63,"end_region_id":9,"start_point":[745,359],"end_point":[847,640],"distance":298.93979326948096},{"start_region_id":63,"end_region_id":1,"start_point":[745,359],"end_point":[821,56],"distance":312.385979198811},{"start_region_id":63,"end_region_id":5,"start_point":[745,359],"end_point":[426,343],"distance":319.4010018769509}],"complexity_score":0.6156264521648254}
{"id":12298,"query_id":"Q02460","question":"A quadcopter drone starts from a hard, paved surface and needs to reach a cultivated crop field. The drone can fly over grassy areas, shrubs, other paved surfaces, vehicle lanes, and crop fields, but must avoid flying through dense tree canopies or near vertical structures. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, paved surface","end_land_type":"a cultivated crop field","task_description":"What is the shortest flight 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":"wielkopolskie_16.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":63,"start_point":[25,55],"end_point":[745,359],"distance":781.547183476468},{"start_region_id":25,"end_region_id":63,"start_point":[408,895],"end_point":[745,359],"distance":633.1390052745131},{"start_region_id":23,"end_region_id":63,"start_point":[43,397],"end_point":[745,359],"distance":703.0277377173677},{"start_region_id":26,"end_region_id":63,"start_point":[980,784],"end_point":[745,359],"distance":485.64390246352315},{"start_region_id":22,"end_region_id":63,"start_point":[127,249],"end_point":[745,359],"distance":627.713310357523}],"complexity_score":0.6156264521648254}
{"id":4304,"query_id":"Q00861","question":"A hiker starts from a grassy, open terrain and needs to reach another grassy, open terrain area. The terrain includes areas with loose soil and scattered vegetation, cultivated fields with soft, tilled earth, and patches with tall vegetation and uneven ground. The hiker must avoid all paved or hard surfaces, water bodies, and any structures. What is the safest path to take?","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 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":"daressalaam_59.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":23,"start_point":[140,577],"end_point":[544,172],"distance":572.0498230049546},{"start_region_id":23,"end_region_id":56,"start_point":[544,172],"end_point":[140,577],"distance":572.0498230049546}],"complexity_score":0.6156559082267453}
{"id":4782,"query_id":"Q00957","question":"A quadcopter drone starts from a paved road surface and needs to reach a paved parking lot. The terrain includes loose, sandy ground; paved surfaces like sidewalks and parking lots; paved roads; individual trees with trunks and canopies; and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid flying through dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","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","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_59.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":197,"end_region_id":185,"start_point":[771,295],"end_point":[111,914],"distance":904.854131890881},{"start_region_id":198,"end_region_id":181,"start_point":[451,126],"end_point":[947,846],"distance":874.308869908112},{"start_region_id":198,"end_region_id":185,"start_point":[451,126],"end_point":[111,914],"distance":858.2214166519034},{"start_region_id":214,"end_region_id":137,"start_point":[408,958],"end_point":[883,247],"distance":855.070757306084},{"start_region_id":198,"end_region_id":187,"start_point":[451,126],"end_point":[263,955],"distance":850.0499985294982}],"complexity_score":0.6156559082267453}
{"id":9595,"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":"daressalaam_59.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":137,"start_point":[111,914],"end_point":[883,247],"distance":1020.2318363979826},{"start_region_id":137,"end_region_id":185,"start_point":[883,247],"end_point":[111,914],"distance":1020.2318363979826},{"start_region_id":137,"end_region_id":187,"start_point":[883,247],"end_point":[263,955],"distance":941.0972319585262},{"start_region_id":187,"end_region_id":137,"start_point":[263,955],"end_point":[883,247],"distance":941.0972319585262},{"start_region_id":181,"end_region_id":165,"start_point":[947,846],"end_point":[77,546],"distance":920.271699010678}],"complexity_score":0.6156559082267453}
{"id":14073,"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":"daressalaam_59.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":38,"start_point":[111,914],"end_point":[824,278],"distance":955.4396893577323},{"start_region_id":187,"end_region_id":38,"start_point":[263,955],"end_point":[824,278],"distance":879.2326199590186},{"start_region_id":185,"end_region_id":23,"start_point":[111,914],"end_point":[544,172],"distance":859.1001105808333},{"start_region_id":123,"end_region_id":108,"start_point":[422,137],"end_point":[486,990],"distance":855.3975683856016},{"start_region_id":123,"end_region_id":106,"start_point":[422,137],"end_point":[680,951],"distance":853.9086602207522}],"complexity_score":0.6156559082267453}
{"id":17524,"query_id":"Q03505","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The terrain includes grassy areas, cultivated plots, and tall vertical obstacles. The drone can fly over grassy areas, cultivated plots, and paved lanes, but must avoid liquid surfaces and cannot pass through dense vertical obstacles. 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":"daressalaam_59.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":214,"start_point":[451,126],"end_point":[408,958],"distance":833.1104368569631},{"start_region_id":214,"end_region_id":198,"start_point":[408,958],"end_point":[451,126],"distance":833.1104368569631},{"start_region_id":212,"end_region_id":198,"start_point":[728,907],"end_point":[451,126],"distance":828.6676052555692},{"start_region_id":198,"end_region_id":212,"start_point":[451,126],"end_point":[728,907],"distance":828.6676052555692},{"start_region_id":197,"end_region_id":214,"start_point":[771,295],"end_point":[408,958],"distance":755.8690362754649}],"complexity_score":0.6156559082267453}
{"id":8791,"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_90.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":255,"start_point":[855,436],"end_point":[441,300],"distance":435.7659922481331},{"start_region_id":7,"end_region_id":255,"start_point":[638,575],"end_point":[441,300],"distance":338.2809483255006}],"complexity_score":0.6159741095164207}
{"id":14109,"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_90.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":261,"start_point":[441,300],"end_point":[239,851],"distance":586.8602900179906},{"start_region_id":261,"end_region_id":255,"start_point":[239,851],"end_point":[441,300],"distance":586.8602900179906}],"complexity_score":0.6159741095164207}
{"id":17514,"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_90.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":2,"start_point":[239,851],"end_point":[855,436],"distance":742.7523140320735},{"start_region_id":261,"end_region_id":7,"start_point":[239,851],"end_point":[638,575],"distance":485.1566757244509},{"start_region_id":255,"end_region_id":2,"start_point":[441,300],"end_point":[855,436],"distance":435.7659922481331},{"start_region_id":255,"end_region_id":7,"start_point":[441,300],"end_point":[638,575],"distance":338.2809483255006}],"complexity_score":0.6159741095164207}
{"id":799,"query_id":"Q00160","question":"A surveillance drone starts from a concrete landing pad and needs to reach a sandy, open area. The drone can fly over hard surfaces, loose ground, and paved pathways, but must avoid flying close to trees or buildings to minimize collision risks and ensure stable navigation. It can also cross over water if necessary, though water is not preferred for safety. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a concrete landing pad","end_land_type":"a sandy, open area","task_description":"What is the safest path for the surveillance drone to take from the concrete landing pad to the sandy, 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":1,"start_point":[197,395],"end_point":[875,871],"distance":828.4081119834595},{"start_region_id":54,"end_region_id":1,"start_point":[143,977],"end_point":[875,871],"distance":739.6350451405071},{"start_region_id":40,"end_region_id":2,"start_point":[197,395],"end_point":[722,815],"distance":672.3280449304491},{"start_region_id":44,"end_region_id":1,"start_point":[875,206],"end_point":[875,871],"distance":665.0},{"start_region_id":52,"end_region_id":1,"start_point":[235,826],"end_point":[875,871],"distance":641.5800807381726}],"complexity_score":0.6159937990581671}
{"id":2768,"query_id":"Q00554","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a cultivated field with soft soil. The terrain includes hard, paved surfaces and compacted artificial areas, but you must avoid any areas with dense vegetation or vertical structures. The drone can fly over the sandy ground, the field, and the hard surfaces, but for speed, it prefers open areas without obstacles. What is the fastest 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 cultivated field with soft soil","task_description":"What is the fastest path to the destination?","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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599},{"start_region_id":2,"end_region_id":73,"start_point":[722,815],"end_point":[826,376],"distance":451.15075085829125},{"start_region_id":1,"end_region_id":75,"start_point":[875,871],"end_point":[665,675],"distance":287.25598340156466}],"complexity_score":0.6159937990581671}
{"id":6796,"query_id":"Q01360","question":"An aerial survey drone begins its mission perched on a tall, leafy structure and needs to reach a wide-open expanse of loose, dry soil and scattered rocks. The drone can fly over most surfaces, including hard, flat paved areas and cultivated fields with low, uniform vegetation. However, navigating through dense clusters of tall, leafy structures is slower and requires careful maneuvering. The drone's primary objective is to complete the mission as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a wide-open expanse of 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","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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":1,"start_point":[886,191],"end_point":[875,871],"distance":680.0889647685808},{"start_region_id":58,"end_region_id":2,"start_point":[886,191],"end_point":[722,815],"distance":645.1914444566047}],"complexity_score":0.6159937990581671}
{"id":7354,"query_id":"Q01471","question":"A quadcopter starts from a crop-covered plot with low vegetation and needs to reach exposed, sandy ground. The environment includes hard, artificial surfaces, areas with tall trees, and cultivated lands. All surfaces are accessible except that trees may obstruct flight if too dense. What is the shortest route to the target?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"crop-covered plot","end_land_type":"exposed, sandy ground","task_description":"What is the shortest route to the target?","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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":1,"start_point":[490,236],"end_point":[875,871],"distance":742.5967950375224},{"start_region_id":74,"end_region_id":1,"start_point":[386,479],"end_point":[875,871],"distance":626.7256177945816},{"start_region_id":72,"end_region_id":2,"start_point":[490,236],"end_point":[722,815],"distance":623.7507515025533},{"start_region_id":73,"end_region_id":1,"start_point":[826,376],"end_point":[875,871],"distance":497.4193401949707},{"start_region_id":74,"end_region_id":2,"start_point":[386,479],"end_point":[722,815],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":8587,"query_id":"Q01718","question":"An off-road vehicle is currently positioned on loose, rocky ground and needs to reach a destination located on grassy, uneven terrain. The vehicle requires a smooth, stable surface to minimize vibrations and ensure a comfortable ride. While the vehicle can traverse both the starting rocky ground and the destination grassy terrain, it must avoid any areas with standing liquid, vertical structures, or dense vegetation that could obstruct its path. What is the most comfortable route for the vehicle to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, rocky ground","end_land_type":"grassy, uneven terrain","task_description":"What is the most comfortable route for the vehicle 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":[1,2,4,5,0,0,3,0],"image_name":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":8,"start_point":[875,871],"end_point":[71,564],"distance":860.6189633048996},{"start_region_id":1,"end_region_id":7,"start_point":[875,871],"end_point":[217,443],"distance":784.9509538818334},{"start_region_id":1,"end_region_id":4,"start_point":[875,871],"end_point":[320,385],"distance":737.7133589681022},{"start_region_id":2,"end_region_id":8,"start_point":[722,815],"end_point":[71,564],"distance":697.7119749581485},{"start_region_id":2,"end_region_id":7,"start_point":[722,815],"end_point":[217,443],"distance":627.2232457426941}],"complexity_score":0.6159937990581671}
{"id":8977,"query_id":"Q01796","question":"An aerial surveillance drone is currently positioned on a paved, flat, and stable surface. It needs to reach a dry, open area of loose earth and rocks for a landing site. The drone can fly over liquid surfaces, but must avoid any tall, dense vegetation or vertical structures that could pose collision risks. The drone can also traverse over grassy or shrub-covered areas and cultivated fields if necessary. The objective is to find the path that minimizes the risk of collision, loss of control, or damage to the drone.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, and stable surface","end_land_type":"A dry, open area of loose earth and rocks","task_description":"What is the safest path for the drone to take from its starting point 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":1,"start_point":[197,395],"end_point":[875,871],"distance":828.4081119834595},{"start_region_id":54,"end_region_id":1,"start_point":[143,977],"end_point":[875,871],"distance":739.6350451405071},{"start_region_id":40,"end_region_id":2,"start_point":[197,395],"end_point":[722,815],"distance":672.3280449304491},{"start_region_id":44,"end_region_id":1,"start_point":[875,206],"end_point":[875,871],"distance":665.0},{"start_region_id":52,"end_region_id":1,"start_point":[235,826],"end_point":[875,871],"distance":641.5800807381726}],"complexity_score":0.6159937990581671}
{"id":9438,"query_id":"Q01888","question":"An aerial survey drone is positioned on a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with rows of crops. The drone can fly over open, solid surfaces like bare earth, agricultural plots, and water bodies, but must avoid tall, dense vegetation and vertical structures. The mission requires minimizing risk, so the drone should prioritize stable, open areas that reduce collision hazards and unpredictable obstacles. What is the safest 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":"a cultivated field with rows of 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[875,871],"end_point":[490,236],"distance":742.5967950375224},{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":2,"end_region_id":72,"start_point":[722,815],"end_point":[490,236],"distance":623.7507515025533},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":9943,"query_id":"Q01989","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cultivated field with rows of crops planted in soft soil. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. The drone can fly over open water bodies, but must avoid flying directly through dense tree canopies or close to building structures, as these present navigation hazards and turbulence. The drone can also traverse grassy or shrub-covered areas, paved vehicle lanes, and the loose rocky starting area. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey 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 cultivated field with rows of crops planted in soft soil.","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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[875,871],"end_point":[490,236],"distance":742.5967950375224},{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":2,"end_region_id":72,"start_point":[722,815],"end_point":[490,236],"distance":623.7507515025533},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":10668,"query_id":"Q02134","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with orderly rows of low-growing plants. The drone can fly over open ground, paved lanes, liquid surfaces, and cultivated areas. It can also navigate between tall vertical structures and above built-up areas if necessary, but must avoid dense clusters of tall vegetation with complex branches. The priority is to minimize the risk of collision or loss of control. What is the safest path?","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 cultivated field with orderly rows of low-growing plants.","task_description":"What is the safest path?","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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[875,871],"end_point":[490,236],"distance":742.5967950375224},{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":2,"end_region_id":72,"start_point":[722,815],"end_point":[490,236],"distance":623.7507515025533},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":11863,"query_id":"Q02373","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a paved, hard-surfaced area. The terrain includes only loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces. The quadcopter drone can traverse loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the shortest path for the quadcopter drone 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":40,"start_point":[875,871],"end_point":[197,395],"distance":828.4081119834595},{"start_region_id":2,"end_region_id":40,"start_point":[722,815],"end_point":[197,395],"distance":672.3280449304491},{"start_region_id":1,"end_region_id":52,"start_point":[875,871],"end_point":[235,826],"distance":641.5800807381726},{"start_region_id":1,"end_region_id":39,"start_point":[875,871],"end_point":[446,502],"distance":565.8639412438293},{"start_region_id":2,"end_region_id":52,"start_point":[722,815],"end_point":[235,826],"distance":487.1242141384474}],"complexity_score":0.6159937990581671}
{"id":14550,"query_id":"Q02910","question":"A quadcopter drone takes off from a sandy, open area and must fly to a crop field in the shortest time possible. The drone can fly over most surfaces, including paved pathways and agricultural plots, but must avoid colliding with tall vertical obstacles like trees and buildings. Which route enables the drone to achieve the highest speed?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"crop field","task_description":"Which route enables the drone to achieve the highest 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[875,871],"end_point":[490,236],"distance":742.5967950375224},{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":2,"end_region_id":72,"start_point":[722,815],"end_point":[490,236],"distance":623.7507515025533},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":15190,"query_id":"Q03038","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to reach a cultivated field. An aerial survey drone must maintain stable flight for sensor accuracy. The drone can fly over open water surfaces, but must avoid tall vertical obstacles like trees and structures. It can traverse grassy areas and paved surfaces, but should prioritize smooth, predictable terrain to minimize vibrations. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to reach a cultivated 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":"viru_31.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[875,871],"end_point":[490,236],"distance":742.5967950375224},{"start_region_id":1,"end_region_id":74,"start_point":[875,871],"end_point":[386,479],"distance":626.7256177945816},{"start_region_id":2,"end_region_id":72,"start_point":[722,815],"end_point":[490,236],"distance":623.7507515025533},{"start_region_id":1,"end_region_id":73,"start_point":[875,871],"end_point":[826,376],"distance":497.4193401949707},{"start_region_id":2,"end_region_id":74,"start_point":[722,815],"end_point":[386,479],"distance":475.1757569573599}],"complexity_score":0.6159937990581671}
{"id":861,"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":"podkarpackie_6.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":14,"start_point":[184,516],"end_point":[906,992],"distance":864.7889916043104},{"start_region_id":43,"end_region_id":14,"start_point":[811,198],"end_point":[906,992],"distance":799.6630540421385},{"start_region_id":45,"end_region_id":11,"start_point":[184,516],"end_point":[831,666],"distance":664.1603721993657},{"start_region_id":44,"end_region_id":14,"start_point":[495,723],"end_point":[906,992],"distance":491.20464167188},{"start_region_id":43,"end_region_id":11,"start_point":[811,198],"end_point":[831,666],"distance":468.42715548951685}],"complexity_score":0.6160283390590425}
{"id":3778,"query_id":"Q00756","question":"A hiker starts from a grassy, open field and needs to reach a cultivated crop field. The terrain includes areas of loose soil and rocks, paved surfaces like sidewalks and parking lots, vehicle lanes, scattered trees, and planted agricultural areas. All these surfaces are accessible for walking. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field","end_land_type":"cultivated crop 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":"podkarpackie_6.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":45,"start_point":[986,967],"end_point":[184,516],"distance":920.1114062981721},{"start_region_id":7,"end_region_id":43,"start_point":[986,967],"end_point":[811,198],"distance":788.6608903705064},{"start_region_id":1,"end_region_id":46,"start_point":[360,323],"end_point":[922,792],"distance":731.9870217428721},{"start_region_id":4,"end_region_id":45,"start_point":[757,670],"end_point":[184,516],"distance":593.3338014979427},{"start_region_id":7,"end_region_id":44,"start_point":[986,967],"end_point":[495,723],"distance":548.285509565956}],"complexity_score":0.6160283390590425}
{"id":9449,"query_id":"Q01890","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field while minimizing operational risks. The drone can fly over open, exposed ground with loose soil and rocks, areas with tall vertical obstacles that require careful navigation, liquid surfaces, and other cultivated fields. 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 reach the destination cultivated field?","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":"podkarpackie_6.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":46,"start_point":[184,516],"end_point":[922,792],"distance":787.9213158685327},{"start_region_id":46,"end_region_id":45,"start_point":[922,792],"end_point":[184,516],"distance":787.9213158685327},{"start_region_id":43,"end_region_id":45,"start_point":[811,198],"end_point":[184,516],"distance":703.0312937558327},{"start_region_id":45,"end_region_id":43,"start_point":[184,516],"end_point":[811,198],"distance":703.0312937558327},{"start_region_id":44,"end_region_id":43,"start_point":[495,723],"end_point":[811,198],"distance":612.7650446949467}],"complexity_score":0.6160283390590425}
{"id":17451,"query_id":"Q03491","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster of tall vegetation with vertical structures and canopy cover. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. The drone can fly over areas with loose, dry soil and rocks; areas with low, natural vegetation; paved lanes used by vehicles; liquid surfaces; and clusters of tall vegetation with vertical structures, but flying through dense vertical structures requires careful navigation and increases vibration risk. The drone cannot fly through solid vertical structures like buildings. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","task_description":"What is the most comfortable path for the aerial survey drone to reach its destination while minimizing vibrations?","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":"podkarpackie_6.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":39,"start_point":[178,92],"end_point":[853,948],"distance":1090.1197181961254},{"start_region_id":39,"end_region_id":16,"start_point":[853,948],"end_point":[178,92],"distance":1090.1197181961254},{"start_region_id":16,"end_region_id":38,"start_point":[178,92],"end_point":[656,949],"distance":981.2914959378788},{"start_region_id":38,"end_region_id":16,"start_point":[656,949],"end_point":[178,92],"distance":981.2914959378788},{"start_region_id":16,"end_region_id":34,"start_point":[178,92],"end_point":[765,777],"distance":902.1053153595759}],"complexity_score":0.6160283390590425}
{"id":7234,"query_id":"Q01447","question":"A quadcopter 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 liquid surfaces and paved lanes, but must navigate carefully around the tall, leafy structures due to potential obstacles. What is the fastest 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 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":"palu_25.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":608,"end_region_id":736,"start_point":[32,259],"end_point":[997,909],"distance":1163.4968843963443},{"start_region_id":736,"end_region_id":608,"start_point":[997,909],"end_point":[32,259],"distance":1163.4968843963443},{"start_region_id":579,"end_region_id":732,"start_point":[705,67],"end_point":[31,874],"distance":1051.439489461947},{"start_region_id":732,"end_region_id":579,"start_point":[31,874],"end_point":[705,67],"distance":1051.439489461947},{"start_region_id":736,"end_region_id":622,"start_point":[997,909],"end_point":[114,345],"distance":1047.7523562369115}],"complexity_score":0.6161355689018903}
{"id":10674,"query_id":"Q02135","question":"A delivery drone starts from a region covered with wild grasses and shrubs and needs to reach a flat, artificial surface. The environment includes open, vegetation-free ground, and areas with tall, dense obstacles that can be flown over but may slow you down. All surfaces except liquid are accessible, but vertical structures and natural obstacles require careful maneuvering. What is the fastest route to the flat, artificial surface?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the fastest route to the flat, artificial 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":"palu_25.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":422,"start_point":[46,49],"end_point":[977,812],"distance":1203.7150825672993},{"start_region_id":13,"end_region_id":490,"start_point":[967,99],"end_point":[254,965],"distance":1121.7508636056405},{"start_region_id":13,"end_region_id":478,"start_point":[967,99],"end_point":[348,957],"distance":1057.9815688375672},{"start_region_id":2,"end_region_id":422,"start_point":[243,73],"end_point":[977,812],"distance":1041.5742892372105},{"start_region_id":21,"end_region_id":490,"start_point":[932,157],"end_point":[254,965],"distance":1054.773909423247}],"complexity_score":0.6161355689018903}
{"id":12305,"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_25.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":490,"end_region_id":543,"start_point":[254,965],"end_point":[853,81],"distance":1067.828169697728},{"start_region_id":478,"end_region_id":543,"start_point":[348,957],"end_point":[853,81],"distance":1011.1384672733997},{"start_region_id":490,"end_region_id":542,"start_point":[254,965],"end_point":[560,32],"distance":981.8986709431886},{"start_region_id":490,"end_region_id":545,"start_point":[254,965],"end_point":[909,254],"distance":966.7191939751688},{"start_region_id":478,"end_region_id":542,"start_point":[348,957],"end_point":[560,32],"distance":948.9831399977558}],"complexity_score":0.6161355689018903}
{"id":1203,"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_45.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":990,"start_point":[918,958],"end_point":[507,533],"distance":591.2241537691098},{"start_region_id":3,"end_region_id":990,"start_point":[850,77],"end_point":[507,533],"distance":570.6005608129035},{"start_region_id":15,"end_region_id":990,"start_point":[924,167],"end_point":[507,533],"distance":554.8378141403125},{"start_region_id":67,"end_region_id":990,"start_point":[957,744],"end_point":[507,533],"distance":497.0120722879878},{"start_region_id":163,"end_region_id":990,"start_point":[820,898],"end_point":[507,533],"distance":480.82637198889165}],"complexity_score":0.6161724540741318}
{"id":5514,"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":"accra_45.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":990,"end_region_id":990,"start_point":[47,900],"end_point":[931,113],"distance":1183.5645314050266}],"complexity_score":0.6161724540741318}
{"id":8175,"query_id":"Q01635","question":"A delivery van starts from a paved road and needs to reach another paved road. The van can travel on paved surfaces and also on cultivated fields if necessary, but it must avoid all other terrain types such as water bodies, buildings, and wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road","end_land_type":"a paved road","task_description":"What is the shortest path for the delivery van to travel 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_45.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":990,"end_region_id":990,"start_point":[925,849],"end_point":[57,113],"distance":1138.0333914257526}],"complexity_score":0.6161724540741318}
{"id":14926,"query_id":"Q02986","question":"A hiker is standing on grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The hiker can traverse across loose, sandy or rocky ground without vegetation, as well as areas with cultivated crops or grazing vegetation, and can pass through wooded areas with individual trees or groups of trees. However, all water bodies and any structures with solid walls and roofs are completely impassable. 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":"a paved, hard-surfaced lane","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":"accra_45.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":990,"start_point":[918,958],"end_point":[507,533],"distance":591.2241537691098},{"start_region_id":3,"end_region_id":990,"start_point":[850,77],"end_point":[507,533],"distance":570.6005608129035},{"start_region_id":15,"end_region_id":990,"start_point":[924,167],"end_point":[507,533],"distance":554.8378141403125},{"start_region_id":67,"end_region_id":990,"start_point":[957,744],"end_point":[507,533],"distance":497.0120722879878},{"start_region_id":163,"end_region_id":990,"start_point":[820,898],"end_point":[507,533],"distance":480.82637198889165}],"complexity_score":0.6161724540741318}
{"id":2372,"query_id":"Q00475","question":"A person walking with a stroller starts from a paved sidewalk adjacent to a road and needs to reach another paved sidewalk adjacent to a road while prioritizing a smooth, comfortable journey. The stroller requires flat, hard surfaces to roll smoothly without jostling its occupant. While the person could potentially walk through cultivated fields, these have uneven soil that would make pushing the stroller difficult and uncomfortable. Similarly, walking through areas with trees involves navigating roots and uneven ground that would create a bumpy ride. The walker must use only paved artificial surfaces and designated pedestrian areas that provide the smoothest travel experience.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"paved sidewalk adjacent to a road","end_land_type":"another paved sidewalk adjacent to a road","task_description":"What is the most comfortable path for the person with the stroller 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":"dolnoslaskie_29.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":101,"start_point":[514,470],"end_point":[1007,948],"distance":686.68260499302},{"start_region_id":101,"end_region_id":100,"start_point":[1007,948],"end_point":[514,470],"distance":686.68260499302}],"complexity_score":0.6161786274510549}
{"id":6055,"query_id":"Q01211","question":"A hiker starts from a paved, hard surface area and needs to reach a vehicle lane as quickly as possible. The hiker can traverse bare, loose soil and rocky ground, grassy or shrub-covered terrain, paved or compacted surfaces, and areas with individual trees or small groups of trees, as these terrains are firm enough for walking. However, water bodies and buildings are strictly impassable due to physical barriers. 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","task_description":"What is the fastest path from the paved, hard surface area to the vehicle lane?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"dolnoslaskie_29.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":101,"start_point":[66,201],"end_point":[1007,948],"distance":1201.4532866491315},{"start_region_id":86,"end_region_id":101,"start_point":[67,482],"end_point":[1007,948],"distance":1049.169195125362},{"start_region_id":71,"end_region_id":101,"start_point":[570,235],"end_point":[1007,948],"distance":836.2643122841008},{"start_region_id":87,"end_region_id":101,"start_point":[342,597],"end_point":[1007,948],"distance":751.9481365094271},{"start_region_id":73,"end_region_id":101,"start_point":[520,433],"end_point":[1007,948],"distance":708.7975733592773}],"complexity_score":0.6161786274510549}
{"id":16034,"query_id":"Q03207","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with branches and foliage and needs to reach another similar cluster as quickly as possible. The drone can fly over open areas with low vegetation, hard flat surfaces, liquid bodies, and cultivated fields. However, it must minimize time spent navigating through or around other dense vertical structures with branches and foliage, as they require careful maneuvering. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with branches and foliage","end_land_type":"Another dense cluster of tall, vertical structures with branches and foliage","task_description":"What is the fastest path for the aerial survey drone to reach the destination cluster of tall vertical structures?","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":"dolnoslaskie_29.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":110,"start_point":[323,1004],"end_point":[775,22],"distance":1081.0309893800454},{"start_region_id":110,"end_region_id":210,"start_point":[775,22],"end_point":[323,1004],"distance":1081.0309893800454},{"start_region_id":205,"end_region_id":110,"start_point":[420,929],"end_point":[775,22],"distance":973.9989733054138},{"start_region_id":110,"end_region_id":205,"start_point":[775,22],"end_point":[420,929],"distance":973.9989733054138},{"start_region_id":192,"end_region_id":110,"start_point":[108,731],"end_point":[775,22],"distance":973.4320726172937}],"complexity_score":0.6161786274510549}
{"id":1045,"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_39.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":1,"start_point":[873,895],"end_point":[62,163],"distance":1092.4948512464487},{"start_region_id":57,"end_region_id":1,"start_point":[964,741],"end_point":[62,163],"distance":1071.3020115728336},{"start_region_id":36,"end_region_id":35,"start_point":[125,184],"end_point":[801,962],"distance":1030.6599827295129},{"start_region_id":48,"end_region_id":9,"start_point":[118,581],"end_point":[982,30],"distance":1024.742406656424},{"start_region_id":60,"end_region_id":3,"start_point":[873,895],"end_point":[236,161],"distance":971.8667604152331}],"complexity_score":0.6161949100277359}
{"id":3821,"query_id":"Q00765","question":"A quadcopter drone is starting from a patch of grassy, shrub-covered ground and needs to reach a flat, hard-surfaced area. The drone can fly over loose soil, grassy areas, paved surfaces, cultivated fields, and liquid surfaces, but must avoid any tall vertical obstacles or structures. The drone must find the safest path to the destination.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of grassy, shrub-covered ground","end_land_type":"a flat, hard-surfaced area","task_description":"What is the safest route for the quadcopter drone to take from the grassy patch to the flat 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":"oklahoma_39.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":71,"start_point":[62,163],"end_point":[723,888],"distance":981.0942870081346},{"start_region_id":1,"end_region_id":70,"start_point":[62,163],"end_point":[815,756],"distance":958.4664835037269},{"start_region_id":9,"end_region_id":71,"start_point":[982,30],"end_point":[723,888],"distance":896.2393653483426},{"start_region_id":3,"end_region_id":71,"start_point":[236,161],"end_point":[723,888],"distance":875.0417132914293},{"start_region_id":8,"end_region_id":71,"start_point":[849,38],"end_point":[723,888],"distance":859.2880774222344}],"complexity_score":0.6161949100277359}
{"id":8443,"query_id":"Q01689","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of low, wild vegetation and grass. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, all paved or artificial surfaces, vehicle lanes, and bodies of liquid. However, it must avoid flying directly through dense clusters of tall, vertical obstacles like trees or through solid, enclosed structures. Given the need to minimize travel time, 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, wild vegetation and grass","task_description":"What is the fastest path for the 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":"oklahoma_39.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":1,"start_point":[723,888],"end_point":[62,163],"distance":981.0942870081346},{"start_region_id":70,"end_region_id":1,"start_point":[815,756],"end_point":[62,163],"distance":958.4664835037269},{"start_region_id":71,"end_region_id":9,"start_point":[723,888],"end_point":[982,30],"distance":896.2393653483426},{"start_region_id":71,"end_region_id":3,"start_point":[723,888],"end_point":[236,161],"distance":875.0417132914293},{"start_region_id":71,"end_region_id":8,"start_point":[723,888],"end_point":[849,38],"distance":859.2880774222344}],"complexity_score":0.6161949100277359}
{"id":5010,"query_id":"Q01002","question":"A hiker is standing in a cultivated field with loose, tilled soil. They need to reach a paved street. The only surfaces available for travel are: hard, flat paved surfaces; compacted, stable artificial surfaces like parking lots or sidewalks; and cultivated fields with loose soil. What is the shortest path to the street?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the shortest path from the cultivated field to the paved street?","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":"podkarpackie_20.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":64,"start_point":[880,558],"end_point":[287,407],"distance":611.9231977952788},{"start_region_id":130,"end_region_id":64,"start_point":[102,867],"end_point":[287,407],"distance":495.8074222921638},{"start_region_id":129,"end_region_id":64,"start_point":[442,655],"end_point":[287,407],"distance":292.4534150937547}],"complexity_score":0.6162623857939694}
{"id":7270,"query_id":"Q01454","question":"An agricultural drone starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with soft, tilled soil. The drone can fly over hard, paved surfaces, areas with tall, dense vegetation, and cultivated fields, but must avoid densely wooded areas and structures due to potential obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"an agricultural drone","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":["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":"podkarpackie_20.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":130,"start_point":[880,558],"end_point":[102,867],"distance":837.1170766386265},{"start_region_id":130,"end_region_id":128,"start_point":[102,867],"end_point":[880,558],"distance":837.1170766386265},{"start_region_id":127,"end_region_id":130,"start_point":[354,77],"end_point":[102,867],"distance":829.2189095769585},{"start_region_id":130,"end_region_id":127,"start_point":[102,867],"end_point":[354,77],"distance":829.2189095769585},{"start_region_id":128,"end_region_id":127,"start_point":[880,558],"end_point":[354,77],"distance":712.7671429015229}],"complexity_score":0.6162623857939694}
{"id":9270,"query_id":"Q01854","question":"A quadcopter drone is hovering above a cultivated field with crops and loose soil. It needs to fly to a grassy, open area with low vegetation. The drone can traverse over most surfaces, including open ground, paved areas, and vegetation, but must avoid dense tree canopies and structures to prevent collisions. What is the fastest route?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the fastest route for the quadcopter drone to travel from the cultivated field to the grassy open 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":"podkarpackie_20.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":34,"start_point":[354,77],"end_point":[45,991],"distance":964.8196722704197},{"start_region_id":128,"end_region_id":34,"start_point":[880,558],"end_point":[45,991],"distance":940.5923665435522},{"start_region_id":127,"end_region_id":33,"start_point":[354,77],"end_point":[563,968],"distance":915.1841344778657},{"start_region_id":127,"end_region_id":29,"start_point":[354,77],"end_point":[222,968],"distance":900.7247082211079},{"start_region_id":130,"end_region_id":13,"start_point":[102,867],"end_point":[862,429],"distance":877.1795711255478}],"complexity_score":0.6162623857939694}
{"id":764,"query_id":"Q00153","question":"A hiker is currently positioned within a densely vegetated area with tall, upright structures providing shade and cover. They need to reach a flat, hard, paved surface designed for vehicle movement. The hiker can traverse areas of loose, dry, granular soil and rock accumulations, as well as hard, artificial surfaces like sidewalks, parking lots, and sports fields. However, they cannot cross any liquid surfaces or enter any constructed shelters or vertical enclosures. The goal is to find the path that minimizes risk.","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 designed for vehicle movement","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,4,3,1,0,0,0],"image_name":"santiago_19.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":476,"end_region_id":427,"start_point":[823,293],"end_point":[902,989],"distance":700.4691285131701},{"start_region_id":581,"end_region_id":423,"start_point":[738,803],"end_point":[424,450],"distance":472.4457640830321},{"start_region_id":476,"end_region_id":423,"start_point":[823,293],"end_point":[424,450],"distance":428.7773314903669},{"start_region_id":581,"end_region_id":427,"start_point":[738,803],"end_point":[902,989],"distance":247.97580527140144}],"complexity_score":0.6164211546017575}
{"id":8721,"query_id":"Q01745","question":"A quadcopter drone is positioned on a paved surface and needs to reach a grassy or shrub-covered ground area. The drone can fly over loose sandy or rocky terrain, paved surfaces, vehicle lanes, and liquid bodies, but must avoid tall vertical obstacles and solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy or shrub-covered ground","task_description":"What is the shortest path for the drone to reach the grassy or shrub-covered ground from the paved surface?","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":"santiago_19.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":43,"start_point":[315,35],"end_point":[826,802],"distance":921.6344177601007},{"start_region_id":85,"end_region_id":43,"start_point":[265,91],"end_point":[826,802],"distance":905.6721261030395},{"start_region_id":208,"end_region_id":15,"start_point":[46,569],"end_point":[893,409],"distance":861.9796981367949},{"start_region_id":300,"end_region_id":15,"start_point":[224,951],"end_point":[893,409],"distance":861.0023228772383},{"start_region_id":112,"end_region_id":43,"start_point":[163,267],"end_point":[826,802],"distance":851.9354435636541}],"complexity_score":0.6164211546017575}
{"id":13182,"query_id":"Q02637","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; grassy or shrub-covered areas; other paved or compacted surfaces; liquid bodies; and cultivated fields with low vegetation. However, it must avoid densely packed vertical obstacles like tall structures or thick tree canopies, as these could obstruct its flight path. What is the shortest 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":"What is the shortest route for the quadcopter drone to travel 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":"santiago_19.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":423,"end_region_id":427,"start_point":[424,450],"end_point":[902,989],"distance":720.4200163793341},{"start_region_id":427,"end_region_id":423,"start_point":[902,989],"end_point":[424,450],"distance":720.4200163793341}],"complexity_score":0.6164211546017575}
{"id":7444,"query_id":"Q01489","question":"A quadcopter drone takes off from a paved landing pad and must land on another paved landing pad. The drone can fly over liquid surfaces and cultivated fields, but trees and buildings are obstructed and must be avoided. What is the fastest path for the quadcopter drone to take?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"paved surface","end_land_type":"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","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_32.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":68,"start_point":[977,986],"end_point":[176,3],"distance":1268.0260249695193}],"complexity_score":0.6165926937006684}
{"id":10582,"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":"joplin_32.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":66,"start_point":[54,74],"end_point":[486,1004],"distance":1025.4384428136093},{"start_region_id":66,"end_region_id":30,"start_point":[486,1004],"end_point":[54,74],"distance":1025.4384428136093},{"start_region_id":56,"end_region_id":30,"start_point":[806,672],"end_point":[54,74],"distance":960.7850956379372},{"start_region_id":30,"end_region_id":56,"start_point":[54,74],"end_point":[806,672],"distance":960.7850956379372},{"start_region_id":65,"end_region_id":30,"start_point":[281,996],"end_point":[54,74],"distance":949.5330431322545}],"complexity_score":0.6165926937006684}
{"id":12342,"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":"joplin_32.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":1,"start_point":[619,584],"end_point":[89,102],"distance":716.3965382384256},{"start_region_id":68,"end_region_id":22,"start_point":[619,584],"end_point":[36,988],"distance":709.2989496679098},{"start_region_id":68,"end_region_id":4,"start_point":[619,584],"end_point":[834,93],"distance":536.0093282770366},{"start_region_id":68,"end_region_id":28,"start_point":[619,584],"end_point":[877,1004],"distance":492.9137855649809},{"start_region_id":68,"end_region_id":7,"start_point":[619,584],"end_point":[942,232],"distance":477.73737555271936}],"complexity_score":0.6165926937006684}
{"id":16572,"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":"joplin_32.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":68,"start_point":[738,191],"end_point":[142,946],"distance":961.8944848578767}],"complexity_score":0.6165926937006684}
{"id":6031,"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":"gorakhpur_67.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":52,"start_point":[347,443],"end_point":[444,143],"distance":315.2919282189127},{"start_region_id":52,"end_region_id":90,"start_point":[444,143],"end_point":[347,443],"distance":315.2919282189127}],"complexity_score":0.6166200854176518}
{"id":12030,"query_id":"Q02406","question":"A delivery van starts from a paved parking lot and needs to reach a paved street as quickly as possible. The van can only travel on hard, stable surfaces that provide good traction and minimal rolling resistance, such as compacted gravel or asphalt, and cannot drive on soft, loose soil, vegetation, liquid, or vertical obstacles. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a paved street","task_description":"What is the fastest path for the delivery van to travel from the paved parking lot to the paved street?","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":"gorakhpur_67.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":263,"start_point":[481,940],"end_point":[612,649],"distance":319.1269339933563}],"complexity_score":0.6166200854176518}
{"id":1635,"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":"piura_30.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":70,"start_point":[933,157],"end_point":[61,1011],"distance":1220.5326705991938},{"start_region_id":70,"end_region_id":13,"start_point":[61,1011],"end_point":[933,157],"distance":1220.5326705991938},{"start_region_id":4,"end_region_id":70,"start_point":[650,22],"end_point":[61,1011],"distance":1151.10468681176},{"start_region_id":70,"end_region_id":4,"start_point":[61,1011],"end_point":[650,22],"distance":1151.10468681176},{"start_region_id":22,"end_region_id":70,"start_point":[979,455],"end_point":[61,1011],"distance":1073.2474085689655}],"complexity_score":0.6166590865345598}
{"id":7273,"query_id":"Q01455","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over liquid areas, but must avoid tall vertical obstacles that could cause collisions. The drone's flight path should prioritize areas that minimize the risk of loss of control or damage.","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 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":"piura_30.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":178,"start_point":[995,994],"end_point":[76,506],"distance":1040.5311143834192}],"complexity_score":0.6166590865345598}
{"id":16518,"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":"piura_30.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":179,"start_point":[979,455],"end_point":[125,290],"distance":869.7936536903451},{"start_region_id":13,"end_region_id":179,"start_point":[933,157],"end_point":[125,290],"distance":818.8730060271861},{"start_region_id":22,"end_region_id":201,"start_point":[979,455],"end_point":[235,204],"distance":785.1987009668317},{"start_region_id":13,"end_region_id":201,"start_point":[933,157],"end_point":[235,204],"distance":699.5805886386499},{"start_region_id":4,"end_region_id":179,"start_point":[650,22],"end_point":[125,290],"distance":589.448046904899}],"complexity_score":0.6166590865345598}
{"id":7052,"query_id":"Q01411","question":"A quadcopter drone starts from a cultivated field with loose soil and crops and needs to reach another cultivated field with loose soil and crops using a quadcopter drone. The drone can fly over all surfaces except vertical obstacles like trees and buildings, which are blocked. Hard paved areas and liquid surfaces are accessible. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"another cultivated field with loose soil and 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":"al_qurnah_43.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":190,"start_point":[812,691],"end_point":[221,165],"distance":791.1744434699594},{"start_region_id":190,"end_region_id":219,"start_point":[221,165],"end_point":[812,691],"distance":791.1744434699594},{"start_region_id":219,"end_region_id":186,"start_point":[812,691],"end_point":[421,58],"distance":744.0228491115041},{"start_region_id":186,"end_region_id":219,"start_point":[421,58],"end_point":[812,691],"distance":744.0228491115041},{"start_region_id":219,"end_region_id":197,"start_point":[812,691],"end_point":[245,247],"distance":720.1562330494683}],"complexity_score":0.616796525403279}
{"id":9558,"query_id":"Q01912","question":"An off-road vehicle starts from a hard, paved surface and needs to reach cultivated soil. The terrain includes compacted, unpaved ground; grassy and shrubby areas; hard, artificial surfaces; vehicle lanes; and soft, plowed earth. The vehicle can traverse all these surfaces, but must avoid any liquid bodies, vertical structures, and areas with dense tree cover. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"cultivated soil","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":"al_qurnah_43.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":219,"start_point":[22,151],"end_point":[812,691],"distance":956.9221493935648},{"start_region_id":42,"end_region_id":219,"start_point":[141,132],"end_point":[812,691],"distance":873.3395674077752},{"start_region_id":51,"end_region_id":219,"start_point":[86,322],"end_point":[812,691],"distance":814.3936394643563},{"start_region_id":56,"end_region_id":186,"start_point":[558,848],"end_point":[421,58],"distance":801.7911199308708},{"start_region_id":49,"end_region_id":211,"start_point":[22,151],"end_point":[639,630],"distance":781.1081871290302}],"complexity_score":0.616796525403279}
{"id":14826,"query_id":"Q02966","question":"A quadcopter starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with similar soft soil. The terrain includes rough, loose ground composed of sand or rocks, and paved lanes used by vehicles. You must avoid any areas with trees or buildings, as they are conditionally traversable and not permitted here. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","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","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":"al_qurnah_43.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":190,"start_point":[812,691],"end_point":[221,165],"distance":791.1744434699594},{"start_region_id":190,"end_region_id":219,"start_point":[221,165],"end_point":[812,691],"distance":791.1744434699594},{"start_region_id":219,"end_region_id":186,"start_point":[812,691],"end_point":[421,58],"distance":744.0228491115041},{"start_region_id":186,"end_region_id":219,"start_point":[421,58],"end_point":[812,691],"distance":744.0228491115041},{"start_region_id":219,"end_region_id":197,"start_point":[812,691],"end_point":[245,247],"distance":720.1562330494683}],"complexity_score":0.616796525403279}
{"id":17012,"query_id":"Q03403","question":"A hiker starts from a cultivated field with rows of crops and needs to reach a cluster of tall trees. The area includes open, loose soil surfaces and vegetated ground. The hiker can walk on cultivated soil and open ground, and trees are passable if there are gaps between them, but paved surfaces and roads are absent or blocked. What is the shortest path to the trees?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with rows of crops","end_land_type":"a cluster of tall trees","task_description":"What is the shortest path to the trees?","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":"al_qurnah_43.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":125,"start_point":[224,511],"end_point":[949,628],"distance":734.3800106212042},{"start_region_id":221,"end_region_id":125,"start_point":[368,623],"end_point":[949,628],"distance":581.021514231616},{"start_region_id":219,"end_region_id":139,"start_point":[812,691],"end_point":[258,621],"distance":558.4048710389263},{"start_region_id":189,"end_region_id":88,"start_point":[662,96],"end_point":[154,255],"distance":532.3016062346609},{"start_region_id":207,"end_region_id":139,"start_point":[751,407],"end_point":[258,621],"distance":537.4430202356339}],"complexity_score":0.616796525403279}
{"id":1950,"query_id":"Q00390","question":"An aerial survey drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field area with planted crops. The drone can fly over open water bodies, but must avoid areas with tall vertical obstacles like trees and structures. The drone can traverse all other surfaces including paved areas, hard-packed open spaces, and planted fields. What is the fastest path to reach the cultivated field?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest path to reach the cultivated 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":"gorakhpur_68.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":404,"start_point":[845,979],"end_point":[52,62],"distance":1212.3275135044985},{"start_region_id":253,"end_region_id":405,"start_point":[845,979],"end_point":[384,199],"distance":906.0469082779324},{"start_region_id":209,"end_region_id":411,"start_point":[89,279],"end_point":[929,474],"distance":862.3369411082886},{"start_region_id":253,"end_region_id":414,"start_point":[845,979],"end_point":[48,681],"distance":850.8895345460537},{"start_region_id":217,"end_region_id":404,"start_point":[684,552],"end_point":[52,62],"distance":799.7024446630134}],"complexity_score":0.6168185476852501}
{"id":11471,"query_id":"Q02295","question":"A hiker starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area while prioritizing a smooth and stable walking experience. The hiker can traverse areas with loose, granular surfaces like sand or rock accumulations, as well as open areas covered with natural grasses and shrubs, since these are dry and passable. Additionally, the hiker can use compacted, level surfaces such as sidewalks and parking lots, and vehicle lanes with hard pavement. The hiker can also cross cultivated fields with planted crops, as the soil is firm and the vegetation is low enough to walk through comfortably. However, the hiker cannot enter any structures, cross any liquid bodies, or pass through dense clusters of tall vegetation that would obstruct movement or cause discomfort.","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 most comfortable path for the hiker 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":[1,2,5,4,0,0,3,0],"image_name":"gorakhpur_68.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":193,"start_point":[445,749],"end_point":[839,733],"distance":394.3247392695518},{"start_region_id":193,"end_region_id":192,"start_point":[839,733],"end_point":[445,749],"distance":394.3247392695518}],"complexity_score":0.6168185476852501}
{"id":11514,"query_id":"Q02303","question":"An aerial drone is starting from a patch of grassy, uneven ground and needs to reach another patch of grassy, uneven ground. The drone can traverse areas with loose soil and rocks, as well as cultivated fields with soft, tilled earth, but cannot use paved surfaces, water bodies, trees, or buildings. The goal is to find a path that maximizes flight comfort by prioritizing stable and predictable airspace over terrain.","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"grassy, uneven ground","end_land_type":"grassy, uneven ground","task_description":"What is the most comfortable path for the aerial drone to take?","task_type":"Comfort","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":"gorakhpur_68.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":36,"start_point":[623,413],"end_point":[283,252],"distance":376.19276973381614},{"start_region_id":36,"end_region_id":35,"start_point":[283,252],"end_point":[623,413],"distance":376.19276973381614},{"start_region_id":122,"end_region_id":78,"start_point":[113,901],"end_point":[117,611],"distance":290.02758489495443},{"start_region_id":78,"end_region_id":122,"start_point":[117,611],"end_point":[113,901],"distance":290.02758489495443},{"start_region_id":76,"end_region_id":109,"start_point":[736,643],"end_point":[948,772],"distance":248.16325271885037}],"complexity_score":0.6168185476852501}
{"id":15877,"query_id":"Q03176","question":"A quadcopter drone is currently positioned over a cultivated field and needs to reach a paved area. The drone can fly over open grassy areas, paved surfaces, bodies of water, and cultivated fields. It can also navigate around tall vertical structures and dense vegetation, but these require careful maneuvering which slows it down. The drone's priority is to minimize travel time. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the fastest path for the drone?","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":"gorakhpur_68.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":404,"end_region_id":193,"start_point":[52,62],"end_point":[839,733],"distance":1034.2195124827224},{"start_region_id":410,"end_region_id":193,"start_point":[39,222],"end_point":[839,733],"distance":949.2739330667413},{"start_region_id":406,"end_region_id":192,"start_point":[979,16],"end_point":[445,749],"distance":906.8875343723719},{"start_region_id":414,"end_region_id":193,"start_point":[48,681],"end_point":[839,733],"distance":792.7073861141954},{"start_region_id":404,"end_region_id":192,"start_point":[52,62],"end_point":[445,749],"distance":791.4657288853384}],"complexity_score":0.6168185476852501}
{"id":2563,"query_id":"Q00513","question":"A hiker 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. You must avoid any hard surfaces like pavement or asphalt, any cultivated fields, any individual trees or wooded areas, any water bodies, and any structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"hiker","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":"kagera_59.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[496,511],"end_point":[197,542],"distance":300.60272786520085},{"start_region_id":4,"end_region_id":1,"start_point":[197,542],"end_point":[496,511],"distance":300.60272786520085}],"complexity_score":0.6168364023445001}
{"id":5848,"query_id":"Q01170","question":"A quadcopter drone is launched from a crop field with low, uniform vegetation and needs to fly to a shrubland area with taller, irregular bushes. The drone operator wants to maximize flight stability and smoothness, avoiding turbulent air near obstacles. All surfaces except vertical structures and dense tree canopies are available for flight. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"crop field","end_land_type":"shrubland","task_description":"What is the most comfortable flight path for the quadcopter drone to take from the crop field to the shrubland?","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":"kagera_59.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":207,"end_region_id":2,"start_point":[59,840],"end_point":[904,494],"distance":913.0941901030802},{"start_region_id":204,"end_region_id":2,"start_point":[25,653],"end_point":[904,494],"distance":893.2647983660836},{"start_region_id":183,"end_region_id":9,"start_point":[276,33],"end_point":[692,747],"distance":826.3485947225904},{"start_region_id":211,"end_region_id":2,"start_point":[196,913],"end_point":[904,494],"distance":822.693746177762},{"start_region_id":190,"end_region_id":2,"start_point":[118,353],"end_point":[904,494],"distance":798.5468051404376}],"complexity_score":0.6168364023445001}
{"id":10986,"query_id":"Q02198","question":"A hiker is standing in a cultivated field with soft, tilled soil. They need to reach a paved lane used by vehicles. The hiker can walk on hard, compacted surfaces like sidewalks and parking lots, as well as open natural areas like grassy plains and sandy expanses. However, the hiker cannot cross liquid bodies or enter structures. What is the shortest route to the paved lane?","agent_category":"Pedestrian","specific_agent":"A hiker","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":"kagera_59.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":54,"start_point":[276,33],"end_point":[793,788],"distance":915.0486325873615},{"start_region_id":190,"end_region_id":54,"start_point":[118,353],"end_point":[793,788],"distance":803.0255288594504},{"start_region_id":204,"end_region_id":54,"start_point":[25,653],"end_point":[793,788],"distance":779.7749675387124},{"start_region_id":207,"end_region_id":54,"start_point":[59,840],"end_point":[793,788],"distance":735.8396564469735},{"start_region_id":184,"end_region_id":55,"start_point":[676,274],"end_point":[71,709],"distance":745.1509914104657}],"complexity_score":0.6168364023445001}
{"id":15399,"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":"kagera_59.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":55,"start_point":[798,56],"end_point":[71,709],"distance":977.2092918101015},{"start_region_id":183,"end_region_id":54,"start_point":[276,33],"end_point":[793,788],"distance":915.0486325873615},{"start_region_id":209,"end_region_id":55,"start_point":[934,902],"end_point":[71,709],"distance":884.3178161724437},{"start_region_id":190,"end_region_id":54,"start_point":[118,353],"end_point":[793,788],"distance":803.0255288594504},{"start_region_id":204,"end_region_id":54,"start_point":[25,653],"end_point":[793,788],"distance":779.7749675387124}],"complexity_score":0.6168364023445001}
{"id":2529,"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_28.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":207,"start_point":[166,851],"end_point":[898,960],"distance":740.0709425453751},{"start_region_id":207,"end_region_id":200,"start_point":[898,960],"end_point":[166,851],"distance":740.0709425453751},{"start_region_id":194,"end_region_id":207,"start_point":[528,526],"end_point":[898,960],"distance":570.312195205398},{"start_region_id":207,"end_region_id":194,"start_point":[898,960],"end_point":[528,526],"distance":570.312195205398},{"start_region_id":194,"end_region_id":200,"start_point":[528,526],"end_point":[166,851],"distance":486.4863821321209}],"complexity_score":0.6169423089261452}
{"id":5925,"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_28.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":64,"start_point":[199,910],"end_point":[975,54],"distance":1155.3839188771842},{"start_region_id":64,"end_region_id":159,"start_point":[975,54],"end_point":[199,910],"distance":1155.3839188771842},{"start_region_id":137,"end_region_id":64,"start_point":[116,723],"end_point":[975,54],"distance":1088.7800512500216},{"start_region_id":64,"end_region_id":137,"start_point":[975,54],"end_point":[116,723],"distance":1088.7800512500216},{"start_region_id":159,"end_region_id":63,"start_point":[199,910],"end_point":[757,44],"distance":1030.2038633202653}],"complexity_score":0.6169423089261452}
{"id":7008,"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_28.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":64,"start_point":[199,910],"end_point":[975,54],"distance":1155.3839188771842},{"start_region_id":64,"end_region_id":159,"start_point":[975,54],"end_point":[199,910],"distance":1155.3839188771842},{"start_region_id":137,"end_region_id":64,"start_point":[116,723],"end_point":[975,54],"distance":1088.7800512500216},{"start_region_id":64,"end_region_id":137,"start_point":[975,54],"end_point":[116,723],"distance":1088.7800512500216},{"start_region_id":159,"end_region_id":63,"start_point":[199,910],"end_point":[757,44],"distance":1030.2038633202653}],"complexity_score":0.6169423089261452}
{"id":10808,"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_28.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":207,"start_point":[20,304],"end_point":[898,960],"distance":1096.001824815999},{"start_region_id":227,"end_region_id":207,"start_point":[91,221],"end_point":[898,960],"distance":1094.2440312836986},{"start_region_id":245,"end_region_id":207,"start_point":[87,536],"end_point":[898,960],"distance":915.1486218095944},{"start_region_id":284,"end_region_id":200,"start_point":[937,980],"end_point":[166,851],"distance":781.7173402195963},{"start_region_id":261,"end_region_id":200,"start_point":[902,793],"end_point":[166,851],"distance":738.2817890209673}],"complexity_score":0.6169423089261452}
{"id":2584,"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":"coxsbazar_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":126,"start_point":[891,885],"end_point":[869,682],"distance":204.1886382735337}],"complexity_score":0.6169638177368053}
{"id":2690,"query_id":"Q00538","question":"A quadcopter drone starts from sandy, open ground and needs to reach a paved roadway. The drone can fly over hard surfaces, cultivated fields, and open sandy areas, but must avoid flying through dense tree canopies or close to buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"sandy, open ground","end_land_type":"a paved roadway","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":"coxsbazar_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":143,"start_point":[891,885],"end_point":[858,634],"distance":253.16002844051033}],"complexity_score":0.6169638177368053}
{"id":4900,"query_id":"Q00980","question":"A hiker starts from a cultivated field and needs to reach a patch of sandy or rocky ground. You are a hiker who can walk on hard surfaces like sidewalks and roads, and you are also allowed to cross through cultivated fields, grassy or shrubby areas, and wooded patches because the vegetation is sparse and the ground is firm enough to support foot traffic. However, you cannot enter any structures or cross any water bodies. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"sandy or rocky 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":"coxsbazar_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":4,"start_point":[49,398],"end_point":[891,885],"distance":972.6936825126397},{"start_region_id":223,"end_region_id":4,"start_point":[81,531],"end_point":[891,885],"distance":883.9773752760871},{"start_region_id":219,"end_region_id":4,"start_point":[298,342],"end_point":[891,885],"distance":804.0509934077564},{"start_region_id":217,"end_region_id":4,"start_point":[713,106],"end_point":[891,885],"distance":799.0775932285925},{"start_region_id":225,"end_region_id":4,"start_point":[170,776],"end_point":[891,885],"distance":729.1927042970192}],"complexity_score":0.6169638177368053}
{"id":7210,"query_id":"Q01442","question":"A quadcopter drone starts from a flat, cultivated field with low vegetation and needs to reach a dry, open area of loose soil and rocks. The drone can fly over hard, paved surfaces and liquid bodies, but must avoid dense vertical obstacles like trees and structures. Which route allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"Which path allows the drone to travel from the cultivated field to the dry open area as quickly as possible?","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_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":4,"start_point":[49,398],"end_point":[891,885],"distance":972.6936825126397},{"start_region_id":223,"end_region_id":4,"start_point":[81,531],"end_point":[891,885],"distance":883.9773752760871},{"start_region_id":219,"end_region_id":4,"start_point":[298,342],"end_point":[891,885],"distance":804.0509934077564},{"start_region_id":217,"end_region_id":4,"start_point":[713,106],"end_point":[891,885],"distance":799.0775932285925},{"start_region_id":225,"end_region_id":4,"start_point":[170,776],"end_point":[891,885],"distance":729.1927042970192}],"complexity_score":0.6169638177368053}
{"id":8325,"query_id":"Q01665","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy, shrub-covered area. The hiker can traverse loose, sandy ground; grassy, shrub-covered areas; and hard, paved surfaces. However, the hiker cannot cross water bodies, enter buildings, walk through dense tree stands, or traverse cultivated crop fields. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a grassy, shrub-covered 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":"coxsbazar_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":86,"start_point":[891,885],"end_point":[578,933],"distance":316.6591227171578}],"complexity_score":0.6169638177368053}
{"id":10299,"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":"coxsbazar_78.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":4,"start_point":[187,1008],"end_point":[891,885],"distance":714.6642568367331},{"start_region_id":86,"end_region_id":4,"start_point":[578,933],"end_point":[891,885],"distance":316.6591227171578}],"complexity_score":0.6169638177368053}
{"id":581,"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_26.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1088,"end_region_id":1035,"start_point":[32,113],"end_point":[880,894],"distance":1152.8508142860462},{"start_region_id":1088,"end_region_id":1036,"start_point":[32,113],"end_point":[708,932],"distance":1061.949622157285},{"start_region_id":1094,"end_region_id":1035,"start_point":[127,148],"end_point":[880,894],"distance":1059.9646220511324},{"start_region_id":1088,"end_region_id":1037,"start_point":[32,113],"end_point":[564,972],"distance":1010.3984362616561},{"start_region_id":1088,"end_region_id":964,"start_point":[32,113],"end_point":[870,615],"distance":976.8561818405}],"complexity_score":0.6169725436670739}
{"id":4762,"query_id":"Q00953","question":"A delivery drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The terrain includes loose, sandy ground; grassy and shrubby areas; smooth, paved surfaces; vehicle lanes; areas with tall, vertical obstacles; cultivated fields with crops; and liquid surfaces. The drone can fly over most surfaces but must avoid collisions. The goal is to minimize risk while traveling.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved, hard surface","end_land_type":"paved, 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","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_26.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1035,"end_region_id":921,"start_point":[880,894],"end_point":[262,366],"distance":812.8394675457141},{"start_region_id":921,"end_region_id":1035,"start_point":[262,366],"end_point":[880,894],"distance":812.8394675457141},{"start_region_id":1036,"end_region_id":921,"start_point":[708,932],"end_point":[262,366],"distance":720.6053011184417},{"start_region_id":921,"end_region_id":1036,"start_point":[262,366],"end_point":[708,932],"distance":720.6053011184417},{"start_region_id":1037,"end_region_id":921,"start_point":[564,972],"end_point":[262,366],"distance":677.0819743576105}],"complexity_score":0.6169725436670739}
{"id":13867,"query_id":"Q02774","question":"A quadcopter drone is hovering over grassy, shrub-covered terrain and needs to land on a flat, hard surface. The drone can fly over loose, sandy areas, rocky patches, cultivated fields, and water bodies. However, the drone must avoid flying near any vertical structures or dense tree canopies to minimize risk. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"a flat, hard surface","task_description":"What is the safest flight path for the drone?","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_26.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":1035,"start_point":[138,180],"end_point":[880,894],"distance":1029.7378307122644},{"start_region_id":13,"end_region_id":1035,"start_point":[246,106],"end_point":[880,894],"distance":1011.3851887386921},{"start_region_id":13,"end_region_id":1036,"start_point":[246,106],"end_point":[708,932],"distance":946.424851744712},{"start_region_id":102,"end_region_id":1036,"start_point":[138,180],"end_point":[708,932],"distance":943.6122084839725},{"start_region_id":406,"end_region_id":1035,"start_point":[54,441],"end_point":[880,894],"distance":942.064222863813}],"complexity_score":0.6169725436670739}
{"id":17607,"query_id":"Q03522","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved lane used by vehicles. The area includes soft, uneven ground covered with grass and shrubs, which can be traversed on foot, as well as individual trees that can be walked around or between. There are also cultivated crop fields with rows of plants that can be crossed carefully. However, all other surfaces such as loose sand or rock accumulations, artificial hard surfaces like sidewalks or parking lots, liquid bodies, and vertical structures are not accessible. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[0,1,0,1,1,0,1,0],"cost_vector":[0,1,0,1,1,0,1,0],"image_name":"mexico_city_26.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":731,"end_region_id":1054,"start_point":[105,850],"end_point":[962,193],"distance":1079.860176133929},{"start_region_id":784,"end_region_id":1054,"start_point":[150,882],"end_point":[962,193],"distance":1064.924879979804},{"start_region_id":864,"end_region_id":1054,"start_point":[327,980],"end_point":[962,193],"distance":1011.2338997482234},{"start_region_id":406,"end_region_id":1054,"start_point":[54,441],"end_point":[962,193],"distance":941.2587316992071},{"start_region_id":575,"end_region_id":1054,"start_point":[155,557],"end_point":[962,193],"distance":885.2937365643112}],"complexity_score":0.6169725436670739}
{"id":2626,"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_41.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":214,"start_point":[183,108],"end_point":[970,920],"distance":1130.801927837055},{"start_region_id":172,"end_region_id":214,"start_point":[30,447],"end_point":[970,920],"distance":1052.297011304318},{"start_region_id":185,"end_region_id":214,"start_point":[79,666],"end_point":[970,920],"distance":926.4971667522789},{"start_region_id":154,"end_region_id":214,"start_point":[957,42],"end_point":[970,920],"distance":878.0962361837112},{"start_region_id":169,"end_region_id":214,"start_point":[273,456],"end_point":[970,920],"distance":837.3201299383647}],"complexity_score":0.6171085597602705}
{"id":7178,"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":"christchurch_41.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":388,"start_point":[957,42],"end_point":[163,982],"distance":1230.4617019639416},{"start_region_id":161,"end_region_id":388,"start_point":[893,207],"end_point":[163,982],"distance":1064.6713107809376},{"start_region_id":154,"end_region_id":367,"start_point":[957,42],"end_point":[377,870],"distance":1010.9322430311539},{"start_region_id":185,"end_region_id":226,"start_point":[79,666],"end_point":[907,121],"distance":991.2663617817362},{"start_region_id":165,"end_region_id":388,"start_point":[834,259],"end_point":[163,982],"distance":986.3924168402756}],"complexity_score":0.6171085597602705}
{"id":15456,"query_id":"Q03092","question":"A quadcopter drone is starting from a grassy, open area with low vegetation and needs to reach a flat, hard-surfaced area such as a parking lot or paved courtyard. The drone can fly over grassy fields, hard surfaces, cultivated fields with crops, and bodies of water, but must avoid tall trees and buildings due to collision risk. The goal is to find the safest path that minimizes the risk of accidents or damage.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open area with low vegetation","end_land_type":"a flat, hard-surfaced area such as a parking lot or paved courtyard","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_41.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":154,"start_point":[102,913],"end_point":[957,42],"distance":1220.518742174818},{"start_region_id":128,"end_region_id":154,"start_point":[207,966],"end_point":[957,42],"distance":1190.0739472822686},{"start_region_id":13,"end_region_id":203,"start_point":[70,136],"end_point":[844,951],"distance":1123.9666365155151},{"start_region_id":103,"end_region_id":154,"start_point":[128,747],"end_point":[957,42],"distance":1088.2398632654476},{"start_region_id":120,"end_region_id":161,"start_point":[102,913],"end_point":[893,207],"distance":1060.2438398783556}],"complexity_score":0.6171085597602705}
{"id":16397,"query_id":"Q03280","question":"An aerial survey drone starts from a grassy field with scattered shrubs and needs to reach a paved vehicle lane as quickly as possible. The drone can fly over most surfaces, but areas with dense, tall vegetation must be avoided due to collision risk. The drone can traverse open grassy areas, paved lanes, liquid surfaces, cultivated crop fields, and built structures, but cannot fly through dense tree canopies. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy field with scattered shrubs","end_land_type":"paved vehicle lane","task_description":"What is the fastest path for the aerial survey drone to reach the paved vehicle lane from the grassy field with scattered shrubs?","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_41.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":214,"start_point":[70,136],"end_point":[970,920],"distance":1193.5895441901291},{"start_region_id":25,"end_region_id":214,"start_point":[79,323],"end_point":[970,920],"distance":1072.51573415032},{"start_region_id":4,"end_region_id":214,"start_point":[314,169],"end_point":[970,920],"distance":997.1644799129178},{"start_region_id":39,"end_region_id":214,"start_point":[107,526],"end_point":[970,920],"distance":948.6859332782373},{"start_region_id":41,"end_region_id":214,"start_point":[203,505],"end_point":[970,920],"distance":872.074538098665}],"complexity_score":0.6171085597602705}
{"id":8364,"query_id":"Q01673","question":"An off-road vehicle starts from a paved, hard surface area and needs to reach another paved, hard surface area as quickly as possible. The vehicle can traverse loose, sandy or rocky ground without vegetation, as well as areas with low, natural grass or shrubs, provided the ground is firm enough to support its weight without sinking. However, the vehicle cannot drive through dense vegetation that could obstruct its path, cross any liquid surfaces, or enter any vertical structures. What is the fastest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface area","end_land_type":"another paved, hard surface area","task_description":"What is the fastest route?","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":"mahe_68.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":132,"start_point":[96,132],"end_point":[782,246],"distance":695.4077940316746},{"start_region_id":132,"end_region_id":121,"start_point":[782,246],"end_point":[96,132],"distance":695.4077940316746},{"start_region_id":120,"end_region_id":132,"start_point":[208,85],"end_point":[782,246],"distance":596.1518262993078},{"start_region_id":132,"end_region_id":120,"start_point":[782,246],"end_point":[208,85],"distance":596.1518262993078},{"start_region_id":121,"end_region_id":124,"start_point":[96,132],"end_point":[538,131],"distance":442.0011312202719}],"complexity_score":0.6171275375089927}
{"id":14708,"query_id":"Q02942","question":"A hiker starts from a shaded area under a tall, leafy canopy and needs to reach a gentle, grassy slope. The terrain includes loose, sandy patches and a smooth, paved lane, but you prefer surfaces that are stable and even to avoid tripping or discomfort. The paved lane is currently closed for maintenance, so it cannot be used. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Tree","end_land_type":"Rangeland","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[1,1,1,0,1,0,1,0],"cost_vector":[2,3,5,0,1,0,4,0],"image_name":"mahe_68.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":227,"end_region_id":97,"start_point":[936,135],"end_point":[387,911],"distance":950.5666730955804},{"start_region_id":202,"end_region_id":97,"start_point":[606,21],"end_point":[387,911],"distance":916.5484166152926},{"start_region_id":201,"end_region_id":50,"start_point":[430,14],"end_point":[830,840],"distance":917.7559588474487},{"start_region_id":227,"end_region_id":91,"start_point":[936,135],"end_point":[247,720],"distance":903.8506513799722},{"start_region_id":201,"end_region_id":97,"start_point":[430,14],"end_point":[387,911],"distance":898.0300663118135}],"complexity_score":0.6171275375089927}
{"id":3246,"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_12.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":202,"start_point":[867,332],"end_point":[39,388],"distance":829.8915591810776},{"start_region_id":112,"end_region_id":142,"start_point":[867,332],"end_point":[69,110],"distance":828.3042919120968},{"start_region_id":112,"end_region_id":241,"start_point":[867,332],"end_point":[308,894],"distance":792.6695402246764},{"start_region_id":125,"end_region_id":136,"start_point":[488,524],"end_point":[903,42],"distance":636.0416653018889},{"start_region_id":125,"end_region_id":142,"start_point":[488,524],"end_point":[69,110],"distance":589.030559478878}],"complexity_score":0.617334824721706}
{"id":12452,"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_12.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":126,"start_point":[791,244],"end_point":[43,154],"distance":753.3949827281835},{"start_region_id":126,"end_region_id":129,"start_point":[43,154],"end_point":[791,244],"distance":753.3949827281835},{"start_region_id":127,"end_region_id":129,"start_point":[393,181],"end_point":[791,244],"distance":402.9553325121781},{"start_region_id":129,"end_region_id":127,"start_point":[791,244],"end_point":[393,181],"distance":402.9553325121781},{"start_region_id":127,"end_region_id":126,"start_point":[393,181],"end_point":[43,154],"distance":351.03988377390965}],"complexity_score":0.617334824721706}
{"id":16759,"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":"houston_12.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":126,"start_point":[415,78],"end_point":[43,154],"distance":379.68407920269715},{"start_region_id":57,"end_region_id":129,"start_point":[522,425],"end_point":[791,244],"distance":324.22523035692336},{"start_region_id":28,"end_region_id":127,"start_point":[26,163],"end_point":[393,181],"distance":367.441151750862},{"start_region_id":2,"end_region_id":127,"start_point":[125,288],"end_point":[393,181],"distance":288.5706152746672},{"start_region_id":29,"end_region_id":126,"start_point":[287,150],"end_point":[43,154],"distance":244.0327846827143}],"complexity_score":0.617334824721706}
{"id":6850,"query_id":"Q01370","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy canopies and needs to reach another densely vegetated area with tall, leafy canopies. The terrain includes rough, loose soil and rocks; smooth, hard artificial surfaces; cultivated fields with soft, tilled soil; and additional densely vegetated areas with tall, leafy canopies. The drone must navigate carefully through the densely vegetated areas due to potential obstacles, but it can traverse them. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter 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 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":"vienna_38.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":49,"start_point":[145,48],"end_point":[867,984],"distance":1182.1082860719655},{"start_region_id":49,"end_region_id":46,"start_point":[867,984],"end_point":[145,48],"distance":1182.1082860719655}],"complexity_score":0.6173809818724465}
{"id":11039,"query_id":"Q02208","question":"Starting above a patch of wild grass and shrubs, a delivery drone needs to reach another similar patch of wild vegetation. The drone must prioritize flying over open, unobstructed areas to minimize collision risk. It can fly over sandy expanses, grassy fields, paved surfaces like parking lots and streets, cultivated crop areas, and even shallow water surfaces if necessary, but should avoid flying directly through dense tree canopies or between tall buildings, as these pose higher risks of impact or signal interference. The goal is to find the path that minimizes the risk of crashing or losing control.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting above a patch of wild grass and shrubs.","end_land_type":"The destination is above another similar patch of wild vegetation.","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":"vienna_38.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":7,"start_point":[56,98],"end_point":[837,871],"distance":1098.858498624823},{"start_region_id":7,"end_region_id":2,"start_point":[837,871],"end_point":[56,98],"distance":1098.858498624823},{"start_region_id":1,"end_region_id":7,"start_point":[269,27],"end_point":[837,871],"distance":1017.3298383513579},{"start_region_id":7,"end_region_id":1,"start_point":[837,871],"end_point":[269,27],"distance":1017.3298383513579},{"start_region_id":6,"end_region_id":2,"start_point":[586,888],"end_point":[56,98],"distance":951.3148795220224}],"complexity_score":0.6173809818724465}
{"id":16104,"query_id":"Q03221","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, grassy or shrub-covered areas, and liquid surfaces, but must avoid tall vertical obstacles and solid 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":"vienna_38.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":44,"start_point":[232,99],"end_point":[603,928],"distance":908.230147044239},{"start_region_id":44,"end_region_id":36,"start_point":[603,928],"end_point":[232,99],"distance":908.230147044239},{"start_region_id":37,"end_region_id":44,"start_point":[234,294],"end_point":[603,928],"distance":733.5645847503818},{"start_region_id":44,"end_region_id":37,"start_point":[603,928],"end_point":[234,294],"distance":733.5645847503818},{"start_region_id":42,"end_region_id":36,"start_point":[506,722],"end_point":[232,99],"distance":680.5916543714006}],"complexity_score":0.6173809818724465}
{"id":7795,"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_9.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":415,"end_region_id":94,"start_point":[39,672],"end_point":[959,165],"distance":1050.4518075571102},{"start_region_id":417,"end_region_id":94,"start_point":[116,710],"end_point":[959,165],"distance":1003.8296668260009},{"start_region_id":429,"end_region_id":94,"start_point":[393,948],"end_point":[959,165],"distance":966.1495743413647},{"start_region_id":419,"end_region_id":94,"start_point":[233,772],"end_point":[959,165],"distance":946.321826864413},{"start_region_id":428,"end_region_id":88,"start_point":[640,978],"end_point":[396,76],"distance":934.4196059586935}],"complexity_score":0.6174612930647517}
{"id":13218,"query_id":"Q02644","question":"A quadcopter starts from a paved road and needs to reach a cultivated field. The terrain includes hard surfaces; grassy or shrub-covered areas; tall vertical obstacles; and cultivated ground. For maximum comfort, prioritize areas that are open and stable to ensure smooth flight, while avoiding liquid surfaces and dense vertical obstacles that could cause turbulence or discomfort.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the most comfortable path from the paved road to the cultivated field?","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_9.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":423,"start_point":[519,477],"end_point":[83,875],"distance":590.3388857258177},{"start_region_id":233,"end_region_id":415,"start_point":[519,477],"end_point":[39,672],"distance":518.0974811751163},{"start_region_id":233,"end_region_id":401,"start_point":[519,477],"end_point":[131,216],"distance":467.61629569552},{"start_region_id":233,"end_region_id":417,"start_point":[519,477],"end_point":[116,710],"distance":465.50832430795475},{"start_region_id":233,"end_region_id":429,"start_point":[519,477],"end_point":[393,948],"distance":487.56230371102316}],"complexity_score":0.6174612930647517}
{"id":13455,"query_id":"Q02691","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while prioritizing a smooth and stable flight to minimize vibrations and ensure steady sensor readings. The drone can fly over open grassy areas, hard artificial surfaces, paved lanes, liquid bodies, and cultivated fields, but must avoid dense vertical obstacles like trees and structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the most comfortable path for the aerial survey drone to take from the paved lane 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":"lohur_9.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":423,"start_point":[519,477],"end_point":[83,875],"distance":590.3388857258177},{"start_region_id":233,"end_region_id":415,"start_point":[519,477],"end_point":[39,672],"distance":518.0974811751163},{"start_region_id":233,"end_region_id":401,"start_point":[519,477],"end_point":[131,216],"distance":467.61629569552},{"start_region_id":233,"end_region_id":417,"start_point":[519,477],"end_point":[116,710],"distance":465.50832430795475},{"start_region_id":233,"end_region_id":429,"start_point":[519,477],"end_point":[393,948],"distance":487.56230371102316}],"complexity_score":0.6174612930647517}
{"id":9212,"query_id":"Q01843","question":"A quadcopter drone starts from a crop field with low vegetation and needs to reach a paved plaza with a flat, hard surface. The quadcopter drone can fly over dry ground, grassy areas, hard artificial surfaces, paved lanes, cultivated land, and liquid bodies, but must avoid tall vertical obstacles and solid overhead structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"crop field","end_land_type":"paved plaza","task_description":"What is the fastest route for the quadcopter drone to fly from the crop field to the paved plaza?","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_12.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":7,"start_point":[847,936],"end_point":[16,88],"distance":1187.2931398774272},{"start_region_id":113,"end_region_id":17,"start_point":[148,951],"end_point":[912,72],"distance":1164.6188217610086},{"start_region_id":109,"end_region_id":7,"start_point":[867,747],"end_point":[16,88],"distance":1076.3280169167763},{"start_region_id":99,"end_region_id":7,"start_point":[975,518],"end_point":[16,88],"distance":1050.9904852090717},{"start_region_id":111,"end_region_id":28,"start_point":[847,936],"end_point":[188,164],"distance":1015.0197042422378}],"complexity_score":0.6174742593306212}
{"id":14025,"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_12.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":99,"start_point":[148,951],"end_point":[975,518],"distance":933.4977236180065},{"start_region_id":99,"end_region_id":113,"start_point":[975,518],"end_point":[148,951],"distance":933.4977236180065},{"start_region_id":99,"end_region_id":105,"start_point":[975,518],"end_point":[70,553],"distance":905.6765427016425},{"start_region_id":105,"end_region_id":99,"start_point":[70,553],"end_point":[975,518],"distance":905.6765427016425},{"start_region_id":111,"end_region_id":105,"start_point":[847,936],"end_point":[70,553],"distance":866.2667025806775}],"complexity_score":0.6174742593306212}
{"id":9050,"query_id":"Q01810","question":"A rally car starts from a grassy, uneven field and needs to reach a paved, hard-surface lane. The vehicle can traverse compacted, stable ground and firm, flat surfaces that provide good traction. However, it cannot drive through dense vegetation clusters, liquid areas, or vertical structures. What is the fastest route?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the fastest route for the rally car to travel from the grassy field to 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":[1,2,3,4,0,0,0,0],"image_name":"bielefeld_47.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":108,"start_point":[35,954],"end_point":[919,179],"distance":1175.6194112041533},{"start_region_id":3,"end_region_id":118,"start_point":[583,65],"end_point":[326,969],"distance":939.8217916179641},{"start_region_id":3,"end_region_id":117,"start_point":[583,65],"end_point":[429,954],"distance":902.2399902464975},{"start_region_id":32,"end_region_id":105,"start_point":[35,954],"end_point":[471,211],"distance":861.478380460009},{"start_region_id":31,"end_region_id":105,"start_point":[955,899],"end_point":[471,211],"distance":841.1896337925236}],"complexity_score":0.6174995432185995}
{"id":13651,"query_id":"Q02731","question":"An off-road vehicle starts from a hard, paved surface and needs to reach a grassy field. The terrain includes loose, sandy ground and cultivated fields that are currently dry and compacted enough for vehicle passage, but avoid any areas with trees, liquid, or vertical structures. You want to get there as quickly as possible.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"grassy field","task_description":"What is the fastest path from the hard, paved surface to the grassy 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_47.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":32,"start_point":[962,133],"end_point":[35,954],"distance":1238.2931801475772},{"start_region_id":47,"end_region_id":31,"start_point":[69,174],"end_point":[955,899],"distance":1144.8235671927794},{"start_region_id":76,"end_region_id":32,"start_point":[969,589],"end_point":[35,954],"distance":1002.7866173817838},{"start_region_id":54,"end_region_id":32,"start_point":[916,476],"end_point":[35,954],"distance":1002.3198092425391},{"start_region_id":47,"end_region_id":22,"start_point":[69,174],"end_point":[883,703],"distance":970.7919447543845}],"complexity_score":0.6174995432185995}
{"id":13206,"query_id":"Q02642","question":"A quadcopter drone starts from a canopy of tall trees and needs to reach a flat, hard surface such as a paved area. The drone prioritizes a smooth and stable flight for comfort, avoiding areas that might cause turbulence or instability. The drone can fly over grassy fields, cultivated areas, roads, and buildings, but flying through dense tree branches is risky and should be minimized, and water surfaces may cause discomfort due to spray or reflections. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a canopy of tall trees","end_land_type":"a flat, hard surface such as a paved area","task_description":"What is the most comfortable path for the quadcopter drone to take from the tree canopy to the paved surface?","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_8.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":21,"start_point":[392,487],"end_point":[28,88],"distance":540.0898073468893},{"start_region_id":78,"end_region_id":20,"start_point":[175,418],"end_point":[512,130],"distance":443.29786825564594},{"start_region_id":78,"end_region_id":24,"start_point":[175,418],"end_point":[610,342],"distance":441.5891755919749},{"start_region_id":71,"end_region_id":24,"start_point":[248,175],"end_point":[610,342],"distance":398.6640189432701},{"start_region_id":78,"end_region_id":21,"start_point":[175,418],"end_point":[28,88],"distance":361.26029397098154}],"complexity_score":0.6175385149177995}
{"id":8359,"query_id":"Q01672","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 loose, sandy or rocky ground without vegetation, as well as areas with low, natural grass or shrubs, provided the vegetation is sparse enough to walk through without significant obstruction. However, the hiker cannot cross any liquid surfaces or enter any vertical structures. 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":["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":"al_qurnah_18.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":31,"start_point":[162,956],"end_point":[922,94],"distance":1149.1927601581904},{"start_region_id":31,"end_region_id":57,"start_point":[922,94],"end_point":[162,956],"distance":1149.1927601581904},{"start_region_id":28,"end_region_id":53,"start_point":[186,22],"end_point":[929,865],"distance":1123.698358101497},{"start_region_id":53,"end_region_id":28,"start_point":[929,865],"end_point":[186,22],"distance":1123.698358101497},{"start_region_id":28,"end_region_id":58,"start_point":[186,22],"end_point":[654,984],"distance":1069.7981117949312}],"complexity_score":0.6175828194043823}
{"id":10149,"query_id":"Q02030","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 loose, dry soil and rocks; overgrown grassy and shrubby terrain; and liquid bodies. However, it must avoid any tall, dense vegetation or vertical structures 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":"another paved, hard surface","task_description":"Which route allows the drone to travel the fastest?","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":"al_qurnah_18.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":31,"start_point":[162,956],"end_point":[922,94],"distance":1149.1927601581904},{"start_region_id":31,"end_region_id":57,"start_point":[922,94],"end_point":[162,956],"distance":1149.1927601581904},{"start_region_id":28,"end_region_id":53,"start_point":[186,22],"end_point":[929,865],"distance":1123.698358101497},{"start_region_id":53,"end_region_id":28,"start_point":[929,865],"end_point":[186,22],"distance":1123.698358101497},{"start_region_id":28,"end_region_id":58,"start_point":[186,22],"end_point":[654,984],"distance":1069.7981117949312}],"complexity_score":0.6175828194043823}
{"id":12787,"query_id":"Q02558","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing minimal risk. The drone can fly over open, grassy fields, hard surfaces like sidewalks and parking lots, paved lanes, and cultivated crop areas. The path must avoid flying close to tall vegetation, liquid surfaces, or vertical structures to minimize collision risk. What is the safest route?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the safest route for the delivery 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":"al_qurnah_18.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":59,"start_point":[743,954],"end_point":[115,55],"distance":1096.6243659521706}],"complexity_score":0.6175828194043823}
{"id":14737,"query_id":"Q02948","question":"A hiker starts from a paved surface and needs to reach another paved surface while prioritizing a comfortable walking experience. The hiker can traverse loose, sandy or rocky ground, areas with low vegetation like grass and shrubs, and wooded areas with individual trees, but must avoid any water bodies, buildings, and cultivated fields. The paved surfaces are always accessible. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved surface","end_land_type":"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"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,3,5,4,1,0,0,0],"image_name":"al_qurnah_18.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":59,"start_point":[51,868],"end_point":[920,37],"distance":1202.3818029228487}],"complexity_score":0.6175828194043823}
{"id":17162,"query_id":"Q03433","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The hiker can traverse grassy or shrub-covered areas if they are not too dense, and can pass through wooded areas if the trees are spaced apart enough to walk between. 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, hard surface","end_land_type":"a paved, hard surface","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":"al_qurnah_18.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":31,"start_point":[162,956],"end_point":[922,94],"distance":1149.1927601581904},{"start_region_id":31,"end_region_id":57,"start_point":[922,94],"end_point":[162,956],"distance":1149.1927601581904},{"start_region_id":28,"end_region_id":53,"start_point":[186,22],"end_point":[929,865],"distance":1123.698358101497},{"start_region_id":53,"end_region_id":28,"start_point":[929,865],"end_point":[186,22],"distance":1123.698358101497},{"start_region_id":28,"end_region_id":58,"start_point":[186,22],"end_point":[654,984],"distance":1069.7981117949312}],"complexity_score":0.6175828194043823}
{"id":16739,"query_id":"Q03348","question":"A family SUV starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field with soft, tilled soil. The vehicle requires stable, predictable surfaces to minimize risk of skidding or getting stuck. 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, dense tree stands, and liquid bodies, are impassable. What is the safest path to the destination?","agent_category":"Car","specific_agent":"a family SUV","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":[1,2,0,4,0,0,3,0],"image_name":"dortmund_10.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":533,"start_point":[95,125],"end_point":[356,710],"distance":640.5825473738728},{"start_region_id":71,"end_region_id":533,"start_point":[206,352],"end_point":[356,710],"distance":388.1546083714581},{"start_region_id":31,"end_region_id":533,"start_point":[440,411],"end_point":[356,710],"distance":310.5752726795873},{"start_region_id":84,"end_region_id":533,"start_point":[185,470],"end_point":[356,710],"distance":294.6879705722648}],"complexity_score":0.6175844601236156}
{"id":3228,"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_29.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":151,"start_point":[530,522],"end_point":[103,910],"distance":576.9514710961399},{"start_region_id":151,"end_region_id":142,"start_point":[103,910],"end_point":[530,522],"distance":576.9514710961399}],"complexity_score":0.6178271660499361}
{"id":15225,"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":"houston_29.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":1,"start_point":[961,930],"end_point":[74,167],"distance":1170.016239203542},{"start_region_id":85,"end_region_id":62,"start_point":[914,49],"end_point":[226,934],"distance":1120.967885356222},{"start_region_id":138,"end_region_id":1,"start_point":[688,984],"end_point":[74,167],"distance":1022.0004892366735},{"start_region_id":85,"end_region_id":71,"start_point":[914,49],"end_point":[571,967],"distance":979.9862243929758},{"start_region_id":86,"end_region_id":62,"start_point":[653,68],"end_point":[226,934],"distance":965.549066593718}],"complexity_score":0.6178271660499361}
{"id":4494,"query_id":"Q00899","question":"An aerial drone is positioned on a paved, hard surface. It needs to reach a paved lane used by vehicles. The drone can fly over liquid surfaces, but must avoid vertical structures and dense vegetation. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"paved, hard surface","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","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_10.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":104,"start_point":[81,426],"end_point":[916,835],"distance":929.788147913276},{"start_region_id":57,"end_region_id":104,"start_point":[266,284],"end_point":[916,835],"distance":852.1156024859538},{"start_region_id":65,"end_region_id":104,"start_point":[227,670],"end_point":[916,835],"distance":708.4814747048789},{"start_region_id":82,"end_region_id":103,"start_point":[924,765],"end_point":[376,621],"distance":566.6039180944657},{"start_region_id":60,"end_region_id":104,"start_point":[500,469],"end_point":[916,835],"distance":554.0866358251208}],"complexity_score":0.6178406510244655}
{"id":7865,"query_id":"Q01573","question":"An aerial surveillance drone starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with soft, tilled soil. The drone must avoid any vertical obstacles like trees or buildings, and it should not fly over liquid surfaces to minimize risk of signal interference or water damage. The drone can traverse open, flat areas of loose earth and rocks, paved hard surfaces, and lanes used by vehicles. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","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 safest path for the aerial surveillance drone to take?","task_type":"Safest","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":"bielefeld_10.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":213,"start_point":[739,729],"end_point":[251,112],"distance":786.6593926217369},{"start_region_id":213,"end_region_id":215,"start_point":[251,112],"end_point":[739,729],"distance":786.6593926217369},{"start_region_id":214,"end_region_id":213,"start_point":[728,274],"end_point":[251,112],"distance":503.75887088963503},{"start_region_id":213,"end_region_id":214,"start_point":[251,112],"end_point":[728,274],"distance":503.75887088963503},{"start_region_id":214,"end_region_id":215,"start_point":[728,274],"end_point":[739,729],"distance":455.13294760981654}],"complexity_score":0.6178406510244655}
{"id":13302,"query_id":"Q02661","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while minimizing risk. The drone can fly over open grassy areas, hard artificial surfaces, paved lanes, liquid bodies, and cultivated fields, but it must avoid tall vertical obstacles and solid structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest path for the aerial survey drone to reach the cultivated field from the paved lane?","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":"bielefeld_10.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":212,"start_point":[916,835],"end_point":[43,67],"distance":1162.7351375098285},{"start_region_id":104,"end_region_id":213,"start_point":[916,835],"end_point":[251,112],"distance":982.320721556865},{"start_region_id":104,"end_region_id":214,"start_point":[916,835],"end_point":[728,274],"distance":591.662910786201},{"start_region_id":103,"end_region_id":212,"start_point":[376,621],"end_point":[43,67],"distance":646.3783721629305},{"start_region_id":104,"end_region_id":216,"start_point":[916,835],"end_point":[397,961],"distance":534.0758373115189}],"complexity_score":0.6178406510244655}
{"id":13312,"query_id":"Q02663","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 sandy or rocky ground, paved areas like parking lots or sidewalks, 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 priority is to minimize the risk of collision, loss of control, or damage to the drone.","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 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":"bielefeld_10.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":212,"start_point":[916,835],"end_point":[43,67],"distance":1162.7351375098285},{"start_region_id":104,"end_region_id":213,"start_point":[916,835],"end_point":[251,112],"distance":982.320721556865},{"start_region_id":104,"end_region_id":214,"start_point":[916,835],"end_point":[728,274],"distance":591.662910786201},{"start_region_id":103,"end_region_id":212,"start_point":[376,621],"end_point":[43,67],"distance":646.3783721629305},{"start_region_id":104,"end_region_id":216,"start_point":[916,835],"end_point":[397,961],"distance":534.0758373115189}],"complexity_score":0.6178406510244655}
{"id":17914,"query_id":"Q03583","question":"A quadcopter drone is deployed from a cultivated field with planted crops and needs to reach an area of wild grasses and shrubs as quickly as possible. The drone can fly over open sandy or rocky ground, wild vegetation, paved vehicle lanes, cultivated fields, and wooded areas. However, it must avoid flying directly through dense tree canopies, as navigating between branches would significantly slow it down. Vertical structures and liquid surfaces are not part of the operational area. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with planted crops","end_land_type":"an area of wild grasses and shrubs","task_description":"What is the fastest path to the destination?","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":"bielefeld_10.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":43,"start_point":[43,67],"end_point":[963,923],"distance":1256.6367812538356},{"start_region_id":212,"end_region_id":31,"start_point":[43,67],"end_point":[954,785],"distance":1159.9331877310865},{"start_region_id":212,"end_region_id":41,"start_point":[43,67],"end_point":[790,911],"distance":1127.0958255623166},{"start_region_id":212,"end_region_id":23,"start_point":[43,67],"end_point":[881,763],"distance":1089.3392492699415},{"start_region_id":213,"end_region_id":43,"start_point":[251,112],"end_point":[963,923],"distance":1079.1964603351885}],"complexity_score":0.6178406510244655}
{"id":3489,"query_id":"Q00698","question":"A hiker is standing on loose, sandy ground and needs to reach a paved lane. The terrain consists of two types of surfaces: loose, sandy ground and paved lanes. The hiker must avoid all other surfaces including grassy areas, cultivated fields, wooded areas, water bodies, and structures. The hiker prioritizes minimizing risk and avoiding surfaces that could cause slips, falls, or instability. Which path should the hiker take to reach the paved lane while minimizing risk?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"paved lane","task_description":"Which path should the hiker take to reach the paved lane while minimizing risk?","task_type":"Safest","input_classes":["Bareland","Road"],"traverse_vector":[1,0,0,1,0,0,0,0],"cost_vector":[1,0,0,2,0,0,0,0],"image_name":"austin_35.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":178,"start_point":[895,62],"end_point":[651,495],"distance":497.01609631882144}],"complexity_score":0.6179252163755347}
{"id":11460,"query_id":"Q02292","question":"A hiker is standing on a loose, sandy surface with scattered rocks. They need to reach a flat, hard-paved area for a rest stop. The hiker can walk across grassy patches, cultivated fields with firm soil, and any constructed pathways, but must avoid any liquid surfaces or vertical obstacles. What is the most comfortable path to follow?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the most comfortable path to follow?","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":"austin_35.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":121,"start_point":[895,62],"end_point":[235,546],"distance":818.4473104604841},{"start_region_id":1,"end_region_id":102,"start_point":[895,62],"end_point":[113,43],"distance":782.2307843597055},{"start_region_id":1,"end_region_id":108,"start_point":[895,62],"end_point":[449,481],"distance":611.9452589897237},{"start_region_id":1,"end_region_id":125,"start_point":[895,62],"end_point":[534,664],"distance":701.9437299385187},{"start_region_id":1,"end_region_id":137,"start_point":[895,62],"end_point":[873,528],"distance":466.5190242637485}],"complexity_score":0.6179252163755347}
{"id":14495,"query_id":"Q02899","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a destination on loose, sandy ground. The vehicle can traverse cultivated fields with soft soil, but must avoid any areas with standing liquid, vertical structures, or dense vegetation that could obstruct movement. The vehicle requires surfaces that allow stable, high-speed travel while maintaining traction and control.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","task_description":"What is the fastest path for the off-road vehicle to reach the destination?","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":"austin_35.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":1,"start_point":[651,495],"end_point":[895,62],"distance":497.01609631882144}],"complexity_score":0.6179252163755347}
{"id":17411,"query_id":"Q03483","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks and needs to reach a grassy area with low shrubs. The drone can fly over open ground, grassy fields, paved lanes, cultivated crop fields, and even wooded areas if necessary, but must avoid flying directly through dense tree canopies. What is the fastest route?","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":"needs to reach a grassy area with low shrubs","task_description":"What is the fastest route?","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":"austin_35.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":93,"start_point":[895,62],"end_point":[163,938],"distance":1141.5778554264268},{"start_region_id":1,"end_region_id":61,"start_point":[895,62],"end_point":[54,626],"distance":1012.6090064778211},{"start_region_id":1,"end_region_id":82,"start_point":[895,62],"end_point":[337,824],"distance":944.4617514754104},{"start_region_id":1,"end_region_id":50,"start_point":[895,62],"end_point":[53,461],"distance":931.7537228259407},{"start_region_id":1,"end_region_id":79,"start_point":[895,62],"end_point":[485,895],"distance":928.4336271376646}],"complexity_score":0.6179252163755347}
{"id":3667,"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":"accra_55.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":126,"start_point":[562,1010],"end_point":[117,1],"distance":1102.771961921412}],"complexity_score":0.6179801428077297}
{"id":17052,"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":"accra_55.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":41,"start_point":[86,987],"end_point":[478,37],"distance":1027.6983993370818},{"start_region_id":6,"end_region_id":111,"start_point":[860,135],"end_point":[305,916],"distance":958.1158593823609},{"start_region_id":38,"end_region_id":60,"start_point":[86,987],"end_point":[634,248],"distance":920.0135868561943},{"start_region_id":22,"end_region_id":111,"start_point":[997,320],"end_point":[305,916],"distance":913.2798037841414},{"start_region_id":36,"end_region_id":41,"start_point":[370,933],"end_point":[478,37],"distance":902.4854569465372}],"complexity_score":0.6179801428077297}
{"id":4466,"query_id":"Q00894","question":"A quadcopter drone is currently positioned above a cultivated field with loose soil and crop rows. It needs to reach a point above a paved lane as quickly as possible. The drone can fly over open areas like bare ground, grassy fields, paved surfaces, parking lots, cultivated fields, and even liquid surfaces. However, it must avoid flying through or too close to dense clusters of tall vegetation or vertical structures. What is the fastest path for the quadcopter drone to take?","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 lane","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":"bielefeld_46.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":45,"start_point":[731,451],"end_point":[161,562],"distance":580.7073273172984},{"start_region_id":89,"end_region_id":46,"start_point":[731,451],"end_point":[425,494],"distance":309.00647242412253}],"complexity_score":0.6179987673688543}
{"id":17912,"query_id":"Q03583","question":"A quadcopter drone is deployed from a cultivated field with planted crops and needs to reach an area of wild grasses and shrubs as quickly as possible. The drone can fly over open sandy or rocky ground, wild vegetation, paved vehicle lanes, cultivated fields, and wooded areas. However, it must avoid flying directly through dense tree canopies, as navigating between branches would significantly slow it down. Vertical structures and liquid surfaces are not part of the operational area. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with planted crops","end_land_type":"an area of wild grasses and shrubs","task_description":"What is the fastest path to the destination?","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":"bielefeld_46.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":21,"start_point":[731,451],"end_point":[524,910],"distance":503.51762630517715},{"start_region_id":89,"end_region_id":4,"start_point":[731,451],"end_point":[431,376],"distance":309.23292192132453}],"complexity_score":0.6179987673688543}
{"id":1804,"query_id":"Q00361","question":"An aerial survey drone is conducting an urgent environmental assessment. It begins its mission from a location with tall vertical obstacles that require careful navigation and must reach a destination with loose, dry soil and no vegetation as quickly as possible. The drone can fly over areas with soft ground covered by grasses and shrubs, liquid surfaces, cultivated fields with crops, and tall vertical obstacles, but must prioritize speed. Which path allows the drone to complete its mission in the shortest time?","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 a destination with loose, dry soil and no vegetation","task_description":"Which path allows the drone to complete its mission in the shortest 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":"rio_39.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":1,"start_point":[390,288],"end_point":[92,108],"distance":348.1436485130815},{"start_region_id":38,"end_region_id":1,"start_point":[390,48],"end_point":[92,108],"distance":303.98026251715754},{"start_region_id":47,"end_region_id":1,"start_point":[308,294],"end_point":[92,108],"distance":285.04736448527285}],"complexity_score":0.6181817657152603}
{"id":7646,"query_id":"Q01530","question":"An aerial surveillance drone starts from a patch of loose, sandy ground, an aerial surveillance drone must complete a mission and return to a similar patch of loose, sandy ground. The drone can fly over open, solid surfaces like paved areas and vehicle lanes, as well as over calm, open water bodies and cultivated fields with low vegetation. However, it must avoid flying near tall, dense vegetation or vertical structures to minimize collision risk. The drone's primary objective is to minimize operational risk throughout its flight path.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to a similar patch of loose, sandy 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":"rio_39.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[62,230],"end_point":[78,5],"distance":225.5681715136247}],"complexity_score":0.6181817657152603}
{"id":14607,"query_id":"Q02922","question":"A quadcopter drone starts from a sandy, rocky surface and needs to reach another sandy, rocky surface. The drone can fly over paved lanes, cultivated fields with crops, and open sandy areas, but cannot fly through dense tree canopies or close to buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky surface","end_land_type":"sandy, rocky surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,1,0,0,1,0],"image_name":"rio_39.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[56,235],"end_point":[95,11],"distance":227.36974292988063}],"complexity_score":0.6181817657152603}
{"id":1136,"query_id":"Q00228","question":"An aerial survey drone starts from a hard, flat, artificial surface and needs to reach a long, paved strip designed for vehicle movement. The drone can fly over open areas of loose earth or rock, regions covered with low vegetation or bushes, all hard artificial surfaces including parking areas and sports fields, all vehicle pathways, expanses of liquid, and cultivated fields. However, it must avoid areas with tall, dense vertical obstacles that could obstruct flight. What is the most direct route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A long, paved strip designed for vehicle movement","task_description":"What is the shortest path for the aerial survey drone to reach its 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":"al_qurnah_53.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":250,"start_point":[784,915],"end_point":[136,34],"distance":1093.6475666319566},{"start_region_id":150,"end_region_id":250,"start_point":[940,743],"end_point":[136,34],"distance":1071.9594208737567},{"start_region_id":186,"end_region_id":251,"start_point":[784,915],"end_point":[198,146],"distance":966.8283198169156},{"start_region_id":204,"end_region_id":250,"start_point":[481,951],"end_point":[136,34],"distance":979.7520094391233},{"start_region_id":150,"end_region_id":251,"start_point":[940,743],"end_point":[198,146],"distance":952.3513007288855}],"complexity_score":0.6181915753081859}
{"id":5437,"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":"al_qurnah_53.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":17,"start_point":[463,474],"end_point":[741,412],"distance":284.829773724588},{"start_region_id":160,"end_region_id":25,"start_point":[827,688],"end_point":[569,657],"distance":259.8557292037257},{"start_region_id":186,"end_region_id":49,"start_point":[784,915],"end_point":[567,981],"distance":226.81490250863146},{"start_region_id":67,"end_region_id":19,"start_point":[463,474],"end_point":[241,450],"distance":223.29352879114074}],"complexity_score":0.6181915753081859}
{"id":14790,"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":"al_qurnah_53.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":59,"start_point":[62,679],"end_point":[978,57],"distance":1107.2217483413158},{"start_region_id":59,"end_region_id":106,"start_point":[978,57],"end_point":[62,679],"distance":1107.2217483413158},{"start_region_id":186,"end_region_id":54,"start_point":[784,915],"end_point":[151,58],"distance":1065.4285522736848},{"start_region_id":54,"end_region_id":186,"start_point":[151,58],"end_point":[784,915],"distance":1065.4285522736848},{"start_region_id":106,"end_region_id":64,"start_point":[62,679],"end_point":[993,184],"distance":1054.4126327012589}],"complexity_score":0.6181915753081859}
{"id":1581,"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_36.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":43,"start_point":[441,511],"end_point":[496,914],"distance":406.73578647569235},{"start_region_id":43,"end_region_id":42,"start_point":[496,914],"end_point":[441,511],"distance":406.73578647569235}],"complexity_score":0.6182132709493777}
{"id":1624,"query_id":"Q00325","question":"An aerial survey drone starts from a cultivated field with rows of crops and needs to reach another cultivated field with rows of crops. The area includes expanses of loose, dry soil and rocks; open grassy and shrub-covered terrain; paved lanes used by vehicles; bodies of liquid; and cultivated fields. The drone can fly over all these surfaces, but trees and buildings are present and must be avoided as they are obstacles. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey 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 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":"aachen_27.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":397,"end_region_id":400,"start_point":[44,206],"end_point":[967,287],"distance":926.5473544293352},{"start_region_id":400,"end_region_id":397,"start_point":[967,287],"end_point":[44,206],"distance":926.5473544293352},{"start_region_id":398,"end_region_id":397,"start_point":[526,183],"end_point":[44,206],"distance":482.5484431639999},{"start_region_id":397,"end_region_id":398,"start_point":[44,206],"end_point":[526,183],"distance":482.5484431639999},{"start_region_id":398,"end_region_id":400,"start_point":[526,183],"end_point":[967,287],"distance":453.0971198319407}],"complexity_score":0.6184008220857841}
{"id":7074,"query_id":"Q01415","question":"A quadcopter drone is deployed from a grassy, uneven field with scattered shrubs and wild vegetation, needing to reach a flat, paved area with a hard, smooth surface. The drone's flight path must prioritize passenger comfort by avoiding areas that cause excessive vibration or turbulence. The drone cannot fly through dense clusters of tall trees or close to large vertical structures like buildings, as these create unpredictable wind patterns and turbulence. It can fly over open water bodies, but these may cause downdrafts and instability, making them less comfortable. The drone can traverse open sandy or rocky ground, grassy fields, paved surfaces, roads, and cultivated crop fields, all of which generally provide stable air conditions. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a grassy, uneven field with scattered shrubs and wild vegetation.","end_land_type":"The destination is a flat, paved area with a hard, smooth 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":"lambayeque_48.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":86,"start_point":[47,663],"end_point":[942,89],"distance":1063.2502057371069},{"start_region_id":82,"end_region_id":86,"start_point":[655,995],"end_point":[942,89],"distance":950.3709801966809},{"start_region_id":82,"end_region_id":85,"start_point":[655,995],"end_point":[716,25],"distance":971.9161486465795},{"start_region_id":62,"end_region_id":110,"start_point":[960,570],"end_point":[32,553],"distance":928.1556981455212},{"start_region_id":66,"end_region_id":85,"start_point":[47,663],"end_point":[716,25],"distance":924.4484842326261}],"complexity_score":0.6184317785130419}
{"id":10778,"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":"lambayeque_48.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":237,"start_point":[45,314],"end_point":[1008,915],"distance":1135.151972204603},{"start_region_id":110,"end_region_id":237,"start_point":[32,553],"end_point":[1008,915],"distance":1040.9707008364837},{"start_region_id":84,"end_region_id":237,"start_point":[278,327],"end_point":[1008,915],"distance":937.3601228983448},{"start_region_id":85,"end_region_id":237,"start_point":[716,25],"end_point":[1008,915],"distance":936.6771055171574},{"start_region_id":95,"end_region_id":237,"start_point":[404,242],"end_point":[1008,915],"distance":904.2925411613213}],"complexity_score":0.6184317785130419}
{"id":16304,"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":"lambayeque_48.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":82,"start_point":[616,450],"end_point":[655,995],"distance":546.393631002412},{"start_region_id":148,"end_region_id":66,"start_point":[616,450],"end_point":[47,663],"distance":607.5606965563194},{"start_region_id":148,"end_region_id":77,"start_point":[616,450],"end_point":[811,863],"distance":456.7209213513215},{"start_region_id":148,"end_region_id":62,"start_point":[616,450],"end_point":[960,570],"distance":364.3295211755424},{"start_region_id":148,"end_region_id":71,"start_point":[616,450],"end_point":[663,814],"distance":367.02179771779225}],"complexity_score":0.6184317785130419}
{"id":5413,"query_id":"Q01083","question":"A quadcopter starts from a paved lane and needs to reach a grassy field. The drone can fly over paved lanes and grassy fields, but must avoid trees and buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Road"],"traverse_vector":[0,1,0,1,0,0,0,0],"cost_vector":[0,1,0,1,0,0,0,0],"image_name":"mahe_44.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":7,"start_point":[371,731],"end_point":[399,250],"distance":481.814279572534},{"start_region_id":140,"end_region_id":74,"start_point":[371,731],"end_point":[701,742],"distance":330.18328243568},{"start_region_id":140,"end_region_id":79,"start_point":[371,731],"end_point":[652,820],"distance":294.7575274696136},{"start_region_id":140,"end_region_id":61,"start_point":[371,731],"end_point":[48,600],"distance":348.5541564807397},{"start_region_id":140,"end_region_id":73,"start_point":[371,731],"end_point":[491,883],"distance":193.65949499056327}],"complexity_score":0.6185103016797544}
{"id":14770,"query_id":"Q02954","question":"An aerial survey drone is positioned on a grassy, open field with low vegetation and needs to reach a flat, hard-surfaced area suitable for landing. The drone can fly over any terrain except dense tree canopies and solid structures, which are blocked. The open field, loose sandy patches, paved surfaces, water bodies, and cultivated fields are all accessible for flight. To complete the survey mission urgently, what is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Rangeland","end_land_type":"Developed space","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_44.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":128,"start_point":[935,59],"end_point":[62,927],"distance":1231.077982907663},{"start_region_id":11,"end_region_id":125,"start_point":[27,130],"end_point":[927,917],"distance":1195.5622108447556},{"start_region_id":8,"end_region_id":128,"start_point":[826,82],"end_point":[62,927],"distance":1139.1755790921784},{"start_region_id":85,"end_region_id":104,"start_point":[952,845],"end_point":[77,130],"distance":1129.9778758896123},{"start_region_id":48,"end_region_id":125,"start_point":[32,345],"end_point":[927,917],"distance":1062.1718316731997}],"complexity_score":0.6185103016797544}
{"id":12618,"query_id":"Q02524","question":"An aerial survey drone starts from a cluster of tall, leafy vegetation casting shadows on the ground below and needs to reach a large, flat area of cultivated soil with neat rows of crops. The drone's flight path must prioritize a smooth and stable journey to protect its sensitive imaging equipment from vibrations. The drone can fly over open sandy or rocky expanses, grassy or shrub-covered fields, paved lanes used by vehicles, the tall vegetation clusters themselves, bodies of liquid, and the cultivated crop fields. However, flying directly through dense clusters of tall vegetation is less comfortable due to turbulence and collision risk. Flying over bodies of liquid is also less comfortable due to unpredictable wind patterns and downdrafts. Solid, vertical structures are completely impassable for the drone. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation casting shadows on the ground below.","end_land_type":"A large, flat area of cultivated soil with neat rows of crops.","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":"baybay_65.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":119,"start_point":[439,642],"end_point":[932,223],"distance":647.0007727970656},{"start_region_id":86,"end_region_id":118,"start_point":[439,642],"end_point":[620,196],"distance":481.32837024218713},{"start_region_id":97,"end_region_id":119,"start_point":[456,281],"end_point":[932,223],"distance":479.5205939268928},{"start_region_id":99,"end_region_id":119,"start_point":[578,385],"end_point":[932,223],"distance":389.30707674020005},{"start_region_id":93,"end_region_id":118,"start_point":[868,290],"end_point":[620,196],"distance":265.2168923730161}],"complexity_score":0.6186308328061219}
{"id":504,"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_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":5,"start_point":[177,489],"end_point":[956,410],"distance":782.9955300000122},{"start_region_id":191,"end_region_id":5,"start_point":[928,996],"end_point":[956,410],"distance":586.6685606030035},{"start_region_id":183,"end_region_id":5,"start_point":[1007,968],"end_point":[956,410],"distance":560.3257980853639},{"start_region_id":171,"end_region_id":5,"start_point":[532,739],"end_point":[956,410],"distance":536.6721531810646},{"start_region_id":178,"end_region_id":5,"start_point":[680,782],"end_point":[956,410],"distance":463.20621757485077}],"complexity_score":0.618649900508588}
{"id":509,"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_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":5,"start_point":[177,489],"end_point":[956,410],"distance":782.9955300000122},{"start_region_id":191,"end_region_id":5,"start_point":[928,996],"end_point":[956,410],"distance":586.6685606030035},{"start_region_id":183,"end_region_id":5,"start_point":[1007,968],"end_point":[956,410],"distance":560.3257980853639},{"start_region_id":171,"end_region_id":5,"start_point":[532,739],"end_point":[956,410],"distance":536.6721531810646},{"start_region_id":178,"end_region_id":5,"start_point":[680,782],"end_point":[956,410],"distance":463.20621757485077}],"complexity_score":0.618649900508588}
{"id":5138,"query_id":"Q01028","question":"A quadcopter drone starts from a flat, hard surface and needs to reach sandy, open ground. The drone can fly over hard surfaces, roads, cultivated fields, grassy or shrubby areas, and liquid surfaces without restriction. It can also navigate around trees and vertical structures carefully. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat, hard surface","end_land_type":"sandy, open ground","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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":3,"start_point":[891,254],"end_point":[44,241],"distance":847.0997579978406},{"start_region_id":101,"end_region_id":4,"start_point":[891,254],"end_point":[97,337],"distance":798.3263743607623},{"start_region_id":101,"end_region_id":2,"start_point":[891,254],"end_point":[155,230],"distance":736.3912003819709},{"start_region_id":102,"end_region_id":3,"start_point":[710,333],"end_point":[44,241],"distance":672.3243264972642},{"start_region_id":102,"end_region_id":4,"start_point":[710,333],"end_point":[97,337],"distance":613.0130504320442}],"complexity_score":0.618649900508588}
{"id":8238,"query_id":"Q01648","question":"An off-road vehicle starts from an area of uneven, rocky terrain and needs to reach another section of similar uneven, rocky terrain. The vehicle can travel on paved or compacted artificial surfaces, as well as grassy or loose-soil areas that provide sufficient traction. However, all other terrain types are blocked by permanent obstacles or are physically impassable. What is the shortest path to the destination?","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 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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[44,241],"end_point":[956,410],"distance":927.5262799511397},{"start_region_id":5,"end_region_id":3,"start_point":[956,410],"end_point":[44,241],"distance":927.5262799511397},{"start_region_id":4,"end_region_id":5,"start_point":[97,337],"end_point":[956,410],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":4,"start_point":[956,410],"end_point":[97,337],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":2,"start_point":[956,410],"end_point":[155,230],"distance":820.9756391026472}],"complexity_score":0.618649900508588}
{"id":8428,"query_id":"Q01686","question":"A quadcopter drone starts from loose, sandy ground and needs to reach another area of loose, sandy ground while prioritizing safety. The drone can traverse loose, sandy ground, areas with low vegetation and soft soil, and hard, paved surfaces. The drone must avoid flying through dense vegetation or near vertical structures, as these pose safety risks. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[44,241],"end_point":[956,410],"distance":927.5262799511397},{"start_region_id":5,"end_region_id":3,"start_point":[956,410],"end_point":[44,241],"distance":927.5262799511397},{"start_region_id":4,"end_region_id":5,"start_point":[97,337],"end_point":[956,410],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":4,"start_point":[956,410],"end_point":[97,337],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":2,"start_point":[956,410],"end_point":[155,230],"distance":820.9756391026472}],"complexity_score":0.618649900508588}
{"id":9220,"query_id":"Q01844","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach a paved lane as quickly as possible. The drone can fly over liquid surfaces and cultivated fields, but must avoid areas with tall, dense vegetation and solid vertical structures. Which path allows the drone to travel fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved lane","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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":143,"start_point":[956,410],"end_point":[429,296],"distance":539.1892061234164},{"start_region_id":3,"end_region_id":143,"start_point":[44,241],"end_point":[429,296],"distance":388.90872965260115},{"start_region_id":4,"end_region_id":143,"start_point":[97,337],"end_point":[429,296],"distance":334.5220471060166},{"start_region_id":2,"end_region_id":143,"start_point":[155,230],"end_point":[429,296],"distance":281.83683222744327}],"complexity_score":0.618649900508588}
{"id":10457,"query_id":"Q02092","question":"An aerial drone starts from a flat, hard surface and needs to reach a sandy or rocky area. The airspace includes grassy or shrub-covered terrain and wooded zones, but you must avoid flying through dense vegetation that could entangle the drone. All solid ground and liquid surfaces are permissible, but structures and thick tree canopies are restricted unless explicitly clear. What is the shortest path to the sandy or rocky area?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"flat, hard surface","end_land_type":"sandy or rocky area","task_description":"What is the shortest path to the sandy or rocky 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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":3,"start_point":[891,254],"end_point":[44,241],"distance":847.0997579978406},{"start_region_id":101,"end_region_id":4,"start_point":[891,254],"end_point":[97,337],"distance":798.3263743607623},{"start_region_id":101,"end_region_id":2,"start_point":[891,254],"end_point":[155,230],"distance":736.3912003819709},{"start_region_id":102,"end_region_id":3,"start_point":[710,333],"end_point":[44,241],"distance":672.3243264972642},{"start_region_id":102,"end_region_id":4,"start_point":[710,333],"end_point":[97,337],"distance":613.0130504320442}],"complexity_score":0.618649900508588}
{"id":14278,"query_id":"Q02856","question":"An aerial surveillance drone is operating in an area with varied surfaces. It begins on a patch of loose, sandy ground and must return to a similar patch of loose, sandy ground. The drone can fly over hard, paved lanes used by vehicles and over liquid bodies, but it must avoid any vertical structures or dense vegetation. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to a similar patch of loose, sandy ground","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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[44,241],"end_point":[956,410],"distance":927.5262799511397},{"start_region_id":5,"end_region_id":3,"start_point":[956,410],"end_point":[44,241],"distance":927.5262799511397},{"start_region_id":4,"end_region_id":5,"start_point":[97,337],"end_point":[956,410],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":4,"start_point":[956,410],"end_point":[97,337],"distance":862.0962823258201},{"start_region_id":5,"end_region_id":2,"start_point":[956,410],"end_point":[155,230],"distance":820.9756391026472}],"complexity_score":0.618649900508588}
{"id":16066,"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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":5,"start_point":[28,336],"end_point":[956,410],"distance":930.9457556700067},{"start_region_id":29,"end_region_id":3,"start_point":[961,281],"end_point":[44,241],"distance":917.8719954329143},{"start_region_id":37,"end_region_id":5,"start_point":[55,523],"end_point":[956,410],"distance":908.058368168038},{"start_region_id":26,"end_region_id":5,"start_point":[100,198],"end_point":[956,410],"distance":881.8616671564764},{"start_region_id":44,"end_region_id":5,"start_point":[125,671],"end_point":[956,410],"distance":871.0235358473386}],"complexity_score":0.618649900508588}
{"id":17421,"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":"tuscaloosa_21.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":5,"start_point":[28,336],"end_point":[956,410],"distance":930.9457556700067},{"start_region_id":29,"end_region_id":3,"start_point":[961,281],"end_point":[44,241],"distance":917.8719954329143},{"start_region_id":37,"end_region_id":5,"start_point":[55,523],"end_point":[956,410],"distance":908.058368168038},{"start_region_id":26,"end_region_id":5,"start_point":[100,198],"end_point":[956,410],"distance":881.8616671564764},{"start_region_id":44,"end_region_id":5,"start_point":[125,671],"end_point":[956,410],"distance":871.0235358473386}],"complexity_score":0.618649900508588}
{"id":466,"query_id":"Q00094","question":"A hiker starts from loose, sandy ground and needs to reach a paved, hard surface. The area includes rough, uneven terrain with scattered vegetation and obstacles, but you can traverse these if they are not too dense. However, you cannot cross any liquid areas or enter any solid structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"loose, sandy ground","end_land_type":"a paved, hard surface","task_description":"What is the shortest path from the loose, sandy ground to 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":"vegas_25.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":24,"start_point":[329,320],"end_point":[51,534],"distance":350.8275929855005},{"start_region_id":1,"end_region_id":23,"start_point":[329,320],"end_point":[40,435],"distance":311.0401903291599},{"start_region_id":1,"end_region_id":21,"start_point":[329,320],"end_point":[557,518],"distance":301.97350877187887},{"start_region_id":1,"end_region_id":17,"start_point":[329,320],"end_point":[154,105],"distance":277.2183255125822},{"start_region_id":1,"end_region_id":15,"start_point":[329,320],"end_point":[387,94],"distance":233.32380932943812}],"complexity_score":0.6188228623107644}
{"id":2426,"query_id":"Q00486","question":"A hiker starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The terrain consists only of areas with loose, sandy ground. The hiker must find a path that minimizes the total distance traveled.","agent_category":"Pedestrian","specific_agent":"a 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 for the hiker to take?","task_type":"Shortest","input_classes":["Bareland"],"traverse_vector":[1,0,0,0,0,0,0,0],"cost_vector":[1,0,0,0,0,0,0,0],"image_name":"vegas_25.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[102,631],"end_point":[581,13],"distance":781.8983309868362}],"complexity_score":0.6188228623107644}
{"id":9321,"query_id":"Q01865","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to return to another similar area of exposed earth and gravel. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. It can fly over liquid surfaces, but these may cause turbulence and should be avoided if possible. It can also traverse cultivated fields with low vegetation, but these may have uneven growth patterns. Hard, paved surfaces are not available for this mission. The drone must not attempt to pass through dense vertical obstacles or enter enclosed structures. What is the most comfortable path?","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 return to another similar area of exposed earth and gravel","task_description":"What is the most comfortable path?","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":"vegas_25.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[584,11],"end_point":[141,599],"distance":736.2017386559203}],"complexity_score":0.6188228623107644}
{"id":13626,"query_id":"Q02726","question":"A hiker is standing on a paved surface and needs to reach a destination located on sandy, rocky ground. The hiker can traverse paved surfaces, compacted gravel paths, grassy fields, and cultivated fields. However, the hiker cannot cross any water bodies or enter any structures. What is the shortest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved surface","end_land_type":"sandy, rocky ground","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":"vegas_25.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":1,"start_point":[51,534],"end_point":[329,320],"distance":350.8275929855005},{"start_region_id":23,"end_region_id":1,"start_point":[40,435],"end_point":[329,320],"distance":311.0401903291599},{"start_region_id":21,"end_region_id":1,"start_point":[557,518],"end_point":[329,320],"distance":301.97350877187887},{"start_region_id":17,"end_region_id":1,"start_point":[154,105],"end_point":[329,320],"distance":277.2183255125822},{"start_region_id":15,"end_region_id":1,"start_point":[387,94],"end_point":[329,320],"distance":233.32380932943812}],"complexity_score":0.6188228623107644}
{"id":119,"query_id":"Q00024","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach an area of low, natural grass and shrubs. The drone must maintain a smooth, vibration-free flight to protect its sensitive imaging sensors. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, open water bodies, cultivated crop fields, and even man-made structures. However, it must avoid flying directly through dense clusters of tall vegetation with branches, as this poses a collision risk and causes turbulence. The drone's priority is to find the path that provides the most stable and comfortable flight.","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 an area of low, natural grass 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","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,2],"image_name":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[23,56],"end_point":[639,368],"distance":690.5070600652828},{"start_region_id":2,"end_region_id":9,"start_point":[568,61],"end_point":[218,248],"distance":396.8236384088025},{"start_region_id":2,"end_region_id":13,"start_point":[568,61],"end_point":[639,368],"distance":315.1031577118833},{"start_region_id":1,"end_region_id":9,"start_point":[23,56],"end_point":[218,248],"distance":273.65854636754904}],"complexity_score":0.6188289202310127}
{"id":1913,"query_id":"Q00383","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach an area covered with low, dense shrubs and wild grasses. The drone can fly over open liquid surfaces, cultivated fields with rows of crops, and hard, paved strips used by ground vehicles. However, it must avoid any tall, vertical structures with dense foliage overhead and any solid, enclosed constructions. The priority is to minimize the risk of collision, signal interference, or loss of control during the flight.","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 an area covered with low, dense shrubs and wild grasses.","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[23,56],"end_point":[639,368],"distance":690.5070600652828},{"start_region_id":2,"end_region_id":9,"start_point":[568,61],"end_point":[218,248],"distance":396.8236384088025},{"start_region_id":2,"end_region_id":13,"start_point":[568,61],"end_point":[639,368],"distance":315.1031577118833},{"start_region_id":1,"end_region_id":9,"start_point":[23,56],"end_point":[218,248],"distance":273.65854636754904}],"complexity_score":0.6188289202310127}
{"id":6280,"query_id":"Q01256","question":"An aerial surveillance drone begins its mission on a grassy, shrub-covered terrain and needs to reach an area of exposed, rocky or sandy ground. The drone can fly over hard, paved surfaces, loose soil used for crop cultivation, and bodies of water, but must avoid flying directly through dense tree canopies or between tall structures. What is the most direct route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"exposed, rocky or sandy ground","task_description":"What is the most direct 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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":1,"start_point":[639,368],"end_point":[23,56],"distance":690.5070600652828},{"start_region_id":9,"end_region_id":2,"start_point":[218,248],"end_point":[568,61],"distance":396.8236384088025},{"start_region_id":13,"end_region_id":2,"start_point":[639,368],"end_point":[568,61],"distance":315.1031577118833},{"start_region_id":9,"end_region_id":1,"start_point":[218,248],"end_point":[23,56],"distance":273.65854636754904}],"complexity_score":0.6188289202310127}
{"id":8962,"query_id":"Q01793","question":"An aerial drone 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 drone can fly over most surfaces, including hard, flat areas, grassy or shrub-covered ground, and loose soil and rocks. However, it must avoid liquid surfaces due to splash risk, and be cautious around vertical obstacles like trees and man-made structures with solid walls and roofs, which may require careful navigation. The goal is to minimize risk while flying.","agent_category":"Drone","specific_agent":"aerial drone","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 safest path for the aerial 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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":1,"start_point":[962,490],"end_point":[23,56],"distance":1034.4452619641118},{"start_region_id":96,"end_region_id":1,"start_point":[790,421],"end_point":[23,56],"distance":849.4198019825062},{"start_region_id":99,"end_region_id":1,"start_point":[621,459],"end_point":[23,56],"distance":721.1192689146504},{"start_region_id":103,"end_region_id":2,"start_point":[962,490],"end_point":[568,61],"distance":582.4748921627438},{"start_region_id":76,"end_region_id":1,"start_point":[450,346],"end_point":[23,56],"distance":516.1676084374144}],"complexity_score":0.6188289202310127}
{"id":10049,"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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[568,61],"end_point":[23,56],"distance":545.0229352972221},{"start_region_id":1,"end_region_id":2,"start_point":[23,56],"end_point":[568,61],"distance":545.0229352972221}],"complexity_score":0.6188289202310127}
{"id":10647,"query_id":"Q02130","question":"An aerial surveillance drone is deployed from a dry, exposed area of loose soil and rocks with no vegetation cover and needs to reach a paved, hard-surfaced lane designed for vehicle traffic. The drone can fly over open ground, paved areas, cultivated fields, and water surfaces. It can also navigate around vertical structures and dense vegetation clusters, though these present collision risks. The mission requires minimizing operational hazards. What is the safest flight path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, exposed area of loose soil and rocks with no vegetation cover","end_land_type":"and needs to reach a paved, hard-surfaced lane designed for vehicle traffic","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":61,"start_point":[568,61],"end_point":[12,927],"distance":1029.1219558439127},{"start_region_id":1,"end_region_id":60,"start_point":[23,56],"end_point":[704,779],"distance":993.222029558346},{"start_region_id":1,"end_region_id":61,"start_point":[23,56],"end_point":[12,927],"distance":871.0694576209179},{"start_region_id":2,"end_region_id":60,"start_point":[568,61],"end_point":[704,779],"distance":730.7667206434622},{"start_region_id":1,"end_region_id":59,"start_point":[23,56],"end_point":[351,216],"distance":364.9438312946254}],"complexity_score":0.6188289202310127}
{"id":11129,"query_id":"Q02226","question":"Taking off from a flat, dry area of exposed soil and small stones, a delivery drone must land at another similar open, dry ground location. The drone must avoid flying through dense vegetation or near tall vertical obstacles. It can fly over grassy expanses, paved surfaces, vehicle pathways, and cultivated fields. Areas with liquid surfaces or near structures should be avoided to minimize collision risk.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Taking off from a flat, dry area of exposed soil and small stones","end_land_type":"must land at another similar open, dry ground location","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[568,61],"end_point":[23,56],"distance":545.0229352972221},{"start_region_id":1,"end_region_id":2,"start_point":[23,56],"end_point":[568,61],"distance":545.0229352972221}],"complexity_score":0.6188289202310127}
{"id":11764,"query_id":"Q02353","question":"A quadcopter starts above a paved, hard surface and needs to reach a destination above loose, sandy ground. The drone can fly over most surfaces, including paved areas, compacted lanes, and dry, stable soil, but it must avoid areas with dense vertical obstacles. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":1,"start_point":[873,981],"end_point":[23,56],"distance":1256.2344526401114},{"start_region_id":57,"end_region_id":1,"start_point":[648,957],"end_point":[23,56],"distance":1096.5518683582643},{"start_region_id":35,"end_region_id":1,"start_point":[836,648],"end_point":[23,56],"distance":1005.700253554706},{"start_region_id":52,"end_region_id":2,"start_point":[88,911],"end_point":[568,61],"distance":976.165969494942},{"start_region_id":56,"end_region_id":2,"start_point":[873,981],"end_point":[568,61],"distance":969.2393925135317}],"complexity_score":0.6188289202310127}
{"id":15013,"query_id":"Q03003","question":"A delivery drone is starting from a grassy, uneven terrain and needs to reach an exposed, rocky ground. The drone operator wants to maximize flight comfort by avoiding turbulence and ensuring stable navigation. The drone can fly over most surfaces including grassy areas, loose soil, hard paved areas, and cultivated fields, but it should avoid flying directly through dense vegetation clusters or near solid vertical structures. The drone cannot fly over any water bodies in this mission. What is the most comfortable flight path for the delivery drone?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain","end_land_type":"exposed, rocky ground","task_description":"What is the most comfortable flight path for the delivery drone?","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":1,"start_point":[639,368],"end_point":[23,56],"distance":690.5070600652828},{"start_region_id":9,"end_region_id":2,"start_point":[218,248],"end_point":[568,61],"distance":396.8236384088025},{"start_region_id":13,"end_region_id":2,"start_point":[639,368],"end_point":[568,61],"distance":315.1031577118833},{"start_region_id":9,"end_region_id":1,"start_point":[218,248],"end_point":[23,56],"distance":273.65854636754904}],"complexity_score":0.6188289202310127}
{"id":16388,"query_id":"Q03278","question":"An aerial surveillance drone is operating in an environment where only certain surfaces are available for flight. The drone begins its mission on loose, dry earth and scattered rocks. It must navigate to a paved, hard-surfaced lane. The drone can fly over areas with short, sparse vegetation and over liquid surfaces, but must avoid tall, dense vertical obstacles and solid structures. The drone's priority is to minimize operational risks such as collisions, signal interference, or unstable flight conditions.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of loose, dry earth and scattered rocks","end_land_type":"and needs to reach a paved, hard-surfaced lane","task_description":"What is the safest flight path for the drone to reach 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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":61,"start_point":[568,61],"end_point":[12,927],"distance":1029.1219558439127},{"start_region_id":1,"end_region_id":60,"start_point":[23,56],"end_point":[704,779],"distance":993.222029558346},{"start_region_id":1,"end_region_id":61,"start_point":[23,56],"end_point":[12,927],"distance":871.0694576209179},{"start_region_id":2,"end_region_id":60,"start_point":[568,61],"end_point":[704,779],"distance":730.7667206434622},{"start_region_id":1,"end_region_id":59,"start_point":[23,56],"end_point":[351,216],"distance":364.9438312946254}],"complexity_score":0.6188289202310127}
{"id":16887,"query_id":"Q03378","question":"An aerial surveillance drone starts from a dry, exposed area of loose soil and rocks and needs to reach another similar patch of dry, exposed ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions, and should minimize flight over liquid surfaces where a malfunction could lead to unrecoverable loss. The drone can traverse cultivated fields with low vegetation, but should prioritize the driest, most open areas to maintain maximum control and situational awareness. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, exposed area of loose soil and rocks","end_land_type":"and needs to reach another similar patch of dry, exposed ground","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":"sechura_31.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[568,61],"end_point":[23,56],"distance":545.0229352972221},{"start_region_id":1,"end_region_id":2,"start_point":[23,56],"end_point":[568,61],"distance":545.0229352972221}],"complexity_score":0.6188289202310127}
{"id":2026,"query_id":"Q00406","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures that provide shade and cover and needs to reach another similar vegetated area. The drone can fly over hard, flat surfaces like paved areas and compacted lanes, as well as cultivated fields with low, uniform vegetation, but must avoid liquid surfaces and vertical structures. The goal is to find a path that minimizes vibration and ensures stable flight for sensor accuracy.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A vegetated area with tall, leafy structures that provide shade and cover.","end_land_type":"Another vegetated area with tall, leafy structures that provide shade and cover.","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","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":"tonga_65.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":237,"end_region_id":256,"start_point":[795,934],"end_point":[233,978],"distance":563.7197885474662},{"start_region_id":256,"end_region_id":237,"start_point":[233,978],"end_point":[795,934],"distance":563.7197885474662},{"start_region_id":256,"end_region_id":200,"start_point":[233,978],"end_point":[647,684],"distance":507.7716021992565},{"start_region_id":200,"end_region_id":256,"start_point":[647,684],"end_point":[233,978],"distance":507.7716021992565},{"start_region_id":237,"end_region_id":231,"start_point":[795,934],"end_point":[354,875],"distance":444.92920785221554}],"complexity_score":0.6188482024193205}
{"id":6677,"query_id":"Q01336","question":"An aerial photography drone starts from a paved, hard surface and needs to reach another paved, hard surface destination. The drone's flight must prioritize a smooth and stable journey to protect its sensitive camera gimbal from vibrations. The drone can fly over areas of loose, dry earth and rocks; overgrown grassy and shrubby terrain; other paved or compacted artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures, as these could cause turbulence or sudden impacts. The drone can fly over liquid surfaces, but this is less comfortable due to potential updrafts and lack of visual reference for stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography 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":"tonga_65.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":148,"start_point":[29,338],"end_point":[970,739],"distance":1022.8792695132696}],"complexity_score":0.6188482024193205}
{"id":11916,"query_id":"Q02384","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The terrain includes areas of loose, dry soil and rock formations without vegetation, as well as flat, hard surfaces made of concrete or asphalt. The drone can fly over all these surfaces, but must avoid any tall vegetation or 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":"paved surface","task_description":"What is the shortest path to the destination?","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":"tonga_65.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":148,"start_point":[16,327],"end_point":[967,745],"distance":1038.8094146666174}],"complexity_score":0.6188482024193205}
{"id":1599,"query_id":"Q00320","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow covered in natural herbaceous vegetation. The terrain includes only areas with loose soil and vegetation, as well as paved lanes used by vehicles. You must avoid any solid vertical structures, liquid surfaces, and sandy or rocky expanses. What is the shortest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","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":"tokyo_53.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":551,"end_region_id":45,"start_point":[57,84],"end_point":[949,889],"distance":1201.536100165118},{"start_region_id":551,"end_region_id":52,"start_point":[57,84],"end_point":[635,921],"distance":1017.1789419762877},{"start_region_id":551,"end_region_id":49,"start_point":[57,84],"end_point":[128,884],"distance":803.1444452898868},{"start_region_id":551,"end_region_id":2,"start_point":[57,84],"end_point":[377,587],"distance":596.1618907645808},{"start_region_id":555,"end_region_id":5,"start_point":[565,482],"end_point":[972,129],"distance":538.7559744448315}],"complexity_score":0.6188490196470285}
{"id":2214,"query_id":"Q00443","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and low crop rows and needs to reach a paved lane with a hard, smooth surface. The drone can fly over open water bodies, but must avoid tall vertical obstacles like trees and buildings. The goal is to find the fastest path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with soft, tilled soil and low crop rows","end_land_type":"A paved lane with a hard, smooth 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":"tokyo_53.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":551,"end_region_id":362,"start_point":[57,84],"end_point":[953,219],"distance":906.113127595004},{"start_region_id":551,"end_region_id":361,"start_point":[57,84],"end_point":[659,368],"distance":665.627523469395},{"start_region_id":551,"end_region_id":360,"start_point":[57,84],"end_point":[337,729],"distance":703.1536105290223},{"start_region_id":555,"end_region_id":362,"start_point":[565,482],"end_point":[953,219],"distance":468.7355331100897},{"start_region_id":556,"end_region_id":360,"start_point":[696,474],"end_point":[337,729],"distance":440.347589978644}],"complexity_score":0.6188490196470285}
{"id":6563,"query_id":"Q01313","question":"An agricultural monitoring drone starts from a cultivated field with loose soil and vegetation and needs to reach another cultivated field with similar loose soil and vegetation. The drone requires a flight path that minimizes turbulence and vibration for stable sensor operation. Vertical structures like trees and buildings should be avoided as they cause air disturbances. 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 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":"tokyo_53.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":556,"end_region_id":551,"start_point":[696,474],"end_point":[57,84],"distance":748.6127169638518},{"start_region_id":551,"end_region_id":556,"start_point":[57,84],"end_point":[696,474],"distance":748.6127169638518},{"start_region_id":555,"end_region_id":551,"start_point":[565,482],"end_point":[57,84],"distance":645.3433194819638},{"start_region_id":551,"end_region_id":555,"start_point":[57,84],"end_point":[565,482],"distance":645.3433194819638}],"complexity_score":0.6188490196470285}
{"id":7116,"query_id":"Q01424","question":"A hiker starts from a paved, hard surface area and needs to reach a cultivated field with soft, tilled soil. The area includes vertical obstacles like tall, dense vegetation that can be navigated around or through with careful movement, but you cannot cross any liquid bodies or enter any solid structures. You must find the shortest path to the destination.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the shortest path from the start to the end?","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_4.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":173,"start_point":[61,636],"end_point":[825,38],"distance":970.2061636580135},{"start_region_id":78,"end_region_id":173,"start_point":[980,951],"end_point":[825,38],"distance":926.063712710956},{"start_region_id":61,"end_region_id":173,"start_point":[41,491],"end_point":[825,38],"distance":905.4639694653786},{"start_region_id":66,"end_region_id":173,"start_point":[616,846],"end_point":[825,38],"distance":834.5927150412948},{"start_region_id":47,"end_region_id":173,"start_point":[184,281],"end_point":[825,38],"distance":685.5144053920384}],"complexity_score":0.6189571772489741}
{"id":1539,"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_37.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":16,"start_point":[890,924],"end_point":[27,309],"distance":1059.7141123906956},{"start_region_id":16,"end_region_id":43,"start_point":[27,309],"end_point":[890,924],"distance":1059.7141123906956},{"start_region_id":44,"end_region_id":16,"start_point":[787,942],"end_point":[27,309],"distance":989.0849306303277},{"start_region_id":16,"end_region_id":44,"start_point":[27,309],"end_point":[787,942],"distance":989.0849306303277},{"start_region_id":5,"end_region_id":16,"start_point":[964,48],"end_point":[27,309],"distance":972.6715786944739}],"complexity_score":0.6189847511639498}
{"id":12334,"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_37.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":16,"start_point":[845,894],"end_point":[27,309],"distance":1005.6584907412655},{"start_region_id":88,"end_region_id":17,"start_point":[845,894],"end_point":[168,372],"distance":854.8760144020886},{"start_region_id":88,"end_region_id":14,"start_point":[845,894],"end_point":[323,209],"distance":861.2252899212842},{"start_region_id":88,"end_region_id":5,"start_point":[845,894],"end_point":[964,48],"distance":854.3283911939249},{"start_region_id":88,"end_region_id":4,"start_point":[845,894],"end_point":[828,61],"distance":833.1734513293136}],"complexity_score":0.6189847511639498}
{"id":2135,"query_id":"Q00427","question":"A quadcopter drone starts from an area with elevated natural obstacles casting shadows and needs to reach a flat, hard, artificial surface. The drone can fly over vegetated crop fields and liquid surfaces, but must navigate carefully around tall vertical obstacles and man-made structures to avoid collisions. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"an area with elevated natural obstacles casting shadows","end_land_type":"a flat, hard, artificial 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":"vienna_45.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":55,"start_point":[956,35],"end_point":[255,771],"distance":1016.4137936883777},{"start_region_id":118,"end_region_id":77,"start_point":[956,35],"end_point":[649,725],"distance":755.2145390549629},{"start_region_id":154,"end_region_id":55,"start_point":[961,724],"end_point":[255,771],"distance":707.5627180681582},{"start_region_id":154,"end_region_id":31,"start_point":[961,724],"end_point":[486,247],"distance":673.167141206402},{"start_region_id":118,"end_region_id":95,"start_point":[956,35],"end_point":[879,667],"distance":636.6733856539003}],"complexity_score":0.6190445409081216}
{"id":16059,"query_id":"Q03212","question":"An aerial survey drone starts from an area of natural, uncultivated grassy and shrubby vegetation and needs to reach a flat, hard, artificial surface such as a paved area or parking lot. The drone can fly over open grassy fields, cultivated crop fields, and bodies of water like ponds or streams. It can also fly over the hard, flat artificial surfaces of its destination. However, to ensure a smooth and stable flight for sensor calibration and passenger comfort (if carrying a payload), the drone must avoid flying directly through areas with tall, dense vertical obstacles like groups of trees, as these cause turbulence and vibration. Additionally, all solid, enclosed structures are strictly off-limits for flight paths. What is the most comfortable route?","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":"The destination is a flat, hard, artificial surface such as a paved area or parking lot.","task_description":"What is 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":"vienna_45.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":37,"start_point":[33,963],"end_point":[664,201],"distance":989.3457434082385},{"start_region_id":29,"end_region_id":54,"start_point":[33,963],"end_point":[813,366],"distance":982.2469139681733},{"start_region_id":29,"end_region_id":34,"start_point":[33,963],"end_point":[648,239],"distance":949.9478933078382},{"start_region_id":29,"end_region_id":95,"start_point":[33,963],"end_point":[879,667],"distance":896.2879001749382},{"start_region_id":3,"end_region_id":55,"start_point":[890,145],"end_point":[255,771],"distance":891.6843611951484}],"complexity_score":0.6190445409081216}
{"id":108,"query_id":"Q00022","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, paved areas like parking lots or sports fields, vehicle lanes, liquid bodies, and cultivated fields. It can also navigate around vertical structures like buildings if necessary, but must avoid dense clusters of tall vegetation that could entangle its rotors. The primary objective is to minimize the risk of collision, signal loss, or mechanical failure.","agent_category":"Drone","specific_agent":"Aerial surveillance 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","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"pomorskie_10.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":116,"start_point":[879,584],"end_point":[32,103],"distance":974.0482534248496},{"start_region_id":41,"end_region_id":124,"start_point":[705,126],"end_point":[979,961],"distance":878.8065771260477},{"start_region_id":41,"end_region_id":123,"start_point":[705,126],"end_point":[795,936],"distance":814.9846624323675},{"start_region_id":41,"end_region_id":120,"start_point":[705,126],"end_point":[230,756],"distance":789.002534850174},{"start_region_id":42,"end_region_id":117,"start_point":[879,584],"end_point":[250,153],"distance":762.4972131096612}],"complexity_score":0.6190526102619007}
{"id":4286,"query_id":"Q00858","question":"A quadcopter drone starts from a grassy, vegetated area with soft ground and needs to reach a cultivated field with loose soil. The agent is a quadcopter drone, which can fly over most surfaces but avoids dense vertical obstacles like trees and buildings unless explicitly permitted. For this journey, only grassy vegetated areas, liquid surfaces, and cultivated loose-soil fields are accessible; all other surfaces like hard pavements, rocky ground, vertical structures, and wooded areas are blocked due to restricted airspace or physical hazards. The drone prioritizes flying over stable, predictable terrains to ensure a smooth and comfortable flight, avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Rangeland","Water","Agriculture land"],"traverse_vector":[0,1,0,0,0,1,1,0],"cost_vector":[0,2,0,0,0,1,2,0],"image_name":"pomorskie_10.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":121,"start_point":[439,57],"end_point":[493,461],"distance":407.5929341880205},{"start_region_id":19,"end_region_id":118,"start_point":[924,759],"end_point":[694,483],"distance":359.2714850917061},{"start_region_id":21,"end_region_id":124,"start_point":[638,908],"end_point":[979,961],"distance":345.094190040922},{"start_region_id":24,"end_region_id":120,"start_point":[396,984],"end_point":[230,756],"distance":282.02836736753983},{"start_region_id":12,"end_region_id":120,"start_point":[217,484],"end_point":[230,756],"distance":272.31048455760936}],"complexity_score":0.6190526102619007}
{"id":13219,"query_id":"Q02644","question":"A quadcopter starts from a paved road and needs to reach a cultivated field. The terrain includes hard surfaces; grassy or shrub-covered areas; tall vertical obstacles; and cultivated ground. For maximum comfort, prioritize areas that are open and stable to ensure smooth flight, while avoiding liquid surfaces and dense vertical obstacles that could cause turbulence or discomfort.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the most comfortable path from the paved road to the cultivated field?","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":"pomorskie_10.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":116,"start_point":[879,584],"end_point":[32,103],"distance":974.0482534248496},{"start_region_id":41,"end_region_id":124,"start_point":[705,126],"end_point":[979,961],"distance":878.8065771260477},{"start_region_id":41,"end_region_id":123,"start_point":[705,126],"end_point":[795,936],"distance":814.9846624323675},{"start_region_id":41,"end_region_id":120,"start_point":[705,126],"end_point":[230,756],"distance":789.002534850174},{"start_region_id":42,"end_region_id":117,"start_point":[879,584],"end_point":[250,153],"distance":762.4972131096612}],"complexity_score":0.6190526102619007}
{"id":17974,"query_id":"Q03595","question":"An aerial drone starts from a grassy, open field and needs to reach another grassy area while flying over varied surfaces. The terrain includes loose, sandy ground; hard, paved pathways; dense vegetation clusters; and cultivated plots with soft soil. You must avoid any vertical structures and liquid bodies. To ensure a smooth and stable flight, what is the most comfortable path?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"Rangeland","end_land_type":"Rangeland","task_description":"What is the most comfortable path to reach the destination?","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":"pomorskie_10.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":20,"start_point":[85,262],"end_point":[1001,809],"distance":1066.8950276386145},{"start_region_id":20,"end_region_id":6,"start_point":[1001,809],"end_point":[85,262],"distance":1066.8950276386145},{"start_region_id":3,"end_region_id":24,"start_point":[843,98],"end_point":[396,984],"distance":992.3734176206051},{"start_region_id":24,"end_region_id":3,"start_point":[396,984],"end_point":[843,98],"distance":992.3734176206051},{"start_region_id":6,"end_region_id":18,"start_point":[85,262],"end_point":[977,695],"distance":991.540720293423}],"complexity_score":0.6190526102619007}
{"id":12182,"query_id":"Q02437","question":"An aerial photography drone starts from a paved, hard surface and needs to reach another paved, hard surface used by vehicles. The drone can fly over soft ground covered with grass and shrubs, other paved areas like sidewalks and parking lots, and bodies of water. However. The drone must avoid flying through dense vegetation that could cause turbulence and vibration, and it cannot fly through solid vertical structures. The drone's priority is to maintain a smooth, stable flight to ensure clear photography.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"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":"panama_city_11.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":99,"start_point":[851,944],"end_point":[436,399],"distance":685.0182479321263},{"start_region_id":83,"end_region_id":99,"start_point":[891,820],"end_point":[436,399],"distance":619.8919260645358},{"start_region_id":80,"end_region_id":99,"start_point":[277,931],"end_point":[436,399],"distance":555.2521949528881},{"start_region_id":82,"end_region_id":99,"start_point":[570,867],"end_point":[436,399],"distance":486.805916151396},{"start_region_id":75,"end_region_id":99,"start_point":[145,783],"end_point":[436,399],"distance":481.80597754697897}],"complexity_score":0.6190540417356648}
{"id":15593,"query_id":"Q03119","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an open grassy area as quickly as possible. The drone can fly over most terrain types, including loose sandy or rocky ground, grassy or shrubby areas, paved surfaces, vehicle lanes, cultivated fields, and water bodies. However, it must avoid densely packed vertical obstacles that could interfere with its flight path. 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":"open grassy 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":"panama_city_11.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":2,"start_point":[145,783],"end_point":[923,119],"distance":1022.82940904141},{"start_region_id":80,"end_region_id":2,"start_point":[277,931],"end_point":[923,119],"distance":1037.6222819504214},{"start_region_id":51,"end_region_id":42,"start_point":[629,101],"end_point":[115,932],"distance":977.1166767587175},{"start_region_id":54,"end_region_id":42,"start_point":[657,192],"end_point":[115,932],"distance":917.2589601633772},{"start_region_id":73,"end_region_id":2,"start_point":[223,639],"end_point":[923,119],"distance":872.0091742636656}],"complexity_score":0.6190540417356648}
{"id":727,"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_67.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":14,"start_point":[316,34],"end_point":[462,526],"distance":513.2056118165506},{"start_region_id":14,"end_region_id":8,"start_point":[462,526],"end_point":[316,34],"distance":513.2056118165506},{"start_region_id":8,"end_region_id":13,"start_point":[316,34],"end_point":[87,447],"distance":472.2393460947531},{"start_region_id":13,"end_region_id":8,"start_point":[87,447],"end_point":[316,34],"distance":472.2393460947531},{"start_region_id":13,"end_region_id":9,"start_point":[87,447],"end_point":[345,114],"distance":421.25170622799857}],"complexity_score":0.6192480284383854}
{"id":4855,"query_id":"Q00971","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, stable paved area. The drone can traverse hard, compacted surfaces, unpaved, loose soil and sand patches, cultivated fields with crops, and wooded areas with individual trees. The drone must avoid all liquid surfaces and vertical structures. What is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","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":"shanghai_67.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":14,"start_point":[51,313],"end_point":[462,526],"distance":462.91467896362934},{"start_region_id":18,"end_region_id":8,"start_point":[51,313],"end_point":[316,34],"distance":384.79345108772316},{"start_region_id":18,"end_region_id":9,"start_point":[51,313],"end_point":[345,114],"distance":355.0169010061352}],"complexity_score":0.6192480284383854}
{"id":9674,"query_id":"Q01935","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a vehicle lane. The surrounding terrain includes loose, sandy or rocky ground without vegetation; areas with natural grass and shrubs; cultivated fields with crops; and other paved or compacted surfaces like sidewalks and parking lots. The hiker can walk across all these surface types, but must avoid any liquid bodies and any vertical 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":["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_67.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":18,"start_point":[462,526],"end_point":[51,313],"distance":462.91467896362934},{"start_region_id":8,"end_region_id":18,"start_point":[316,34],"end_point":[51,313],"distance":384.79345108772316},{"start_region_id":9,"end_region_id":18,"start_point":[345,114],"end_point":[51,313],"distance":355.0169010061352}],"complexity_score":0.6192480284383854}
{"id":14179,"query_id":"Q02836","question":"An aerial survey drone starts from a hard, paved surface and needs to reach a cluster of tall, vertical structures with dense foliage. The drone must avoid any liquid surfaces and built structures, and it can only traverse over loose, sandy or rocky ground, the hard paved surface, and the vertical structures themselves, though the latter requires careful navigation due to potential obstacles. The drone's flight path should prioritize smooth, stable travel to minimize vibrations and ensure steady sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved surface","end_land_type":"A cluster of tall, vertical structures with dense foliage","task_description":"What is the most comfortable path for the drone 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":"shanghai_67.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":37,"start_point":[51,313],"end_point":[479,597],"distance":513.6535797597443},{"start_region_id":18,"end_region_id":34,"start_point":[51,313],"end_point":[119,523],"distance":220.7351353998724}],"complexity_score":0.6192480284383854}
{"id":2491,"query_id":"Q00499","question":"A quadcopter drone is launched from a cultivated field and needs to reach a paved street. The operator wants a stable flight with minimal turbulence. The drone can fly over cultivated fields, paved areas, and wooded areas. However, flying over wooded areas is less comfortable due to potential wind gusts and obstacles. The drone cannot land on or enter buildings, but can fly over them. The drone can fly over water bodies, but this is less comfortable due to spray and wind. The operator must find a path that prioritizes airspace over smooth, open surfaces for the most comfortable flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the most comfortable path for the quadcopter drone to take from the cultivated field to the paved street?","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":"soriano_4.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":139,"start_point":[498,998],"end_point":[513,432],"distance":566.1987283631075},{"start_region_id":214,"end_region_id":139,"start_point":[275,869],"end_point":[513,432],"distance":497.6072748664352}],"complexity_score":0.6193126098949336}
{"id":5896,"query_id":"Q01180","question":"A hiker starts from a grassy, uneven area with scattered shrubs and needs to reach a cultivated field with soft, tilled soil. The terrain consists only of natural, vegetated surfaces that are passable on foot, with no paved or hard surfaces available. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated field with soft, tilled soil","task_description":"What is the safest path 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":"soriano_4.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":214,"start_point":[569,850],"end_point":[275,869],"distance":294.61330587738223}],"complexity_score":0.6193126098949336}
{"id":6623,"query_id":"Q01325","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces like parking lots or sidewalks, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies or close to building structures to minimize collision risks. 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":"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","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":"soriano_4.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":215,"start_point":[708,22],"end_point":[498,998],"distance":998.3366165777953},{"start_region_id":57,"end_region_id":215,"start_point":[238,64],"end_point":[498,998],"distance":969.5132799503058},{"start_region_id":59,"end_region_id":214,"start_point":[708,22],"end_point":[275,869],"distance":951.2612680015937},{"start_region_id":61,"end_region_id":215,"start_point":[558,90],"end_point":[498,998],"distance":909.9802195652387},{"start_region_id":75,"end_region_id":215,"start_point":[23,233],"end_point":[498,998],"distance":900.4720984017217}],"complexity_score":0.6193126098949336}
{"id":16437,"query_id":"Q03288","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach an open grassy area with scattered shrubs. The drone can fly over any solid or liquid surface, including paved lanes, water bodies, and vegetated areas, but must avoid dense tree canopies and vertical 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":"an open grassy area with scattered shrubs","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":"soriano_4.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":1,"start_point":[498,998],"end_point":[65,54],"distance":1038.568726661842},{"start_region_id":214,"end_region_id":7,"start_point":[275,869],"end_point":[957,148],"distance":992.4540291620565},{"start_region_id":215,"end_region_id":3,"start_point":[498,998],"end_point":[462,20],"distance":978.6623523973935},{"start_region_id":215,"end_region_id":7,"start_point":[498,998],"end_point":[957,148],"distance":966.0129398719254},{"start_region_id":215,"end_region_id":2,"start_point":[498,998],"end_point":[363,50],"distance":957.5640970713135}],"complexity_score":0.6193126098949336}
{"id":5245,"query_id":"Q01049","question":"A quadcopter drone is positioned on a paved lane and needs to reach a cultivated crop field. The drone can fly over liquid surfaces like rivers or lakes, and can navigate around vertical obstacles formed by tall vegetation. However, it must avoid any solid vertical structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved lane","end_land_type":"cultivated crop field","task_description":"What is the fastest route 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":"viru_48.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":189,"start_point":[832,823],"end_point":[296,20],"distance":965.4558508808158},{"start_region_id":117,"end_region_id":190,"start_point":[832,823],"end_point":[681,65],"distance":772.8939125132246},{"start_region_id":117,"end_region_id":191,"start_point":[832,823],"end_point":[966,109],"distance":726.4654155567215},{"start_region_id":116,"end_region_id":191,"start_point":[571,537],"end_point":[966,109],"distance":582.4165176229122},{"start_region_id":116,"end_region_id":192,"start_point":[571,537],"end_point":[918,920],"distance":516.8152474530913}],"complexity_score":0.6194015476358572}
{"id":14817,"query_id":"Q02964","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach another cultivated field with similar soft soil. The terrain includes rough, loose ground composed of sand or rocks, and paved lanes used by vehicles. You must avoid any areas with trees, water bodies, or buildings, as they are impassable. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","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","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_48.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":189,"start_point":[918,920],"end_point":[296,20],"distance":1094.021937622825},{"start_region_id":189,"end_region_id":192,"start_point":[296,20],"end_point":[918,920],"distance":1094.021937622825},{"start_region_id":190,"end_region_id":192,"start_point":[681,65],"end_point":[918,920],"distance":887.2395392451804},{"start_region_id":192,"end_region_id":190,"start_point":[918,920],"end_point":[681,65],"distance":887.2395392451804},{"start_region_id":192,"end_region_id":191,"start_point":[918,920],"end_point":[966,109],"distance":812.4192267542663}],"complexity_score":0.6194015476358572}
{"id":17063,"query_id":"Q03413","question":"An aerial drone starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes open areas with natural vegetation, smooth hard surfaces, and vehicle lanes. You must avoid any areas with dense vertical obstacles or liquid surfaces. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"an aerial drone","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","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_48.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":117,"start_point":[68,303],"end_point":[832,823],"distance":924.1731439508508},{"start_region_id":99,"end_region_id":117,"start_point":[22,735],"end_point":[832,823],"distance":814.7662241403972},{"start_region_id":77,"end_region_id":117,"start_point":[484,105],"end_point":[832,823],"distance":797.8897166902203},{"start_region_id":113,"end_region_id":117,"start_point":[106,950],"end_point":[832,823],"distance":737.0244229331888},{"start_region_id":80,"end_region_id":117,"start_point":[250,386],"end_point":[832,823],"distance":727.8001099202995}],"complexity_score":0.6194015476358572}
{"id":2011,"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":"tyrolw_58.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":23,"start_point":[946,166],"end_point":[145,9],"distance":816.2413858657254},{"start_region_id":20,"end_region_id":28,"start_point":[946,166],"end_point":[485,581],"distance":620.2789694967902},{"start_region_id":21,"end_region_id":23,"start_point":[501,449],"end_point":[145,9],"distance":565.9823318797152},{"start_region_id":20,"end_region_id":26,"start_point":[946,166],"end_point":[480,369],"distance":508.2961735051721},{"start_region_id":22,"end_region_id":31,"start_point":[935,985],"end_point":[547,908],"distance":395.56668211567063}],"complexity_score":0.6196870662482254}
{"id":6686,"query_id":"Q01338","question":"An aerial surveillance drone begins its mission on a hard, paved lane used by vehicles. It needs to reach a flat, artificial surface like a sidewalk or parking lot. The drone can fly over various surfaces including loose sandy or rocky ground, grassy or shrub-covered areas, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall vegetation or solid vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved lane used by vehicles","end_land_type":"A flat, artificial surface like a sidewalk or parking lot","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":"tyrolw_58.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":14,"start_point":[946,166],"end_point":[497,132],"distance":450.2854650108084}],"complexity_score":0.6196870662482254}
{"id":11932,"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":"tyrolw_58.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":14,"start_point":[946,166],"end_point":[497,132],"distance":450.2854650108084}],"complexity_score":0.6196870662482254}
{"id":16014,"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":"tyrolw_58.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":1,"start_point":[245,964],"end_point":[471,394],"distance":613.1688185157494},{"start_region_id":1,"end_region_id":10,"start_point":[471,394],"end_point":[245,964],"distance":613.1688185157494},{"start_region_id":1,"end_region_id":11,"start_point":[471,394],"end_point":[617,965],"distance":589.3700026299268},{"start_region_id":11,"end_region_id":1,"start_point":[617,965],"end_point":[471,394],"distance":589.3700026299268},{"start_region_id":10,"end_region_id":2,"start_point":[245,964],"end_point":[588,503],"distance":574.6042116100438}],"complexity_score":0.6196870662482254}
{"id":1765,"query_id":"Q00353","question":"An aerial survey drone is conducting a mapping mission. It begins its flight from a flat, hard, artificial surface and needs to reach a long, paved, linear surface designed for vehicles. To ensure stable flight and clear sensor data, the drone must prioritize smooth, predictable surfaces that minimize vibration. It can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; all hard artificial surfaces; liquid bodies; and cultivated fields with low vegetation. However, it must avoid areas with tall, dense vertical obstacles that could interfere with its flight path, and solid vertical structures are completely off-limits. 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, artificial surface","end_land_type":"A long, paved, linear surface designed for 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":"lambayeque_7.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":119,"start_point":[748,19],"end_point":[621,511],"distance":508.1269526407746},{"start_region_id":27,"end_region_id":119,"start_point":[944,199],"end_point":[621,511],"distance":449.08017101626746},{"start_region_id":101,"end_region_id":119,"start_point":[530,941],"end_point":[621,511],"distance":439.52360573693875},{"start_region_id":98,"end_region_id":119,"start_point":[708,904],"end_point":[621,511],"distance":402.51459600864166},{"start_region_id":12,"end_region_id":119,"start_point":[778,84],"end_point":[621,511],"distance":454.9483487166428}],"complexity_score":0.6198005612871793}
{"id":15646,"query_id":"Q03130","question":"An aerial surveillance drone begins its mission perched on a dense cluster of tall, vertical structures with branching patterns and foliage. Its destination is a flat, hard, and smooth artificial surface. The drone can fly over most terrain types, including loose, sandy or rocky ground; open areas with low vegetation; all paved or compacted surfaces; bodies of liquid; and cultivated fields. However, it must navigate carefully around tall, dense vertical structures and solid, man-made vertical obstacles, as these require slower, more cautious flight to avoid collisions. Given the need to complete this surveillance run as quickly as possible, what is the optimal flight path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, vertical structures with branching patterns and foliage.","end_land_type":"A flat, hard, and smooth artificial surface.","task_description":"What is the fastest path for the drone to reach the flat, hard artificial surface from its starting point in the dense 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":"lambayeque_7.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":107,"start_point":[219,84],"end_point":[977,995],"distance":1185.1096995637156},{"start_region_id":124,"end_region_id":98,"start_point":[219,84],"end_point":[708,904],"distance":954.7360891890492},{"start_region_id":124,"end_region_id":82,"start_point":[219,84],"end_point":[879,794],"distance":969.3812459502195},{"start_region_id":177,"end_region_id":6,"start_point":[979,679],"end_point":[125,286],"distance":940.0877618605616},{"start_region_id":124,"end_region_id":101,"start_point":[219,84],"end_point":[530,941],"distance":911.6852527051208}],"complexity_score":0.6198005612871793}
{"id":16421,"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":"lambayeque_7.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":119,"start_point":[748,19],"end_point":[621,511],"distance":508.1269526407746},{"start_region_id":27,"end_region_id":119,"start_point":[944,199],"end_point":[621,511],"distance":449.08017101626746},{"start_region_id":101,"end_region_id":119,"start_point":[530,941],"end_point":[621,511],"distance":439.52360573693875},{"start_region_id":98,"end_region_id":119,"start_point":[708,904],"end_point":[621,511],"distance":402.51459600864166},{"start_region_id":12,"end_region_id":119,"start_point":[778,84],"end_point":[621,511],"distance":454.9483487166428}],"complexity_score":0.6198005612871793}
{"id":1728,"query_id":"Q00346","question":"A farm worker is standing on a grassy, uneven field. They need to walk to a cultivated area with soft, tilled soil to inspect the crops. The worker can use paved walkways and compacted dirt paths, but cannot enter buildings or cross water bodies. To minimize fatigue and discomfort, the worker wants to avoid rough or unstable surfaces that could cause tripping or uneven footing.","agent_category":"Pedestrian","specific_agent":"A farm worker","start_land_type":"A grassy, uneven field","end_land_type":"A cultivated area with soft, tilled soil","task_description":"What is the most comfortable walking path for the farm worker to take from the grassy field to the cultivated area?","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":"coxsbazar_14.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":189,"start_point":[892,830],"end_point":[47,79],"distance":1130.4981202991892},{"start_region_id":52,"end_region_id":191,"start_point":[92,988],"end_point":[566,17],"distance":1080.5170058819065},{"start_region_id":49,"end_region_id":189,"start_point":[647,958],"end_point":[47,79],"distance":1064.2560782067444},{"start_region_id":52,"end_region_id":196,"start_point":[92,988],"end_point":[605,71],"distance":1050.741642840903},{"start_region_id":52,"end_region_id":194,"start_point":[92,988],"end_point":[470,56],"distance":1005.7375403155636}],"complexity_score":0.6198288427955164}
{"id":11366,"query_id":"Q02274","question":"An agricultural monitoring drone is launched from a dry, cultivated field. It needs to fly to another cultivated field for inspection while minimizing operational risks. The available surfaces include loose sandy and rocky ground, natural vegetation areas, hard artificial flat surfaces, paved vehicle routes, and the dry cultivated soil. The drone must avoid flying over any vertical structures or liquid bodies, as these pose collision or signal interference hazards. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","start_land_type":"Agriculture land","end_land_type":"Agriculture land","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":"coxsbazar_14.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":206,"start_point":[47,79],"end_point":[599,1008],"distance":1080.6225057808115},{"start_region_id":206,"end_region_id":189,"start_point":[599,1008],"end_point":[47,79],"distance":1080.6225057808115},{"start_region_id":205,"end_region_id":191,"start_point":[178,972],"end_point":[566,17],"distance":1030.8098757772939},{"start_region_id":191,"end_region_id":205,"start_point":[566,17],"end_point":[178,972],"distance":1030.8098757772939},{"start_region_id":201,"end_region_id":189,"start_point":[946,578],"end_point":[47,79],"distance":1028.203287292936}],"complexity_score":0.6198288427955164}
{"id":460,"query_id":"Q00092","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a grassy field. The drone prioritizes flying over surfaces that minimize turbulence and vibration for stable footage. Loose, sandy ground and grassy fields are traversable and generally flat. Areas with tall, dense vegetation are passable only if the vegetation is low enough to fly over safely. Cultivated fields are accessible if the crops are short. Vertical structures and bodies of water are avoidable but may cause discomfort if flown too close. What is the most comfortable path for the quadcopter drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a grassy field","task_description":"What is the most comfortable 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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[50,732],"end_point":[853,189],"distance":969.3595824047958},{"start_region_id":1,"end_region_id":6,"start_point":[50,732],"end_point":[918,612],"distance":876.2556704524086},{"start_region_id":1,"end_region_id":5,"start_point":[50,732],"end_point":[873,558],"distance":841.1926057687383}],"complexity_score":0.6198301905047529}
{"id":2660,"query_id":"Q00532","question":"A hiker starts from a paved, hard surface area and needs to reach a loose, sandy or rocky ground without vegetation. The terrain includes smooth, stable paved surfaces, compacted vehicle lanes, and cultivated fields with soft soil that are accessible for walking. However, grassy or shrub-covered areas, individual trees or wooded patches, water bodies, and vertical structures are not traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a loose, sandy or rocky ground without vegetation","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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":1,"start_point":[936,603],"end_point":[50,732],"distance":895.3418341616792},{"start_region_id":25,"end_region_id":1,"start_point":[913,914],"end_point":[50,732],"distance":881.9824261287749},{"start_region_id":13,"end_region_id":1,"start_point":[579,196],"end_point":[50,732],"distance":753.0849885637078},{"start_region_id":26,"end_region_id":1,"start_point":[736,923],"end_point":[50,732],"distance":712.0933927512598},{"start_region_id":18,"end_region_id":1,"start_point":[742,617],"end_point":[50,732],"distance":701.4905558879606}],"complexity_score":0.6198301905047529}
{"id":3337,"query_id":"Q00668","question":"A family sedan is parked on a paved, hard-surfaced lane and needs to reach a loose, sandy area. The sedan can travel on paved surfaces like lanes and parking lots, as well as on compacted soil used for crop production, but it must avoid any areas with trees, water bodies, or buildings. The sandy area is accessible only if the ground is firm enough to support the vehicle without sinking. To ensure a smooth and stable ride, the sedan should prioritize surfaces that are flat and even. What is the most comfortable path for the sedan to take?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a loose, sandy area","task_description":"What is the most comfortable path for the sedan 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":[1,0,3,4,0,0,2,0],"image_name":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":1,"start_point":[976,104],"end_point":[50,732],"distance":1118.8654968315002},{"start_region_id":31,"end_region_id":1,"start_point":[920,176],"end_point":[50,732],"distance":1032.4901936580318},{"start_region_id":39,"end_region_id":1,"start_point":[981,945],"end_point":[50,732],"distance":955.0549722398182},{"start_region_id":30,"end_region_id":1,"start_point":[682,146],"end_point":[50,732],"distance":861.8700598118024},{"start_region_id":29,"end_region_id":1,"start_point":[336,155],"end_point":[50,732],"distance":643.9914595706996}],"complexity_score":0.6198301905047529}
{"id":5348,"query_id":"Q01070","question":"A quadcopter drone is launched from a point among elevated, branching structures with foliage. It needs to fly to a position over a barren, dusty ground surface. The mission priority is to minimize operational risks. The drone can freely fly over open ground, vegetated areas, all hard artificial surfaces, vehicle pathways, and cultivated plots, as these are generally low-risk. It can also fly over large, solid, man-made structures and bodies of water, though these introduce higher navigation risks and must be considered carefully. However, flying directly through or very close to dense clusters of tall, vertical obstacles with complex geometry is permitted only if absolutely necessary, as it significantly increases the risk of collision and should be minimized for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"among elevated, branching structures with foliage","end_land_type":"over a barren, dusty ground surface","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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":1,"start_point":[816,92],"end_point":[50,732],"distance":998.1763371268626},{"start_region_id":49,"end_region_id":1,"start_point":[854,508],"end_point":[50,732],"distance":834.6208720131555},{"start_region_id":58,"end_region_id":1,"start_point":[333,768],"end_point":[50,732],"distance":285.2805636562014}],"complexity_score":0.6198301905047529}
{"id":8283,"query_id":"Q01657","question":"A quadcopter is hovering above a sandy, open area and needs to reach a grassy patch with shrubs. The drone can fly over hard, flat surfaces, but must avoid any dense tree canopies or structures. The drone can also fly over the grassy patch with shrubs and the sandy, open area. What is the fastest route to the grassy patch?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open area","end_land_type":"grassy patch with shrubs","task_description":"What is the fastest route to the grassy patch?","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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[50,732],"end_point":[853,189],"distance":969.3595824047958},{"start_region_id":1,"end_region_id":6,"start_point":[50,732],"end_point":[918,612],"distance":876.2556704524086},{"start_region_id":1,"end_region_id":5,"start_point":[50,732],"end_point":[873,558],"distance":841.1926057687383}],"complexity_score":0.6198301905047529}
{"id":8414,"query_id":"Q01683","question":"A quadcopter drone begins on a sandy, open area and must fly to a grassy meadow in the shortest possible time. The drone can fly over most surfaces but must avoid tall, dense obstacles like trees and buildings to maintain speed and stability. Which route enables the drone to reach its destination fastest?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"grassy meadow","task_description":"Which route enables the drone to reach its destination 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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[50,732],"end_point":[853,189],"distance":969.3595824047958},{"start_region_id":1,"end_region_id":6,"start_point":[50,732],"end_point":[918,612],"distance":876.2556704524086},{"start_region_id":1,"end_region_id":5,"start_point":[50,732],"end_point":[873,558],"distance":841.1926057687383}],"complexity_score":0.6198301905047529}
{"id":13140,"query_id":"Q02628","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, hard-surfaced area with artificial pavement. The drone can fly over open sandy areas, hard paved surfaces, vehicle lanes, cultivated fields with low vegetation, and water bodies. It can also navigate around vertical structures if necessary, but must avoid dense clusters of tall vegetation that could entangle its rotors. The drone's primary concern is minimizing the risk of collision, loss of control, or damage. What is the safest path for the drone to take?","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-surfaced area with artificial pavement.","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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":20,"start_point":[50,732],"end_point":[936,603],"distance":895.3418341616792},{"start_region_id":1,"end_region_id":25,"start_point":[50,732],"end_point":[913,914],"distance":881.9824261287749},{"start_region_id":1,"end_region_id":13,"start_point":[50,732],"end_point":[579,196],"distance":753.0849885637078},{"start_region_id":1,"end_region_id":26,"start_point":[50,732],"end_point":[736,923],"distance":712.0933927512598},{"start_region_id":1,"end_region_id":18,"start_point":[50,732],"end_point":[742,617],"distance":701.4905558879606}],"complexity_score":0.6198301905047529}
{"id":14415,"query_id":"Q02883","question":"An aerial survey drone starts from a vegetated area with tall, leafy structures and needs to reach a dry, open expanse of loose soil and rocks. The drone can fly over most surfaces, but must navigate carefully around dense vertical obstacles. The liquid bodies are fully traversable from above. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a dry, open expanse of loose soil and rocks","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":"chicago_27.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":1,"start_point":[816,92],"end_point":[50,732],"distance":998.1763371268626},{"start_region_id":49,"end_region_id":1,"start_point":[854,508],"end_point":[50,732],"distance":834.6208720131555},{"start_region_id":58,"end_region_id":1,"start_point":[333,768],"end_point":[50,732],"distance":285.2805636562014}],"complexity_score":0.6198301905047529}
{"id":1040,"query_id":"Q00208","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The vehicle can traverse grassy fields and cultivated plots, as these are firm and dry enough for off-road tires. However, loose sandy or rocky ground is too soft and risky, and any vertical obstacles or liquid surfaces are impassable. 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 grassy, open area with low vegetation","task_description":"What is the safest path?","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":"oklahoma_19.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":5,"start_point":[69,920],"end_point":[924,102],"distance":1183.2789189366977},{"start_region_id":78,"end_region_id":10,"start_point":[69,920],"end_point":[924,295],"distance":1059.079789251027},{"start_region_id":44,"end_region_id":36,"start_point":[848,141],"end_point":[189,946],"distance":1040.3393677065192},{"start_region_id":75,"end_region_id":5,"start_point":[228,870],"end_point":[924,102],"distance":1036.4554983210808},{"start_region_id":78,"end_region_id":4,"start_point":[69,920],"end_point":[742,136],"distance":1033.2400495528616}],"complexity_score":0.6198914880233989}
{"id":5261,"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_19.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":92,"start_point":[595,398],"end_point":[22,594],"distance":605.5947489864819},{"start_region_id":81,"end_region_id":92,"start_point":[263,862],"end_point":[22,594],"distance":360.4233621728758}],"complexity_score":0.6198914880233989}
{"id":10030,"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":"oklahoma_19.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":78,"start_point":[848,141],"end_point":[69,920],"distance":1101.672365088641},{"start_region_id":78,"end_region_id":44,"start_point":[69,920],"end_point":[848,141],"distance":1101.672365088641},{"start_region_id":48,"end_region_id":78,"start_point":[931,362],"end_point":[69,920],"distance":1026.8437076790217},{"start_region_id":78,"end_region_id":48,"start_point":[69,920],"end_point":[931,362],"distance":1026.8437076790217},{"start_region_id":43,"end_region_id":78,"start_point":[547,94],"end_point":[69,920],"distance":954.3374665180028}],"complexity_score":0.6198914880233989}
{"id":6813,"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_4.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":146,"start_point":[1005,151],"end_point":[142,716],"distance":1031.5008482788562},{"start_region_id":85,"end_region_id":148,"start_point":[240,166],"end_point":[727,896],"distance":877.5357542573408},{"start_region_id":143,"end_region_id":145,"start_point":[728,984],"end_point":[339,235],"distance":843.991706120386},{"start_region_id":86,"end_region_id":148,"start_point":[1005,151],"end_point":[727,896],"distance":795.1785962914244},{"start_region_id":88,"end_region_id":148,"start_point":[56,563],"end_point":[727,896],"distance":749.0861098698867}],"complexity_score":0.6199363487608069}
{"id":15752,"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_4.tif","subfolder":"chiangmai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":121,"start_point":[860,131],"end_point":[89,842],"distance":1048.7907322244987},{"start_region_id":1,"end_region_id":143,"start_point":[199,107],"end_point":[728,984],"distance":1024.1923647440456},{"start_region_id":71,"end_region_id":85,"start_point":[819,996],"end_point":[240,166],"distance":1011.9985177854758},{"start_region_id":7,"end_region_id":128,"start_point":[860,131],"end_point":[232,876],"distance":974.3762107112427},{"start_region_id":1,"end_region_id":140,"start_point":[199,107],"end_point":[629,959],"distance":954.3605188816226}],"complexity_score":0.6199363487608069}
{"id":5729,"query_id":"Q01146","question":"A delivery drone needs to fly quickly between two paved lanes. The drone can traverse most surfaces but must avoid areas with tall vertical obstacles or dense overhead obstructions. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the fastest route between the two paved lanes?","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_35.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":134,"end_region_id":135,"start_point":[783,518],"end_point":[849,978],"distance":464.71066267087093},{"start_region_id":135,"end_region_id":134,"start_point":[849,978],"end_point":[783,518],"distance":464.71066267087093}],"complexity_score":0.6199687632677069}
{"id":6843,"query_id":"Q01369","question":"A quadcopter drone is currently positioned over a cultivated field with rows of crops and needs to reach a cluster of tall, leafy trees. The drone can fly over open, dry ground with loose soil and rocks, as well as over flat, hard artificial surfaces like paved areas and compacted soil. However, the drone's flight speed is significantly reduced when navigating through dense foliage and branches. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","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","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_35.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":146,"start_point":[46,430],"end_point":[959,142],"distance":957.3468545934645},{"start_region_id":300,"end_region_id":223,"start_point":[46,430],"end_point":[950,678],"distance":937.4006614036498},{"start_region_id":296,"end_region_id":246,"start_point":[622,62],"end_point":[101,836],"distance":933.0150052383938},{"start_region_id":300,"end_region_id":139,"start_point":[46,430],"end_point":[881,41],"distance":921.1655660086302},{"start_region_id":297,"end_region_id":246,"start_point":[655,175],"end_point":[101,836],"distance":862.4598541381506}],"complexity_score":0.6199687632677069}
{"id":10774,"query_id":"Q02155","question":"An aerial survey drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over bare, loose soil; paved surfaces; vegetated areas with tall, dense foliage; liquid surfaces; and cultivated fields. However, flying through dense foliage is only possible if the drone is equipped with obstacle-avoidance sensors and programmed for low-altitude navigation through gaps. The drone prioritizes smooth, stable flight paths to minimize vibrations and ensure steady sensor readings.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"cultivated field","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":"monrovia_35.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":300,"start_point":[849,978],"end_point":[46,430],"distance":972.1692239522912},{"start_region_id":135,"end_region_id":296,"start_point":[849,978],"end_point":[622,62],"distance":943.7081116531742},{"start_region_id":135,"end_region_id":297,"start_point":[849,978],"end_point":[655,175],"distance":826.1022939079639},{"start_region_id":134,"end_region_id":300,"start_point":[783,518],"end_point":[46,430],"distance":742.2351379448429},{"start_region_id":135,"end_region_id":299,"start_point":[849,978],"end_point":[543,287],"distance":755.7228327899059}],"complexity_score":0.6199687632677069}
{"id":301,"query_id":"Q00061","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a wide, paved lane. The drone can fly over open, loose soil and rocky patches, as well as hard, flat surfaces like sidewalks and parking lots, but must navigate carefully through vertical obstacles like trees and buildings. The objective is to find the fastest path to the destination.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation","end_land_type":"A wide, paved lane","task_description":"What is the fastest path from the starting vegetation to the destination 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":"khartoum_29.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":11,"start_point":[497,88],"end_point":[458,250],"distance":166.6283289239858}],"complexity_score":0.6200002054001369}
{"id":4587,"query_id":"Q00918","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall vegetation with distinct vertical structures. The hiker can traverse areas with loose, unconsolidated earth and rocks, as well as cultivated fields with planted crops, but cannot cross any liquid surfaces or enter any enclosed structures. Which path should the hiker take to minimize the total travel distance?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall vegetation with distinct vertical structures","task_description":"Which path should the hiker take to minimize the total travel distance?","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_29.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":13,"start_point":[243,519],"end_point":[497,88],"distance":500.27692331347845},{"start_region_id":10,"end_region_id":13,"start_point":[554,601],"end_point":[497,88],"distance":516.1569528738328},{"start_region_id":4,"end_region_id":13,"start_point":[177,212],"end_point":[497,88],"distance":343.1850812608264},{"start_region_id":8,"end_region_id":13,"start_point":[438,346],"end_point":[497,88],"distance":264.66015944981217},{"start_region_id":7,"end_region_id":13,"start_point":[585,286],"end_point":[497,88],"distance":216.6748716395143}],"complexity_score":0.6200002054001369}
{"id":13878,"query_id":"Q02776","question":"A delivery drone starts from a flat, hard-surfaced landing pad and needs to reach a paved lane while flying a delivery drone. You can fly over grassy areas, paved surfaces, cultivated fields, and liquid surfaces. However, you must avoid flying through areas with dense vertical obstacles or entering any enclosed structures. You should prioritize flight paths that minimize turbulence and provide stable air conditions for comfort.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"a flat, hard-surfaced landing pad","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":"khartoum_29.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":11,"start_point":[177,212],"end_point":[458,250],"distance":283.5577542582816},{"start_region_id":9,"end_region_id":11,"start_point":[243,519],"end_point":[458,250],"distance":344.363180377926},{"start_region_id":10,"end_region_id":11,"start_point":[554,601],"end_point":[458,250],"distance":363.8914673360726},{"start_region_id":6,"end_region_id":11,"start_point":[599,73],"end_point":[458,250],"distance":226.29626598775332}],"complexity_score":0.6200002054001369}
{"id":17615,"query_id":"Q03523","question":"A quadcopter starts from a densely vegetated area with tall, woody plants and overhead canopy and needs to reach a hard, paved surface designed for vehicle traffic as quickly as possible. The terrain includes open grassy fields, loose soil with scattered low vegetation, and cultivated plots with rows of crops. You can fly over grassy fields, loose soil, cultivated plots, and even liquid surfaces or vertical structures if necessary, but areas with tall, dense woody plants may require careful navigation to avoid obstacles.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall, woody plants and overhead canopy","end_land_type":"a hard, paved surface designed for vehicle traffic","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":"khartoum_29.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":11,"start_point":[497,88],"end_point":[458,250],"distance":166.6283289239858}],"complexity_score":0.6200002054001369}
{"id":1125,"query_id":"Q00225","question":"An aerial survey drone is positioned on a hard, flat, artificial surface. It needs to reach a long, paved lane designed for vehicles. The drone can fly over areas of loose, dry earth and rocks; regions covered with low, natural vegetation; the hard, flat artificial surfaces; the long, paved lanes; open liquid expanses; and cultivated fields. However, to minimize risk, it must avoid flying near tall, vertical structures with complex geometry and dense clusters of tall, vertical objects that could cause entanglement or collision. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A long, paved lane designed for 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":"al_qurnah_15.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":29,"start_point":[106,932],"end_point":[886,423],"distance":931.3866007195937},{"start_region_id":15,"end_region_id":29,"start_point":[35,343],"end_point":[886,423],"distance":854.7520108195125},{"start_region_id":13,"end_region_id":29,"start_point":[218,132],"end_point":[886,423],"distance":728.6322803719308},{"start_region_id":19,"end_region_id":29,"start_point":[170,615],"end_point":[886,423],"distance":741.2961621376439},{"start_region_id":23,"end_region_id":29,"start_point":[268,793],"end_point":[886,423],"distance":720.2943842624347}],"complexity_score":0.6200260893223029}
{"id":5424,"query_id":"Q01085","question":"An off-road vehicle 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 compacted enough to support vehicle weight without getting stuck. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","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_15.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":10,"start_point":[106,932],"end_point":[957,27],"distance":1242.2664770491072},{"start_region_id":10,"end_region_id":25,"start_point":[957,27],"end_point":[106,932],"distance":1242.2664770491072},{"start_region_id":26,"end_region_id":10,"start_point":[470,971],"end_point":[957,27],"distance":1062.2170211402188},{"start_region_id":10,"end_region_id":26,"start_point":[957,27],"end_point":[470,971],"distance":1062.2170211402188},{"start_region_id":23,"end_region_id":10,"start_point":[268,793],"end_point":[957,27],"distance":1030.280059013082}],"complexity_score":0.6200260893223029}
{"id":14774,"query_id":"Q02955","question":"A hiker is starting from grassy, uneven terrain with scattered low vegetation and needs to reach a paved, hard surface. The hiker can traverse areas with loose soil and rocks, as well as cultivated fields with crops, since these surfaces provide enough traction for walking. However, the hiker must avoid any liquid surfaces and cannot pass through or over vertical structures. The hiker can also walk through areas with tall vegetation, but these areas are less predictable and may hide obstacles. The objective is to find the path that minimizes risk while traveling from the starting point to the destination.","agent_category":"Pedestrian","specific_agent":"hiker","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 hiker to take from the grassy, uneven terrain to the paved, hard surface?","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":"al_qurnah_15.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":25,"start_point":[676,325],"end_point":[106,932],"distance":832.6758072623462},{"start_region_id":6,"end_region_id":10,"start_point":[539,697],"end_point":[957,27],"distance":789.698676711567},{"start_region_id":3,"end_region_id":10,"start_point":[589,588],"end_point":[957,27],"distance":670.9284611640797},{"start_region_id":6,"end_region_id":13,"start_point":[539,697],"end_point":[218,132],"distance":649.8199750700189},{"start_region_id":1,"end_region_id":26,"start_point":[676,325],"end_point":[470,971],"distance":678.0501456382116}],"complexity_score":0.6200260893223029}
{"id":7080,"query_id":"Q01416","question":"An aerial survey drone is positioned on a cultivated field and needs to reach an area of exposed, loose soil or rocky ground. The drone can fly over hard, paved surfaces and open water, but must avoid tall, dense vegetation and vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed, loose soil or rocky ground","task_description":"What is the shortest path from the cultivated field to the exposed, loose soil or rocky ground?","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_64.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":287,"end_region_id":23,"start_point":[150,198],"end_point":[833,861],"distance":951.8707895507667},{"start_region_id":293,"end_region_id":27,"start_point":[959,932],"end_point":[20,875],"distance":940.7284411561075},{"start_region_id":287,"end_region_id":28,"start_point":[150,198],"end_point":[673,899],"distance":874.6027669748136},{"start_region_id":288,"end_region_id":27,"start_point":[586,240],"end_point":[20,875],"distance":850.6356446799064},{"start_region_id":290,"end_region_id":27,"start_point":[794,528],"end_point":[20,875],"distance":848.224616478442}],"complexity_score":0.6200291103061415}
{"id":11085,"query_id":"Q02217","question":"An agricultural monitoring drone is currently positioned over a cultivated field with rows of crops. It needs to reach a nearby area of dry, open ground with no vegetation. The drone can fly over cultivated areas, grassy patches, and bare earth, but must avoid flying through dense tree canopies or close to vertical structures. What is the fastest route for the drone to reach the dry, open ground?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"dry, open ground","task_description":"What is the fastest route for the drone to reach the dry, open ground?","task_type":"Fastest","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_64.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":27,"start_point":[959,932],"end_point":[20,875],"distance":940.7284411561075},{"start_region_id":292,"end_region_id":23,"start_point":[239,578],"end_point":[833,861],"distance":657.9703640742491},{"start_region_id":291,"end_region_id":27,"start_point":[612,622],"end_point":[20,875],"distance":643.7957750715673},{"start_region_id":293,"end_region_id":11,"start_point":[959,932],"end_point":[369,739],"distance":620.7648508090645},{"start_region_id":292,"end_region_id":28,"start_point":[239,578],"end_point":[673,899],"distance":539.8120043126125}],"complexity_score":0.6200291103061415}
{"id":13433,"query_id":"Q02687","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a loose, sandy ground area. The drone can fly over open, dry terrain with sparse vegetation, as well as liquid surfaces, but must avoid vertical structures and dense vegetation that could cause collisions. The drone prioritizes minimizing risk of damage or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy 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":"ngaoundere_64.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":27,"start_point":[916,31],"end_point":[20,875],"distance":1230.9151067396972},{"start_region_id":66,"end_region_id":27,"start_point":[932,254],"end_point":[20,875],"distance":1103.3517118308196},{"start_region_id":90,"end_region_id":27,"start_point":[1001,710],"end_point":[20,875],"distance":994.7793725243804},{"start_region_id":68,"end_region_id":23,"start_point":[81,221],"end_point":[833,861],"distance":987.4735439494062},{"start_region_id":68,"end_region_id":28,"start_point":[81,221],"end_point":[673,899],"distance":900.0822184667354}],"complexity_score":0.6200291103061415}
{"id":14422,"query_id":"Q02885","question":"An aerial survey drone starts from loose, sandy ground and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over open water surfaces, but must navigate carefully around vertical obstacles like trees and buildings. 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":"loose, sandy ground","end_land_type":"a cluster of tall vegetation 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"ngaoundere_64.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":133,"start_point":[20,875],"end_point":[792,154],"distance":1056.3261806847354},{"start_region_id":27,"end_region_id":243,"start_point":[20,875],"end_point":[967,711],"distance":961.0957288428662},{"start_region_id":27,"end_region_id":211,"start_point":[20,875],"end_point":[853,454],"distance":933.3434523260985},{"start_region_id":28,"end_region_id":133,"start_point":[673,899],"end_point":[792,154],"distance":754.444166257517},{"start_region_id":11,"end_region_id":133,"start_point":[369,739],"end_point":[792,154],"distance":721.9099666855972}],"complexity_score":0.6200291103061415}
{"id":17725,"query_id":"Q03545","question":"An aerial surveillance drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with orderly rows of low-growing crops. The drone must avoid any tall, dense vertical structures that could cause collisions. It can fly over open ground covered by short grass or shrubs, paved vehicle lanes, and the cultivated area itself. The priority 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":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of low-growing crops.","task_description":"What is the safest path for the drone to take?","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_64.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":287,"start_point":[833,861],"end_point":[150,198],"distance":951.8707895507667},{"start_region_id":27,"end_region_id":293,"start_point":[20,875],"end_point":[959,932],"distance":940.7284411561075},{"start_region_id":28,"end_region_id":287,"start_point":[673,899],"end_point":[150,198],"distance":874.6027669748136},{"start_region_id":27,"end_region_id":288,"start_point":[20,875],"end_point":[586,240],"distance":850.6356446799064},{"start_region_id":27,"end_region_id":290,"start_point":[20,875],"end_point":[794,528],"distance":848.224616478442}],"complexity_score":0.6200291103061415}
{"id":3423,"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_42.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":178,"start_point":[883,25],"end_point":[520,791],"distance":847.6585397434512},{"start_region_id":88,"end_region_id":178,"start_point":[309,26],"end_point":[520,791],"distance":793.5653722284006},{"start_region_id":94,"end_region_id":178,"start_point":[954,146],"end_point":[520,791],"distance":777.4194492035815},{"start_region_id":141,"end_region_id":165,"start_point":[55,799],"end_point":[565,309],"distance":707.2481884034769},{"start_region_id":148,"end_region_id":165,"start_point":[310,903],"end_point":[565,309],"distance":646.4216889925647}],"complexity_score":0.620035415232961}
{"id":10373,"query_id":"Q02075","question":"A quadcopter is hovering above a vegetated field and needs to fly to a paved lane. The area includes open ground with loose material, grassy patches, and hard, flat surfaces. The drone can fly over all these terrain types, but must avoid colliding with tall vertical obstacles like trees and buildings. What is the shortest flight path to the target?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"vegetated field","end_land_type":"paved lane","task_description":"What is the shortest flight path to the target?","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_42.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":179,"start_point":[95,51],"end_point":[912,983],"distance":1239.4002581894197},{"start_region_id":22,"end_region_id":179,"start_point":[112,164],"end_point":[912,983],"distance":1144.8847103529683},{"start_region_id":40,"end_region_id":179,"start_point":[148,307],"end_point":[912,983],"distance":1020.1333246198753},{"start_region_id":37,"end_region_id":179,"start_point":[281,290],"end_point":[912,983],"distance":937.2352959636123},{"start_region_id":59,"end_region_id":179,"start_point":[67,585],"end_point":[912,983],"distance":934.0390784116048}],"complexity_score":0.620035415232961}
{"id":15112,"query_id":"Q03023","question":"A quadcopter drone is positioned on a grassy, open field with scattered low vegetation and needs to reach a flat, hard, paved area. The drone can fly over grassy areas, paved surfaces, and water bodies, but must avoid tall vertical obstacles like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a flat, hard, paved area","task_description":"What is the shortest path for the drone to reach the flat, hard, paved area from the grassy, open field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"austin_42.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":90,"start_point":[74,924],"end_point":[883,25],"distance":1209.4139076428714},{"start_region_id":82,"end_region_id":94,"start_point":[74,924],"end_point":[954,146],"distance":1174.5995062147779},{"start_region_id":81,"end_region_id":90,"start_point":[246,923],"end_point":[883,25],"distance":1100.9872842135826},{"start_region_id":81,"end_region_id":94,"start_point":[246,923],"end_point":[954,146],"distance":1051.1864725156997},{"start_region_id":1,"end_region_id":142,"start_point":[95,51],"end_point":[849,738],"distance":1020.0416658156665}],"complexity_score":0.620035415232961}
{"id":15345,"query_id":"Q03069","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a paved lane used by vehicles. The drone can fly over most surfaces including soft ground with vegetation, loose soil, cultivated fields, and liquid bodies. However. The drone must avoid flying through dense vertical obstacles like trees or close to solid vertical structures to prevent collisions. The operator seeks the most comfortable route, prioritizing flight over surfaces that are open and predictable, and avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"paved lane used by vehicles","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":"vegas_43.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":37,"start_point":[109,467],"end_point":[389,4],"distance":541.0813247562699},{"start_region_id":28,"end_region_id":37,"start_point":[422,281],"end_point":[389,4],"distance":278.9587783167972}],"complexity_score":0.6201143075217402}
{"id":16729,"query_id":"Q03346","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 grassy areas, cultivated fields, and water bodies, but must avoid dense vegetation and structures. The drone's flight controller prioritizes smooth, predictable airspace to minimize vibration and ensure stable sensor readings.","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 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":"vegas_43.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":37,"start_point":[195,357],"end_point":[389,4],"distance":402.7964746618322},{"start_region_id":37,"end_region_id":42,"start_point":[389,4],"end_point":[195,357],"distance":402.7964746618322}],"complexity_score":0.6201143075217402}
{"id":1102,"query_id":"Q00221","question":"A quadcopter drone starts from a paved launch pad and needs to return to another paved landing pad. The drone can fly over various terrains, but the operator wants to avoid areas with dense vertical obstacles like trees and tall structures, as they require careful maneuvering and cause turbulence. The drone should also avoid flying directly over large bodies of water to prevent signal interference and maintain stable control. The surrounding open grassy fields are permissible but less ideal than open airspace over solid ground.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"western_22.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":233,"start_point":[826,525],"end_point":[177,958],"distance":780.1858752887032},{"start_region_id":233,"end_region_id":231,"start_point":[177,958],"end_point":[826,525],"distance":780.1858752887032}],"complexity_score":0.6201416849839003}
{"id":3783,"query_id":"Q00757","question":"A quadcopter drone begins on a paved lane surface and needs to reach a vegetated area with grasses and shrubs. The drone can fly over loose, sandy or rocky ground without vegetation, cultivated fields, artificial hard surfaces like sidewalks and parking lots, other paved lanes, and areas with trees or structures, provided it maintains altitude to avoid collisions. However, it cannot hover over liquid bodies due to safety regulations. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane surface","end_land_type":"a vegetated area with grasses and shrubs","task_description":"What is the fastest route to the destination?","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":"western_22.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":1,"start_point":[177,958],"end_point":[66,98],"distance":867.1337843724001},{"start_region_id":231,"end_region_id":1,"start_point":[826,525],"end_point":[66,98],"distance":871.7390664642718},{"start_region_id":233,"end_region_id":9,"start_point":[177,958],"end_point":[450,216],"distance":790.6282312186936},{"start_region_id":233,"end_region_id":10,"start_point":[177,958],"end_point":[155,222],"distance":736.3287309347639},{"start_region_id":231,"end_region_id":10,"start_point":[826,525],"end_point":[155,222],"distance":736.2404498531713}],"complexity_score":0.6201416849839003}
{"id":10122,"query_id":"Q02025","question":"A hiker is standing in a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes loose, sandy patches and hard, paved surfaces. The hiker has permission to walk through cultivated crop areas. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy, open field","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":"western_22.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":320,"start_point":[66,98],"end_point":[358,956],"distance":906.3266519307484},{"start_region_id":1,"end_region_id":303,"start_point":[66,98],"end_point":[396,830],"distance":802.9470717301359},{"start_region_id":10,"end_region_id":320,"start_point":[155,222],"end_point":[358,956],"distance":761.5543316139696},{"start_region_id":9,"end_region_id":320,"start_point":[450,216],"end_point":[358,956],"distance":745.69698939985},{"start_region_id":30,"end_region_id":238,"start_point":[346,786],"end_point":[465,123],"distance":673.5948337094043}],"complexity_score":0.6201416849839003}
{"id":12807,"query_id":"Q02562","question":"A sedan starts from a paved road and needs to reach a grassy field. The terrain includes hard, flat surfaces like parking lots and sidewalks, as well as cultivated fields with firm soil. However, you must avoid any loose, sandy, or rocky ground, and cannot pass through water, trees, or buildings. You seek a path that maximizes ride comfort by prioritizing surfaces that are smooth and stable.","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved road","end_land_type":"a grassy field","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":[0,1,3,4,0,0,2,0],"image_name":"western_22.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":1,"start_point":[177,958],"end_point":[66,98],"distance":867.1337843724001},{"start_region_id":231,"end_region_id":1,"start_point":[826,525],"end_point":[66,98],"distance":871.7390664642718},{"start_region_id":233,"end_region_id":9,"start_point":[177,958],"end_point":[450,216],"distance":790.6282312186936},{"start_region_id":233,"end_region_id":10,"start_point":[177,958],"end_point":[155,222],"distance":736.3287309347639},{"start_region_id":231,"end_region_id":10,"start_point":[826,525],"end_point":[155,222],"distance":736.2404498531713}],"complexity_score":0.6201416849839003}
{"id":17172,"query_id":"Q03435","question":"A quadcopter drone starts from a grassy, uneven field and needs to reach a flat, paved surface. The drone can fly over open grassy areas, paved surfaces, and water bodies, but must avoid trees and buildings to prevent collisions. The water is calm and safe to fly over, but flying over it may cause slight instability due to wind reflection. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a flat, paved surface","task_description":"What is the most comfortable path for the drone to take from the grassy field to the 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":"western_22.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":203,"start_point":[66,98],"end_point":[725,971],"distance":1093.8052843170944},{"start_region_id":1,"end_region_id":71,"start_point":[66,98],"end_point":[884,781],"distance":1065.6514439534158},{"start_region_id":30,"end_region_id":42,"start_point":[346,786],"end_point":[942,55],"distance":943.173897009454},{"start_region_id":10,"end_region_id":203,"start_point":[155,222],"end_point":[725,971],"distance":941.2231403870179},{"start_region_id":19,"end_region_id":42,"start_point":[256,696],"end_point":[942,55],"distance":938.8700655575296}],"complexity_score":0.6201416849839003}
{"id":144,"query_id":"Q00029","question":"A quadcopter drone starts from a vegetated, soft, and slightly submerged area with grasses and shrubs and needs to reach a cultivated, soft, and slightly submerged area with planted crops. The drone can fly over most surfaces, but must avoid dense vertical obstacles like trees or buildings to prevent collisions and ensure stable flight. The path should prioritize smooth, open areas to minimize turbulence and vibration.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A vegetated, soft, and slightly submerged area with grasses and shrubs","end_land_type":"A cultivated, soft, and slightly submerged area with planted crops","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":"pomorskie_30.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":81,"start_point":[156,501],"end_point":[891,90],"distance":842.1080690742726},{"start_region_id":5,"end_region_id":81,"start_point":[358,721],"end_point":[891,90],"distance":825.9842613512682},{"start_region_id":1,"end_region_id":85,"start_point":[431,277],"end_point":[95,832],"distance":648.7842476509429},{"start_region_id":1,"end_region_id":86,"start_point":[431,277],"end_point":[613,879],"distance":628.9101684660536},{"start_region_id":5,"end_region_id":79,"start_point":[358,721],"end_point":[158,127],"distance":626.76630413576}],"complexity_score":0.6201530535246422}
{"id":4649,"query_id":"Q00930","question":"A farm vehicle starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field across the area. The terrain includes hard, flat paved surfaces suitable for driving, vehicle lanes with smooth asphalt, and cultivated fields with soft, uneven soil that can be driven over with appropriate clearance. All other surface types are not traversable. What is the shortest path?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","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":"pomorskie_30.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":85,"start_point":[613,879],"end_point":[95,832],"distance":520.1278688937942},{"start_region_id":85,"end_region_id":86,"start_point":[95,832],"end_point":[613,879],"distance":520.1278688937942},{"start_region_id":82,"end_region_id":81,"start_point":[764,384],"end_point":[891,90],"distance":320.2577087284551},{"start_region_id":81,"end_region_id":82,"start_point":[891,90],"end_point":[764,384],"distance":320.2577087284551}],"complexity_score":0.6201530535246422}
{"id":7729,"query_id":"Q01546","question":"An aerial survey drone starts from a hard, paved surface and needs to reach a cultivated field with soft, tilled soil. The drone can fly over bare, sandy or rocky ground, hard artificial surfaces like parking lots and sidewalks, paved lanes, liquid bodies, and cultivated fields, but must avoid tall vegetation and vertical structures. The drone's flight path should prioritize smooth, stable airspace to minimize vibrations and ensure stable sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved surface","end_land_type":"A cultivated field with soft, tilled soil","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":"pomorskie_30.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":79,"start_point":[415,523],"end_point":[158,127],"distance":472.0857972868915},{"start_region_id":30,"end_region_id":86,"start_point":[208,746],"end_point":[613,879],"distance":426.27925119573905},{"start_region_id":28,"end_region_id":82,"start_point":[808,151],"end_point":[764,384],"distance":237.11811402758752}],"complexity_score":0.6201530535246422}
{"id":1994,"query_id":"Q00399","question":"A quadcopter drone is currently positioned over a cultivated field and needs to reach another cultivated field area. The drone can fly over hard, paved surfaces, liquid bodies, and cultivated vegetation areas. However, it must avoid flying directly through dense vegetation clusters due to collision risk. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path for the quadcopter drone to travel from the starting cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Developed space","Road","Water","Agriculture land"],"traverse_vector":[0,0,1,1,0,1,1,0],"cost_vector":[0,0,1,1,0,1,1,0],"image_name":"gorakhpur_39.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":282,"end_region_id":331,"start_point":[117,56],"end_point":[860,989],"distance":1192.7019745099778},{"start_region_id":331,"end_region_id":282,"start_point":[860,989],"end_point":[117,56],"distance":1192.7019745099778},{"start_region_id":331,"end_region_id":287,"start_point":[860,989],"end_point":[44,181],"distance":1148.3553457009725},{"start_region_id":287,"end_region_id":331,"start_point":[44,181],"end_point":[860,989],"distance":1148.3553457009725},{"start_region_id":331,"end_region_id":288,"start_point":[860,989],"end_point":[139,217],"distance":1056.3261806847354}],"complexity_score":0.6201657351371102}
{"id":11559,"query_id":"Q02312","question":"A hiker starts from a cultivated field with loose soil and needs to reach a grassy or shrub-covered area. The hiker is wearing sturdy boots and has permission to cross vegetated and loose ground, but must avoid any paved or constructed surfaces. The path should prioritize smooth and stable footing to maximize walking comfort, steering clear of rough or uneven terrain. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field with loose soil","end_land_type":"grassy or shrub-covered area","task_description":"What is the most comfortable route?","task_type":"Comfort","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":"gorakhpur_39.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":284,"end_region_id":38,"start_point":[955,58],"end_point":[474,602],"distance":726.1521879055382},{"start_region_id":292,"end_region_id":38,"start_point":[980,341],"end_point":[474,602],"distance":569.3478725700132},{"start_region_id":331,"end_region_id":38,"start_point":[860,989],"end_point":[474,602],"distance":546.5939992352642},{"start_region_id":304,"end_region_id":38,"start_point":[954,490],"end_point":[474,602],"distance":492.8934976239796},{"start_region_id":283,"end_region_id":38,"start_point":[512,132],"end_point":[474,602],"distance":471.53366793899244}],"complexity_score":0.6201657351371102}
{"id":15939,"query_id":"Q03188","question":"An aerial survey drone begins its mission on a grassy, open field with low vegetation and needs to reach a cultivated crop field. The drone must avoid any areas with dense, tall vegetation that could entangle its rotors, and must also steer clear of any structures or vertical obstacles that could cause collisions. Additionally, the drone should minimize flight over liquid surfaces to reduce the risk of catastrophic failure in case of system malfunction. The drone can safely traverse open grassy areas, hard paved surfaces, cultivated fields, and liquid surfaces, but must prioritize safety above all else. What is the safest route 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 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":"gorakhpur_39.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":284,"start_point":[474,602],"end_point":[955,58],"distance":726.1521879055382},{"start_region_id":38,"end_region_id":282,"start_point":[474,602],"end_point":[117,56],"distance":652.3534318143808},{"start_region_id":38,"end_region_id":287,"start_point":[474,602],"end_point":[44,181],"distance":601.7815218166805},{"start_region_id":38,"end_region_id":292,"start_point":[474,602],"end_point":[980,341],"distance":569.3478725700132},{"start_region_id":38,"end_region_id":331,"start_point":[474,602],"end_point":[860,989],"distance":546.5939992352642}],"complexity_score":0.6201657351371102}
{"id":59,"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_28.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":154,"start_point":[981,344],"end_point":[313,25],"distance":740.2600894280334},{"start_region_id":280,"end_region_id":174,"start_point":[29,870],"end_point":[348,242],"distance":704.3756100263552},{"start_region_id":281,"end_region_id":174,"start_point":[639,872],"end_point":[348,242],"distance":693.960373508459},{"start_region_id":281,"end_region_id":217,"start_point":[639,872],"end_point":[23,559],"distance":690.9594778277523},{"start_region_id":264,"end_region_id":154,"start_point":[906,303],"end_point":[313,25],"distance":654.9297672269905}],"complexity_score":0.6202532332055463}
{"id":478,"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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":1,"start_point":[22,800],"end_point":[648,43],"distance":982.3059604827815},{"start_region_id":90,"end_region_id":1,"start_point":[247,915],"end_point":[648,43],"distance":959.783829828363},{"start_region_id":84,"end_region_id":1,"start_point":[155,764],"end_point":[648,43],"distance":873.4357446315098},{"start_region_id":82,"end_region_id":1,"start_point":[345,740],"end_point":[648,43],"distance":760.0118420130044},{"start_region_id":86,"end_region_id":1,"start_point":[957,760],"end_point":[648,43],"distance":780.7496397693693}],"complexity_score":0.6202682918206578}
{"id":2482,"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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":1,"start_point":[22,800],"end_point":[648,43],"distance":982.3059604827815},{"start_region_id":90,"end_region_id":1,"start_point":[247,915],"end_point":[648,43],"distance":959.783829828363},{"start_region_id":84,"end_region_id":1,"start_point":[155,764],"end_point":[648,43],"distance":873.4357446315098},{"start_region_id":82,"end_region_id":1,"start_point":[345,740],"end_point":[648,43],"distance":760.0118420130044},{"start_region_id":86,"end_region_id":1,"start_point":[957,760],"end_point":[648,43],"distance":780.7496397693693}],"complexity_score":0.6202682918206578}
{"id":3479,"query_id":"Q00696","question":"A hiker starts from a paved, hard surface and needs to reach a loose, uneven ground of sand and rocks. The person seeks a smooth, stable walk to minimize fatigue and discomfort. Only paved, hard surfaces and loose, uneven ground of sand and rocks are accessible; all other terrain types, including grassy areas, water bodies, trees, buildings, and cultivated fields, are obstructed or off-limits.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a loose, uneven ground of sand and rocks","task_description":"What is the most comfortable path to reach the destination?","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":1,"start_point":[210,910],"end_point":[648,43],"distance":971.3562683176549},{"start_region_id":97,"end_region_id":1,"start_point":[96,169],"end_point":[648,43],"distance":566.1978452802518},{"start_region_id":95,"end_region_id":1,"start_point":[475,507],"end_point":[648,43],"distance":495.20197899443014},{"start_region_id":94,"end_region_id":1,"start_point":[287,69],"end_point":[648,43],"distance":361.9350770511198}],"complexity_score":0.6202682918206578}
{"id":5133,"query_id":"Q01027","question":"A hiker starts from a paved area and needs to reach a patch of loose, sandy ground. The hiker can traverse hard, stable surfaces like sidewalks and roads without restriction. The hiker can also cross cultivated fields with crops and grassy or shrubby areas, as these provide reasonable footing. Individual trees or groups of trees can be navigated around carefully. However, all liquid surfaces and vertical structures are completely impassable. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"loose, sandy ground","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":1,"start_point":[22,800],"end_point":[648,43],"distance":982.3059604827815},{"start_region_id":90,"end_region_id":1,"start_point":[247,915],"end_point":[648,43],"distance":959.783829828363},{"start_region_id":84,"end_region_id":1,"start_point":[155,764],"end_point":[648,43],"distance":873.4357446315098},{"start_region_id":82,"end_region_id":1,"start_point":[345,740],"end_point":[648,43],"distance":760.0118420130044},{"start_region_id":86,"end_region_id":1,"start_point":[957,760],"end_point":[648,43],"distance":780.7496397693693}],"complexity_score":0.6202682918206578}
{"id":8455,"query_id":"Q01691","question":"A delivery drone starts from an open, sandy area with scattered rocks and needs to reach a hard, flat surface. The drone can fly over grassy patches and low vegetation, but must avoid tall, dense obstacles and liquid bodies to prevent collisions or signal interference. The operator prioritizes minimizing the risk of crashing or losing stability. What is the safest flight path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the safest flight path for the delivery drone to take from the open, sandy area to the hard, flat surface?","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":85,"start_point":[648,43],"end_point":[22,800],"distance":982.3059604827815},{"start_region_id":1,"end_region_id":90,"start_point":[648,43],"end_point":[247,915],"distance":959.783829828363},{"start_region_id":1,"end_region_id":84,"start_point":[648,43],"end_point":[155,764],"distance":873.4357446315098},{"start_region_id":1,"end_region_id":82,"start_point":[648,43],"end_point":[345,740],"distance":760.0118420130044},{"start_region_id":1,"end_region_id":86,"start_point":[648,43],"end_point":[957,760],"distance":780.7496397693693}],"complexity_score":0.6202682918206578}
{"id":11372,"query_id":"Q02275","question":"A hiker is standing on loose, sandy ground and needs to reach a grassy field. The terrain consists of loose sandy areas, grassy fields, and cultivated crop fields. The hiker can traverse grassy fields and crop fields, but must avoid any hard paved surfaces, vehicle lanes, vertical structures, and liquid areas. What is the shortest path to the grassy field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy field","task_description":"What is the shortest path to the grassy field?","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":6,"start_point":[648,43],"end_point":[825,167],"distance":216.11339616044165}],"complexity_score":0.6202682918206578}
{"id":11523,"query_id":"Q02305","question":"An off-road vehicle is positioned on a stretch of loose, sandy ground and aims to reach a grassy field. The area includes loose, sandy ground, grassy fields, and cultivated soil. The vehicle can traverse grassy fields and cultivated soil because they provide sufficient traction for safe driving, but must avoid any paved surfaces, roads, trees, water bodies, and buildings. What is the safest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a stretch of loose, sandy ground","end_land_type":"a grassy field","task_description":"What is the safest route?","task_type":"Safest","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":6,"start_point":[648,43],"end_point":[825,167],"distance":216.11339616044165}],"complexity_score":0.6202682918206578}
{"id":13561,"query_id":"Q02713","question":"A quadcopter drone starts on sandy, rocky terrain and needs to reach an open grassy area as quickly as possible. The drone can fly over sandy, rocky terrain, open grassy areas, paved surfaces, and cultivated fields. However, the drone must avoid flying through dense vegetation or near vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky terrain","end_land_type":"open grassy area","task_description":"What is the fastest path for the quadcopter drone to travel from the sandy, rocky terrain to the open grassy area?","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[648,43],"end_point":[48,981],"distance":1113.4828242950136},{"start_region_id":1,"end_region_id":46,"start_point":[648,43],"end_point":[969,856],"distance":874.0766556772924},{"start_region_id":1,"end_region_id":45,"start_point":[648,43],"end_point":[502,882],"distance":851.608478116558},{"start_region_id":1,"end_region_id":43,"start_point":[648,43],"end_point":[836,868],"distance":846.1495139749239},{"start_region_id":1,"end_region_id":42,"start_point":[648,43],"end_point":[283,818],"distance":856.650453802483}],"complexity_score":0.6202682918206578}
{"id":15599,"query_id":"Q03120","question":"An aerial survey drone begins its mission on a grassy, open field and needs to reach an exposed, rocky ground area. The drone can fly over most surfaces, including liquid bodies, cultivated fields, paved areas, and vehicle lanes. However, it must avoid dense clusters of tall vegetation that could obstruct its flight path. What is the fastest route to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"exposed, rocky ground","task_description":"What is the fastest route to reach the 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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[48,981],"end_point":[648,43],"distance":1113.4828242950136},{"start_region_id":46,"end_region_id":1,"start_point":[969,856],"end_point":[648,43],"distance":874.0766556772924},{"start_region_id":45,"end_region_id":1,"start_point":[502,882],"end_point":[648,43],"distance":851.608478116558},{"start_region_id":43,"end_region_id":1,"start_point":[836,868],"end_point":[648,43],"distance":846.1495139749239},{"start_region_id":42,"end_region_id":1,"start_point":[283,818],"end_point":[648,43],"distance":856.650453802483}],"complexity_score":0.6202682918206578}
{"id":16004,"query_id":"Q03201","question":"An aerial survey drone starts from a grassy, open field and needs to reach exposed, rocky ground. The drone can fly over all types of terrain except for dense tree canopies and building structures, which must be avoided due to collision risk. The drone's flight path must prioritize terrain that minimizes operational risks such as signal interference, unpredictable air currents near obstacles, and potential water spray affecting sensors. What is the safest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"exposed, rocky ground","task_description":"What is the safest route?","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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[48,981],"end_point":[648,43],"distance":1113.4828242950136},{"start_region_id":46,"end_region_id":1,"start_point":[969,856],"end_point":[648,43],"distance":874.0766556772924},{"start_region_id":45,"end_region_id":1,"start_point":[502,882],"end_point":[648,43],"distance":851.608478116558},{"start_region_id":43,"end_region_id":1,"start_point":[836,868],"end_point":[648,43],"distance":846.1495139749239},{"start_region_id":42,"end_region_id":1,"start_point":[283,818],"end_point":[648,43],"distance":856.650453802483}],"complexity_score":0.6202682918206578}
{"id":17472,"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":"aachen_4.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":1,"start_point":[210,910],"end_point":[648,43],"distance":971.3562683176549},{"start_region_id":97,"end_region_id":1,"start_point":[96,169],"end_point":[648,43],"distance":566.1978452802518},{"start_region_id":95,"end_region_id":1,"start_point":[475,507],"end_point":[648,43],"distance":495.20197899443014},{"start_region_id":94,"end_region_id":1,"start_point":[287,69],"end_point":[648,43],"distance":361.9350770511198},{"start_region_id":96,"end_region_id":1,"start_point":[954,32],"end_point":[648,43],"distance":306.1976485866604}],"complexity_score":0.6202682918206578}
{"id":5431,"query_id":"Q01087","question":"An off-road vehicle is on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation. The vehicle can traverse both paved surfaces and natural grassy terrain, but cannot pass through wooded areas, bodies of water, or any structures. Additionally, loose sandy ground and cultivated fields are not accessible. What is the fastest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"an area of natural, uncultivated vegetation","task_description":"What is the fastest route from the paved surface to the natural vegetation area?","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":"al_qurnah_46.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":63,"start_point":[930,96],"end_point":[224,970],"distance":1123.5265906955651},{"start_region_id":83,"end_region_id":46,"start_point":[930,96],"end_point":[55,776],"distance":1108.162894163128},{"start_region_id":102,"end_region_id":40,"start_point":[41,98],"end_point":[926,726],"distance":1085.1769440971366},{"start_region_id":69,"end_region_id":40,"start_point":[135,56],"end_point":[926,726],"distance":1036.6199882309813},{"start_region_id":159,"end_region_id":40,"start_point":[112,244],"end_point":[926,726],"distance":946.0021141625424}],"complexity_score":0.6202902329870259}
{"id":5576,"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_45.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":164,"start_point":[75,65],"end_point":[507,379],"distance":534.0599217316349},{"start_region_id":135,"end_region_id":164,"start_point":[899,682],"end_point":[507,379],"distance":495.45231859382795},{"start_region_id":99,"end_region_id":164,"start_point":[171,27],"end_point":[507,379],"distance":486.6210024238576},{"start_region_id":154,"end_region_id":164,"start_point":[476,842],"end_point":[507,379],"distance":464.0366364846638},{"start_region_id":127,"end_region_id":164,"start_point":[73,451],"end_point":[507,379],"distance":439.9318128983172}],"complexity_score":0.6204266343251844}
{"id":10386,"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_45.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":104,"start_point":[899,682],"end_point":[75,65],"distance":1029.4003108606487},{"start_region_id":104,"end_region_id":135,"start_point":[75,65],"end_point":[899,682],"distance":1029.4003108606487},{"start_region_id":135,"end_region_id":99,"start_point":[899,682],"end_point":[171,27],"distance":979.2900489640441},{"start_region_id":99,"end_region_id":135,"start_point":[171,27],"end_point":[899,682],"distance":979.2900489640441},{"start_region_id":154,"end_region_id":104,"start_point":[476,842],"end_point":[75,65],"distance":874.3740618293751}],"complexity_score":0.6204266343251844}
{"id":5626,"query_id":"Q01126","question":"A hiker starts from a paved, hard surface area and needs to reach another paved, hard surface area. The terrain includes only firm, stable surfaces and open, grassy or shrub-covered ground. The hiker must avoid any liquid areas, vertical structures, loose sandy or rocky expanses, cultivated fields, and wooded zones to minimize risk. What is the safest 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 safest path?","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":"koeln_63.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":222,"start_point":[901,32],"end_point":[79,918],"distance":1208.5859506050863},{"start_region_id":222,"end_region_id":77,"start_point":[79,918],"end_point":[901,32],"distance":1208.5859506050863},{"start_region_id":77,"end_region_id":216,"start_point":[901,32],"end_point":[140,882],"distance":1140.8860591662956},{"start_region_id":216,"end_region_id":77,"start_point":[140,882],"end_point":[901,32],"distance":1140.8860591662956},{"start_region_id":222,"end_region_id":82,"start_point":[79,918],"end_point":[855,66],"distance":1152.4235332550268}],"complexity_score":0.6204313869454647}
{"id":15292,"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":"koeln_63.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":47,"start_point":[92,106],"end_point":[876,594],"distance":923.4717104492156},{"start_region_id":222,"end_region_id":47,"start_point":[79,918],"end_point":[876,594],"distance":860.3400490503741},{"start_region_id":122,"end_region_id":47,"start_point":[103,290],"end_point":[876,594],"distance":830.6292795224595},{"start_region_id":134,"end_region_id":47,"start_point":[79,403],"end_point":[876,594],"distance":819.566958826428},{"start_region_id":190,"end_region_id":47,"start_point":[91,680],"end_point":[876,594],"distance":789.6967772506102}],"complexity_score":0.6204313869454647}
{"id":16683,"query_id":"Q03337","question":"A family SUV is parked on a grassy, open field and needs to reach a paved lane. The vehicle can traverse areas with loose soil and rocks, as well as cultivated fields with crops, but must avoid any vertical structures, dense vegetation that could damage the vehicle, and liquid surfaces. The goal is to find the path that minimizes risk of loss of control or vehicle damage.","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"grassy, open field","end_land_type":"a paved lane","task_description":"What is the safest path for the family SUV to take from the grassy field to the paved lane?","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":"koeln_63.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":228,"start_point":[876,594],"end_point":[490,153],"distance":586.0691085529078},{"start_region_id":47,"end_region_id":242,"start_point":[876,594],"end_point":[508,617],"distance":368.71804946327217},{"start_region_id":47,"end_region_id":255,"start_point":[876,594],"end_point":[626,735],"distance":287.020905161976}],"complexity_score":0.6204313869454647}
{"id":5501,"query_id":"Q01101","question":"An aerial survey drone starts from a tall vertical obstacle that provides an elevated perching point and needs to reach another similar tall vertical obstacle that provides an elevated perching point. The drone's flight path must prioritize smooth, stable travel to minimize vibrations that could interfere with its onboard sensors. The drone can fly over liquid surfaces, but these areas may cause turbulence and should be avoided for comfort. The drone can also fly over cultivated vegetation areas with relatively uniform height, though these may still cause minor disturbances. The drone can navigate around tall vertical obstacles, but flying through them would be uncomfortable due to potential collisions and turbulence. The drone cannot use hard, paved surfaces designed for ground vehicles since those are not available in this environment. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A location with tall vertical obstacles that provide elevated perching points","end_land_type":"Another location with similar tall vertical obstacles that provide elevated perching points","task_description":"What is the most comfortable path for the aerial survey drone to travel from the starting tall vertical obstacle to the destination tall vertical obstacle?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,0,0,1,1,1,1],"cost_vector":[3,3,0,0,1,2,3,3],"image_name":"chisinau_5.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":147,"start_point":[778,57],"end_point":[122,734],"distance":942.690299090852},{"start_region_id":147,"end_region_id":102,"start_point":[122,734],"end_point":[778,57],"distance":942.690299090852},{"start_region_id":136,"end_region_id":102,"start_point":[329,703],"end_point":[778,57],"distance":786.7127811342586},{"start_region_id":102,"end_region_id":136,"start_point":[778,57],"end_point":[329,703],"distance":786.7127811342586},{"start_region_id":147,"end_region_id":106,"start_point":[122,734],"end_point":[583,117],"distance":770.201272395729}],"complexity_score":0.6204940815990421}
{"id":10245,"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":"chisinau_5.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":85,"start_point":[401,944],"end_point":[999,329],"distance":857.8047563402758},{"start_region_id":73,"end_region_id":83,"start_point":[401,944],"end_point":[766,197],"distance":831.4048352036449},{"start_region_id":79,"end_region_id":83,"start_point":[568,996],"end_point":[766,197],"distance":823.1676621442317},{"start_region_id":79,"end_region_id":85,"start_point":[568,996],"end_point":[999,329],"distance":794.13474927118},{"start_region_id":8,"end_region_id":86,"start_point":[939,49],"end_point":[644,620],"distance":642.7021082896804}],"complexity_score":0.6204940815990421}
{"id":14943,"query_id":"Q02989","question":"A hiker is starting from a patch of forested ground and needs to reach another wooded area. The terrain includes loose, sandy or rocky surfaces without vegetation; open areas covered with grass and shrubs; hard, paved surfaces like sidewalks and parking lots; and cultivated fields with crops. The hiker must avoid any liquid surfaces and cannot enter any structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a patch of forested ground","end_land_type":"another wooded 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":[2,3,6,5,1,0,4,0],"image_name":"chisinau_5.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":108,"start_point":[122,734],"end_point":[1000,146],"distance":1056.7062032561369},{"start_region_id":108,"end_region_id":147,"start_point":[1000,146],"end_point":[122,734],"distance":1056.7062032561369},{"start_region_id":108,"end_region_id":158,"start_point":[1000,146],"end_point":[360,978],"distance":1049.6780458788305},{"start_region_id":158,"end_region_id":108,"start_point":[360,978],"end_point":[1000,146],"distance":1049.6780458788305},{"start_region_id":102,"end_region_id":158,"start_point":[778,57],"end_point":[360,978],"distance":1011.4173223748938}],"complexity_score":0.6204940815990421}
{"id":17025,"query_id":"Q03405","question":"A quadcopter drone starts from a hard artificial surface and needs to reach an area with tall vertical obstacles. The environment includes open grassy areas, paved surfaces, and trees. The trees and structures can be flown over or around. What is the fastest route?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"hard artificial surface","end_land_type":"area with tall vertical obstacles","task_description":"What is the fastest route from the hard artificial surface to the area with tall vertical obstacles?","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_5.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":155,"start_point":[178,71],"end_point":[996,976],"distance":1219.8971268102896},{"start_region_id":17,"end_region_id":155,"start_point":[57,208],"end_point":[996,976],"distance":1213.072545233796},{"start_region_id":72,"end_region_id":108,"start_point":[143,901],"end_point":[1000,146],"distance":1142.1357187304843},{"start_region_id":8,"end_region_id":158,"start_point":[939,49],"end_point":[360,978],"distance":1094.6606780185355},{"start_region_id":5,"end_region_id":155,"start_point":[257,272],"end_point":[996,976],"distance":1020.6551817337725}],"complexity_score":0.6204940815990421}
{"id":3707,"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_38.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":125,"start_point":[907,592],"end_point":[36,682],"distance":875.637482066637},{"start_region_id":87,"end_region_id":90,"start_point":[907,592],"end_point":[202,91],"distance":864.8849634488971},{"start_region_id":85,"end_region_id":136,"start_point":[478,171],"end_point":[223,935],"distance":805.4321821233616},{"start_region_id":85,"end_region_id":141,"start_point":[478,171],"end_point":[329,959],"distance":801.963216114056},{"start_region_id":85,"end_region_id":138,"start_point":[478,171],"end_point":[738,902],"distance":775.8614567047392}],"complexity_score":0.6205078788297536}
{"id":8327,"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_38.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":18,"start_point":[171,896],"end_point":[981,339],"distance":983.0305183462007},{"start_region_id":18,"end_region_id":44,"start_point":[981,339],"end_point":[171,896],"distance":983.0305183462007},{"start_region_id":5,"end_region_id":44,"start_point":[666,91],"end_point":[171,896],"distance":945.0132274206536},{"start_region_id":44,"end_region_id":5,"start_point":[171,896],"end_point":[666,91],"distance":945.0132274206536},{"start_region_id":44,"end_region_id":25,"start_point":[171,896],"end_point":[977,441],"distance":925.5598305890333}],"complexity_score":0.6205078788297536}
{"id":12762,"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_38.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":87,"start_point":[252,77],"end_point":[907,592],"distance":833.2166584988564},{"start_region_id":44,"end_region_id":87,"start_point":[171,896],"end_point":[907,592],"distance":796.3114968402755},{"start_region_id":44,"end_region_id":85,"start_point":[171,896],"end_point":[478,171],"distance":787.3207732557296},{"start_region_id":48,"end_region_id":85,"start_point":[276,909],"end_point":[478,171],"distance":765.1457377519658},{"start_region_id":48,"end_region_id":87,"start_point":[276,909],"end_point":[907,592],"distance":706.1515418095468}],"complexity_score":0.6205078788297536}
{"id":17108,"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_38.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":44,"start_point":[948,40],"end_point":[171,896],"distance":1156.055794501286},{"start_region_id":96,"end_region_id":48,"start_point":[948,40],"end_point":[276,909],"distance":1098.5194581799633},{"start_region_id":125,"end_region_id":18,"start_point":[36,682],"end_point":[981,339],"distance":1005.3228337205915},{"start_region_id":93,"end_region_id":44,"start_point":[618,22],"end_point":[171,896],"distance":981.6745896680834},{"start_region_id":104,"end_region_id":44,"start_point":[818,170],"end_point":[171,896],"distance":972.4633669192891}],"complexity_score":0.6205078788297536}
{"id":400,"query_id":"Q00080","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a grassy shrubland area. The terrain includes loose, sandy or rocky ground without vegetation, areas with natural herbaceous cover or bushes, patches of tall vegetation with distinct vertical structures, and cultivated plots. You must avoid any hard, paved surfaces, vehicle lanes, liquid bodies, and man-made structures. The drone can fly over most surfaces but must avoid collisions with tall vertical obstacles and structures to ensure safety. Given the need to minimize risk of crashes or interference, what is the safest path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy shrubland","task_description":"What is the safest path from the cultivated field to the grassy shrubland?","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":"duesseldorf_51.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":21,"start_point":[912,821],"end_point":[926,516],"distance":305.32114240582814}],"complexity_score":0.6205876803988579}
{"id":4067,"query_id":"Q00814","question":"A delivery drone starts from a densely vegetated area with tall, woody plants and needs to reach a cultivated field with planted crops. You are piloting a delivery drone seeking the most comfortable route. The terrain includes loose, sandy or rocky ground without vegetation; open areas with natural grasses and shrubs; hard, artificial surfaces like sidewalks and parking lots; paved lanes used by vehicles; densely wooded areas; and soft, tilled soil used for growing plants. However, you must avoid flying over any liquid surfaces or through any structures. Which path provides the most comfortable journey?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a cultivated field with planted crops","task_description":"Which path provides the most comfortable journey?","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":"duesseldorf_51.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":189,"start_point":[205,90],"end_point":[912,821],"distance":1016.9611595336372},{"start_region_id":100,"end_region_id":192,"start_point":[205,90],"end_point":[569,956],"distance":939.3891632332151},{"start_region_id":124,"end_region_id":189,"start_point":[55,498],"end_point":[912,821],"distance":915.848240703666},{"start_region_id":100,"end_region_id":187,"start_point":[205,90],"end_point":[726,759],"distance":847.939856357749},{"start_region_id":146,"end_region_id":189,"start_point":[80,665],"end_point":[912,821],"distance":846.4986709971847}],"complexity_score":0.6205876803988579}
{"id":8201,"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":"duesseldorf_51.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":192,"start_point":[215,246],"end_point":[569,956],"distance":793.3574226034568},{"start_region_id":192,"end_region_id":183,"start_point":[569,956],"end_point":[215,246],"distance":793.3574226034568},{"start_region_id":184,"end_region_id":192,"start_point":[579,217],"end_point":[569,956],"distance":739.0676559016772},{"start_region_id":192,"end_region_id":184,"start_point":[569,956],"end_point":[579,217],"distance":739.0676559016772},{"start_region_id":188,"end_region_id":184,"start_point":[342,725],"end_point":[579,217],"distance":560.5648936563902}],"complexity_score":0.6205876803988579}
{"id":378,"query_id":"Q00076","question":"A hiker starts from a paved area and needs to reach a wooded area with tall vegetation. The hiker can traverse hard, compacted surfaces, loose or rocky ground, and vegetated areas, but cannot cross liquid surfaces or enter solid structures. What is the shortest path to the destination?","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":["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":"chiclayo_23.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":215,"start_point":[765,172],"end_point":[311,850],"distance":815.9656855530139},{"start_region_id":55,"end_region_id":215,"start_point":[448,125],"end_point":[311,850],"distance":737.8306038651419},{"start_region_id":147,"end_region_id":215,"start_point":[940,994],"end_point":[311,850],"distance":645.2728105228051},{"start_region_id":72,"end_region_id":215,"start_point":[235,373],"end_point":[311,850],"distance":483.01656286301403},{"start_region_id":83,"end_region_id":215,"start_point":[520,450],"end_point":[311,850],"distance":451.3103145287065}],"complexity_score":0.6206052220839565}
{"id":9430,"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":"chiclayo_23.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":166,"start_point":[311,850],"end_point":[544,556],"distance":375.13330963805384}],"complexity_score":0.6206052220839565}
{"id":13353,"query_id":"Q02671","question":"A delivery drone starts from an open area covered with natural grasses and low shrubs and needs to reach a destination within a zone containing tall, vertical obstructions with leafy canopies. The path must prioritize areas that minimize the risk of collisions or signal interference. Open grassy areas, cultivated fields, paved surfaces, vehicle lanes, and liquid surfaces are all permissible airspace. However, flying near or through the tall vertical obstructions and permanent man-made structures is allowed only if necessary but increases risk. What is the safest route to take?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Rangeland","end_land_type":"Tree","task_description":"What is the safest route 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":"chiclayo_23.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":215,"start_point":[220,319],"end_point":[311,850],"distance":538.7411252169264},{"start_region_id":13,"end_region_id":215,"start_point":[722,527],"end_point":[311,850],"distance":522.7332015474051},{"start_region_id":9,"end_region_id":215,"start_point":[262,414],"end_point":[311,850],"distance":438.74480053899214}],"complexity_score":0.6206052220839565}
{"id":17734,"query_id":"Q03547","question":"An aerial surveillance drone starts from an area covered with natural, low-lying vegetation and shrubs and needs to reach a hard, paved surface designed for vehicle travel. The drone can fly over open water bodies and cultivated fields with crops, but must avoid tall, dense vegetation and vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area covered with natural, low-lying vegetation and shrubs.","end_land_type":"The destination is a hard, paved surface designed for vehicle travel.","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":"chiclayo_23.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":166,"start_point":[160,766],"end_point":[544,556],"distance":437.6711093960852},{"start_region_id":4,"end_region_id":166,"start_point":[220,319],"end_point":[544,556],"distance":401.4286985256535},{"start_region_id":9,"end_region_id":166,"start_point":[262,414],"end_point":[544,556],"distance":315.7340653144668}],"complexity_score":0.6206052220839565}
{"id":9731,"query_id":"Q01947","question":"An aerial survey drone starts from a cultivated field with loose soil and crop residues and needs to reach a grassy meadow with soft vegetation. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable camera operation. Hard paved surfaces are unavailable due to restricted airspace regulations. Vertical structures and liquid surfaces should be avoided as they cause turbulence and instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","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":[1,1,0,0,0,0,1,0],"image_name":"ngaoundere_3.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":491,"end_region_id":130,"start_point":[123,960],"end_point":[466,926],"distance":344.6810119516304}],"complexity_score":0.6207553566751727}
{"id":16905,"query_id":"Q03381","question":"A quadcopter drone is deployed from an area of wild grasses and shrubs and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, over more wild vegetation similar to its starting point, over the cultivated crops, and can navigate between trees if necessary. However, it must avoid any built structures and large bodies of water entirely, as these pose navigation risks. To minimize flight time, which path should it take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of wild grasses and shrubs","end_land_type":"and needs to reach a cultivated field with crops.","task_description":"Which path allows the drone to reach the cultivated field in the shortest possible flight time?","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":"ngaoundere_3.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":495,"start_point":[198,783],"end_point":[607,953],"distance":442.9232439147894},{"start_region_id":130,"end_region_id":491,"start_point":[466,926],"end_point":[123,960],"distance":344.6810119516304},{"start_region_id":130,"end_region_id":486,"start_point":[466,926],"end_point":[192,753],"distance":324.04474999604605},{"start_region_id":122,"end_region_id":494,"start_point":[758,734],"end_point":[952,971],"distance":306.27601930285044},{"start_region_id":130,"end_region_id":489,"start_point":[466,926],"end_point":[170,878],"distance":299.866637023861}],"complexity_score":0.6207553566751727}
{"id":128,"query_id":"Q00026","question":"A quadcopter drone is deployed from a cultivated field with loose soil and crop rows, needing to reach an exposed, dry ground area with no vegetation. The drone can fly over surfaces with loose soil, grassy or shrubby areas, liquid bodies, and cultivated plots, but must avoid tall vertical obstacles like trees and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field with loose soil and crop rows","end_land_type":"exposed, dry ground with no vegetation","task_description":"What is the shortest path for the drone to reach the exposed, dry ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":2,"start_point":[244,167],"end_point":[708,674],"distance":687.2735990855462},{"start_region_id":85,"end_region_id":1,"start_point":[600,593],"end_point":[589,204],"distance":389.15549591390845},{"start_region_id":84,"end_region_id":1,"start_point":[244,167],"end_point":[589,204],"distance":346.97838549396704}],"complexity_score":0.620759560335064}
{"id":1857,"query_id":"Q00372","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with neat rows of low-growing crops. The drone must avoid any areas with tall, dense vegetation that could entangle its rotors, and any solid, vertical structures that pose collision risks. It can fly over open liquid surfaces, but these are considered less stable due to potential downdraft effects and should be avoided if possible. The primary objective is to minimize the risk of mechanical failure, signal interference, or loss of control during the flight.","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 cultivated field with neat rows of low-growing crops.","task_description":"What is the safest flight 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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":84,"start_point":[708,674],"end_point":[244,167],"distance":687.2735990855462},{"start_region_id":1,"end_region_id":85,"start_point":[589,204],"end_point":[600,593],"distance":389.15549591390845},{"start_region_id":2,"end_region_id":87,"start_point":[708,674],"end_point":[369,482],"distance":389.5959445374143},{"start_region_id":1,"end_region_id":87,"start_point":[589,204],"end_point":[369,482],"distance":354.5193929815406},{"start_region_id":1,"end_region_id":84,"start_point":[589,204],"end_point":[244,167],"distance":346.97838549396704}],"complexity_score":0.620759560335064}
{"id":3215,"query_id":"Q00643","question":"An aerial survey drone starts from a flat, open area of loose soil and scattered rocks, an aerial survey drone must navigate to another similar open area of loose soil and scattered rocks. The drone can fly over the open ground and also pass through areas with tall, vertical obstacles that require careful maneuvering to avoid collisions. The drone's priority is to minimize risk of damage or loss of control during flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a flat, open area of loose soil and scattered rocks","end_land_type":"and needs to reach another similar open area of loose soil and 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","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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[589,204],"end_point":[708,674],"distance":484.83089835529256},{"start_region_id":2,"end_region_id":1,"start_point":[708,674],"end_point":[589,204],"distance":484.83089835529256}],"complexity_score":0.620759560335064}
{"id":3588,"query_id":"Q00718","question":"A hiker starts from a paved lane and needs to reach a patch of sandy, rocky ground without vegetation. The hiker can traverse areas with loose soil and rocks, grassy or shrubby patches, paved surfaces like sidewalks and parking lots, vehicle lanes, areas with individual trees or groups of trees, 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":"hiker","start_land_type":"paved lane","end_land_type":"sandy, rocky ground without 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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":1,"start_point":[260,685],"end_point":[589,204],"distance":582.7538073663698},{"start_region_id":48,"end_region_id":2,"start_point":[260,685],"end_point":[708,674],"distance":448.13502429513363}],"complexity_score":0.620759560335064}
{"id":4584,"query_id":"Q00917","question":"A quadcopter drone starts from a paved road and needs to reach a patch of loose, sandy ground as quickly as possible. The drone can fly over hard surfaces, cultivated fields, and open areas, but must avoid trees and buildings due to potential obstacles. Water bodies are traversable. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road","end_land_type":"a patch of loose, sandy ground","task_description":"What is the fastest route for the quadcopter drone to reach the loose, sandy ground from the paved road?","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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":1,"start_point":[260,685],"end_point":[589,204],"distance":582.7538073663698},{"start_region_id":48,"end_region_id":2,"start_point":[260,685],"end_point":[708,674],"distance":448.13502429513363}],"complexity_score":0.620759560335064}
{"id":5313,"query_id":"Q01063","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a nearby area of sandy, rocky ground. The terrain between includes only these two types of surfaces: soft, tilled soil and loose, sandy or rocky ground without vegetation. You must avoid any hard paved surfaces, roads, water bodies, trees, buildings, and uncultivated grassy or shrubby areas. What is the shortest path to the sandy, rocky ground?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"sandy, rocky ground","task_description":"What is the shortest path to the sandy, rocky ground?","task_type":"Shortest","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,1,0],"image_name":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":1,"start_point":[600,593],"end_point":[589,204],"distance":389.15549591390845}],"complexity_score":0.620759560335064}
{"id":7782,"query_id":"Q01557","question":"A quadcopter drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a cultivated field with rows of low crops as quickly as possible. The drone can fly over open, unobstructed ground, paved lanes, and vegetated areas, but must avoid dense clusters of tall vegetation that could entangle its rotors. Vertical structures are off-limits due to collision risk. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, dry soil and scattered rocks","end_land_type":"a cultivated field with rows of low crops","task_description":"What is the fastest path for the quadcopter drone to reach the cultivated 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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":84,"start_point":[708,674],"end_point":[244,167],"distance":687.2735990855462},{"start_region_id":1,"end_region_id":85,"start_point":[589,204],"end_point":[600,593],"distance":389.15549591390845},{"start_region_id":2,"end_region_id":87,"start_point":[708,674],"end_point":[369,482],"distance":389.5959445374143},{"start_region_id":1,"end_region_id":87,"start_point":[589,204],"end_point":[369,482],"distance":354.5193929815406},{"start_region_id":1,"end_region_id":84,"start_point":[589,204],"end_point":[244,167],"distance":346.97838549396704}],"complexity_score":0.620759560335064}
{"id":8742,"query_id":"Q01749","question":"A quadcopter starts from a sandy, vegetation-free area and needs to reach a paved traffic lane. The drone can fly over grassy patches and loose soil, but must avoid any tall, dense vegetation or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, vegetation-free area","end_land_type":"paved traffic lane","task_description":"What is the shortest path from the sandy, vegetation-free area to the paved traffic 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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":48,"start_point":[589,204],"end_point":[260,685],"distance":582.7538073663698},{"start_region_id":2,"end_region_id":48,"start_point":[708,674],"end_point":[260,685],"distance":448.13502429513363}],"complexity_score":0.620759560335064}
{"id":10845,"query_id":"Q02169","question":"A quadcopter drone is currently on a grassy, vegetated area and needs to reach a patch of dry, sandy or rocky ground. The drone can fly over liquid surfaces, soft vegetated terrain, and open ground, but must avoid dense tree canopies and solid vertical structures. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","end_land_type":"dry, sandy or rocky ground","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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":2,"start_point":[36,200],"end_point":[708,674],"distance":822.3502903264521},{"start_region_id":26,"end_region_id":1,"start_point":[893,968],"end_point":[589,204],"distance":822.2602994186209},{"start_region_id":24,"end_region_id":1,"start_point":[106,819],"end_point":[589,204],"distance":781.9936061119681},{"start_region_id":15,"end_region_id":2,"start_point":[17,487],"end_point":[708,674],"distance":715.8561307972434},{"start_region_id":23,"end_region_id":1,"start_point":[89,702],"end_point":[589,204],"distance":705.6939846704093}],"complexity_score":0.620759560335064}
{"id":11537,"query_id":"Q02308","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a destination on rocky, sandy ground. The terrain includes areas of loose, uneven earth and patches of natural grass and shrubs. You must avoid all paved surfaces, water bodies, trees, and structures. The cultivated soil is traversable due to recent harvesting that has left it firm enough to walk on. The natural grass and shrub areas are traversable because they are dry and not overgrown. The rocky, sandy ground is traversable but requires careful footing. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"rocky, sandy ground","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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":2,"start_point":[244,167],"end_point":[708,674],"distance":687.2735990855462},{"start_region_id":85,"end_region_id":1,"start_point":[600,593],"end_point":[589,204],"distance":389.15549591390845},{"start_region_id":84,"end_region_id":1,"start_point":[244,167],"end_point":[589,204],"distance":346.97838549396704}],"complexity_score":0.620759560335064}
{"id":14959,"query_id":"Q02992","question":"A delivery drone starts from an open area of sandy, rocky ground and needs to reach a grassy, shrub-covered zone. The drone requires a flight path that minimizes turbulence and vibration for stable operation, preferring open or hard surfaces over areas with obstacles. Only the following surfaces are available: loose sandy or rocky ground, grassy or shrub-covered terrain, paved lanes or streets, and areas with individual trees or groups of trees. The drone can fly over water and buildings if necessary, but these are not available in this scenario. What is the most comfortable route?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the most comfortable route 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":"kujawsko-pomorskie_16.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":5,"start_point":[708,674],"end_point":[36,200],"distance":822.3502903264521},{"start_region_id":1,"end_region_id":26,"start_point":[589,204],"end_point":[893,968],"distance":822.2602994186209},{"start_region_id":1,"end_region_id":24,"start_point":[589,204],"end_point":[106,819],"distance":781.9936061119681},{"start_region_id":2,"end_region_id":15,"start_point":[708,674],"end_point":[17,487],"distance":715.8561307972434},{"start_region_id":1,"end_region_id":23,"start_point":[589,204],"end_point":[89,702],"distance":705.6939846704093}],"complexity_score":0.620759560335064}
{"id":3781,"query_id":"Q00757","question":"A quadcopter drone begins on a paved lane surface and needs to reach a vegetated area with grasses and shrubs. The drone can fly over loose, sandy or rocky ground without vegetation, cultivated fields, artificial hard surfaces like sidewalks and parking lots, other paved lanes, and areas with trees or structures, provided it maintains altitude to avoid collisions. However, it cannot hover over liquid bodies due to safety regulations. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane surface","end_land_type":"a vegetated area with grasses and shrubs","task_description":"What is the fastest route to the destination?","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":"mahe_48.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":1,"start_point":[416,598],"end_point":[83,91],"distance":606.5789313848611},{"start_region_id":133,"end_region_id":11,"start_point":[416,598],"end_point":[52,206],"distance":534.9392488871985},{"start_region_id":133,"end_region_id":16,"start_point":[416,598],"end_point":[184,190],"distance":469.34848460392413},{"start_region_id":133,"end_region_id":41,"start_point":[416,598],"end_point":[999,753],"distance":603.252849143707},{"start_region_id":133,"end_region_id":6,"start_point":[416,598],"end_point":[368,202],"distance":398.8984833262719}],"complexity_score":0.6209107344833528}
{"id":10121,"query_id":"Q02025","question":"A hiker is standing in a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes loose, sandy patches and hard, paved surfaces. The hiker has permission to walk through cultivated crop areas. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy, open field","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":"mahe_48.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":200,"start_point":[83,91],"end_point":[801,928],"distance":1102.7660676680255},{"start_region_id":11,"end_region_id":200,"start_point":[52,206],"end_point":[801,928],"distance":1040.3292747971673},{"start_region_id":5,"end_region_id":198,"start_point":[839,316],"end_point":[47,940],"distance":1008.2856738048002},{"start_region_id":41,"end_region_id":198,"start_point":[999,753],"end_point":[47,940],"distance":970.1922489898587},{"start_region_id":16,"end_region_id":200,"start_point":[184,190],"end_point":[801,928],"distance":961.9423059622651}],"complexity_score":0.6209107344833528}
{"id":12806,"query_id":"Q02562","question":"A sedan starts from a paved road and needs to reach a grassy field. The terrain includes hard, flat surfaces like parking lots and sidewalks, as well as cultivated fields with firm soil. However, you must avoid any loose, sandy, or rocky ground, and cannot pass through water, trees, or buildings. You seek a path that maximizes ride comfort by prioritizing surfaces that are smooth and stable.","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved road","end_land_type":"a grassy field","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":[0,1,3,4,0,0,2,0],"image_name":"mahe_48.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":1,"start_point":[416,598],"end_point":[83,91],"distance":606.5789313848611},{"start_region_id":133,"end_region_id":11,"start_point":[416,598],"end_point":[52,206],"distance":534.9392488871985},{"start_region_id":133,"end_region_id":16,"start_point":[416,598],"end_point":[184,190],"distance":469.34848460392413},{"start_region_id":133,"end_region_id":41,"start_point":[416,598],"end_point":[999,753],"distance":603.252849143707},{"start_region_id":133,"end_region_id":6,"start_point":[416,598],"end_point":[368,202],"distance":398.8984833262719}],"complexity_score":0.6209107344833528}
{"id":17171,"query_id":"Q03435","question":"A quadcopter drone starts from a grassy, uneven field and needs to reach a flat, paved surface. The drone can fly over open grassy areas, paved surfaces, and water bodies, but must avoid trees and buildings to prevent collisions. The water is calm and safe to fly over, but flying over it may cause slight instability due to wind reflection. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a flat, paved surface","task_description":"What is the most comfortable path for the drone to take from the grassy field to the 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":"mahe_48.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":102,"start_point":[83,91],"end_point":[870,910],"distance":1135.838897027215},{"start_region_id":11,"end_region_id":102,"start_point":[52,206],"end_point":[870,910],"distance":1079.2312078512184},{"start_region_id":16,"end_region_id":102,"start_point":[184,190],"end_point":[870,910],"distance":994.4827801425221},{"start_region_id":41,"end_region_id":97,"start_point":[999,753],"end_point":[45,712],"distance":954.8806208107901},{"start_region_id":1,"end_region_id":80,"start_point":[83,91],"end_point":[828,675],"distance":946.6155502631467}],"complexity_score":0.6209107344833528}
{"id":3736,"query_id":"Q00748","question":"A hiker starts from a paved road surface and needs to reach a flat, hard-surfaced area like a parking lot or sidewalk. The hiker can traverse various ground types including loose, sandy or rocky terrain without vegetation, grassy or shrub-covered areas, cultivated fields with crops or grazing vegetation, and wooded areas with individual trees or tree clusters. However, the hiker cannot cross any water bodies or enter any buildings. What is the shortest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Road","end_land_type":"Developed space","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":"al_qurnah_58.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":63,"start_point":[509,520],"end_point":[981,206],"distance":566.9038719218629},{"start_region_id":212,"end_region_id":29,"start_point":[509,520],"end_point":[111,181],"distance":522.8049349422785},{"start_region_id":212,"end_region_id":31,"start_point":[509,520],"end_point":[756,52],"distance":529.1814433632381},{"start_region_id":212,"end_region_id":43,"start_point":[509,520],"end_point":[883,133],"distance":538.1867705546096},{"start_region_id":212,"end_region_id":174,"start_point":[509,520],"end_point":[189,923],"distance":514.5959580097768}],"complexity_score":0.6209269987324753}
{"id":12821,"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":"al_qurnah_58.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":63,"start_point":[509,520],"end_point":[981,206],"distance":566.9038719218629},{"start_region_id":212,"end_region_id":29,"start_point":[509,520],"end_point":[111,181],"distance":522.8049349422785},{"start_region_id":212,"end_region_id":31,"start_point":[509,520],"end_point":[756,52],"distance":529.1814433632381},{"start_region_id":212,"end_region_id":43,"start_point":[509,520],"end_point":[883,133],"distance":538.1867705546096},{"start_region_id":212,"end_region_id":174,"start_point":[509,520],"end_point":[189,923],"distance":514.5959580097768}],"complexity_score":0.6209269987324753}
{"id":17221,"query_id":"Q03445","question":"A quadcopter drone starts from a vegetated area with tall, dense foliage and uneven ground and needs to reach another vegetated area with tall, dense foliage and uneven ground. The terrain includes open grassy fields with low vegetation, hard, flat surfaces like sidewalks or parking lots, and areas with tall, dense foliage and uneven ground. The grassy fields and hard, flat surfaces are clear and safe for flight. The areas with tall, dense foliage are passable because the vegetation is sparse enough to fly through without collision risk. All other surfaces, such as loose sandy or rocky ground, vehicle lanes, water bodies, cultivated fields, and structures, are not allowed due to safety concerns like turbulence, obstruction, or regulatory restrictions.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, dense foliage and uneven ground","end_land_type":"another vegetated area with tall, dense foliage and uneven ground","task_description":"What is the safest path 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":"al_qurnah_58.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":266,"end_region_id":241,"start_point":[444,371],"end_point":[741,234],"distance":327.0749149659753},{"start_region_id":241,"end_region_id":266,"start_point":[741,234],"end_point":[444,371],"distance":327.0749149659753}],"complexity_score":0.6209269987324753}
{"id":1646,"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_37.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2533,"end_region_id":2503,"start_point":[921,911],"end_point":[98,134],"distance":1131.8383276775885},{"start_region_id":2503,"end_region_id":2533,"start_point":[98,134],"end_point":[921,911],"distance":1131.8383276775885},{"start_region_id":2503,"end_region_id":2530,"start_point":[98,134],"end_point":[684,829],"distance":909.0770044391179},{"start_region_id":2530,"end_region_id":2503,"start_point":[684,829],"end_point":[98,134],"distance":909.0770044391179},{"start_region_id":2504,"end_region_id":2533,"start_point":[632,169],"end_point":[921,911],"distance":796.2945434950562}],"complexity_score":0.6209663731674454}
{"id":2740,"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_37.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2524,"end_region_id":2533,"start_point":[253,749],"end_point":[921,911],"distance":687.3630772743035},{"start_region_id":2533,"end_region_id":2524,"start_point":[921,911],"end_point":[253,749],"distance":687.3630772743035},{"start_region_id":2524,"end_region_id":2530,"start_point":[253,749],"end_point":[684,829],"distance":438.3617227815403},{"start_region_id":2530,"end_region_id":2524,"start_point":[684,829],"end_point":[253,749],"distance":438.3617227815403},{"start_region_id":2533,"end_region_id":2530,"start_point":[921,911],"end_point":[684,829],"distance":250.78476827750126}],"complexity_score":0.6209663731674454}
{"id":15705,"query_id":"Q03141","question":"A quadcopter drone is positioned on a grassy, open field with low vegetation. It needs to reach a cultivated crop field where rows of plants are growing. The drone can fly over most surfaces, but must avoid dense tree canopies and building structures that could obstruct its path. The drone is permitted to fly over water bodies, paved or compacted flat surfaces, and the grassy and cultivated areas. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, open field","end_land_type":"cultivated crop field","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":"dolnoslaskie_16.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":71,"start_point":[41,256],"end_point":[748,912],"distance":964.4609893614153},{"start_region_id":1,"end_region_id":71,"start_point":[180,133],"end_point":[748,912],"distance":964.0876516168018},{"start_region_id":3,"end_region_id":69,"start_point":[41,256],"end_point":[901,633],"distance":939.0042598412426},{"start_region_id":1,"end_region_id":69,"start_point":[180,133],"end_point":[901,633],"distance":877.4058354034352},{"start_region_id":6,"end_region_id":69,"start_point":[136,415],"end_point":[901,633],"distance":795.4552155841333}],"complexity_score":0.6212474322257155}
{"id":5758,"query_id":"Q01152","question":"A hiker starts from a densely vegetated area with tall, upright structures providing shade and cover and needs to reach a flat, hard-surfaced area with artificial, smooth ground. The path must avoid any liquid surfaces or enclosed vertical structures, as these are impassable. Only areas with vegetation or hard, flat surfaces are accessible for traversal. What is the shortest route to the destination?","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-surfaced area with artificial, smooth ground","task_description":"What is the shortest route 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":"kagera_31.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":54,"start_point":[908,129],"end_point":[88,969],"distance":1173.882447266335},{"start_region_id":57,"end_region_id":54,"start_point":[666,118],"end_point":[88,969],"distance":1028.7297993156415},{"start_region_id":100,"end_region_id":54,"start_point":[792,252],"end_point":[88,969],"distance":1004.8407834079984},{"start_region_id":183,"end_region_id":54,"start_point":[995,543],"end_point":[88,969],"distance":1002.0603774224386},{"start_region_id":266,"end_region_id":39,"start_point":[822,959],"end_point":[138,246],"distance":988.0409910524968}],"complexity_score":0.6213134458218225}
{"id":6827,"query_id":"Q01366","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 open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces, liquid bodies, and cultivated fields. It can also pass between tall vertical obstacles if careful navigation is possible, but these areas require slower movement. The drone must avoid any areas that would significantly reduce its speed.","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 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":"kagera_31.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":336,"start_point":[88,969],"end_point":[887,110],"distance":1173.1504592335973},{"start_region_id":54,"end_region_id":335,"start_point":[88,969],"end_point":[690,17],"distance":1126.3693887885981},{"start_region_id":54,"end_region_id":337,"start_point":[88,969],"end_point":[932,270],"distance":1095.8727115865236},{"start_region_id":54,"end_region_id":345,"start_point":[88,969],"end_point":[999,627],"distance":973.0801611378171},{"start_region_id":39,"end_region_id":345,"start_point":[138,246],"end_point":[999,627],"distance":941.5317307451725}],"complexity_score":0.6213134458218225}
{"id":8336,"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":"al_qurnah_52.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":238,"end_region_id":199,"start_point":[186,66],"end_point":[920,887],"distance":1101.2706297727184},{"start_region_id":354,"end_region_id":69,"start_point":[30,950],"end_point":[926,284],"distance":1116.410318834433},{"start_region_id":259,"end_region_id":199,"start_point":[70,190],"end_point":[920,887],"distance":1099.2310949022503},{"start_region_id":354,"end_region_id":4,"start_point":[30,950],"end_point":[648,50],"distance":1091.7527192546854},{"start_region_id":257,"end_region_id":199,"start_point":[104,307],"end_point":[920,887],"distance":1001.1273645246143}],"complexity_score":0.6213832449100497}
{"id":12781,"query_id":"Q02557","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced area. The hiker can traverse grassy areas, cultivated fields, and wooded patches, but must avoid any structures and water bodies. The paved area is accessible, and the hiker can also use vehicle lanes and compacted artificial surfaces. What is the shortest 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 area","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":"al_qurnah_52.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":238,"start_point":[920,887],"end_point":[186,66],"distance":1101.2706297727184},{"start_region_id":69,"end_region_id":354,"start_point":[926,284],"end_point":[30,950],"distance":1116.410318834433},{"start_region_id":199,"end_region_id":259,"start_point":[920,887],"end_point":[70,190],"distance":1099.2310949022503},{"start_region_id":4,"end_region_id":354,"start_point":[648,50],"end_point":[30,950],"distance":1091.7527192546854},{"start_region_id":199,"end_region_id":257,"start_point":[920,887],"end_point":[104,307],"distance":1001.1273645246143}],"complexity_score":0.6213832449100497}
{"id":14741,"query_id":"Q02949","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface while prioritizing a stable and comfortable flight. The drone can traverse loose, sandy or rocky ground, areas with low vegetation like grass and shrubs, wooded areas with individual trees, and paved surfaces, but must avoid any water bodies, buildings, and cultivated fields. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved 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"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"al_qurnah_52.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":387,"end_region_id":387,"start_point":[3,505],"end_point":[1021,298],"distance":1038.8325177813795}],"complexity_score":0.6213832449100497}
{"id":4306,"query_id":"Q00862","question":"An agricultural monitoring drone starts from a grassy, open field with scattered low vegetation and needs to return to another similar grassy, open field. The drone can fly over areas of soft, cultivated soil where crops are growing, and can also cross over calm, liquid surfaces. However, it must avoid densely packed vertical obstacles like tall, solid structures and thick clusters of upright natural obstacles with branches and leaves. The drone's path should be as direct as possible.","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation","end_land_type":"and needs to return to another similar grassy, open field","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":"daressalaam_58.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":22,"start_point":[88,71],"end_point":[947,413],"distance":924.5782822454787},{"start_region_id":22,"end_region_id":1,"start_point":[947,413],"end_point":[88,71],"distance":924.5782822454787},{"start_region_id":17,"end_region_id":1,"start_point":[601,439],"end_point":[88,71],"distance":631.342220986368},{"start_region_id":1,"end_region_id":17,"start_point":[88,71],"end_point":[601,439],"distance":631.342220986368},{"start_region_id":17,"end_region_id":22,"start_point":[601,439],"end_point":[947,413],"distance":346.9755034580972}],"complexity_score":0.6214103335062676}
{"id":4777,"query_id":"Q00956","question":"A hiker starts from a paved road surface and needs to reach a paved parking lot. The terrain includes loose, sandy ground; grassy and shrubby areas; paved surfaces like sidewalks and parking lots; paved roads; individual trees with trunks and canopies; and cultivated fields with crops. The hiker can walk on loose sandy ground, grassy areas, cultivated fields, and through trees only if the ground is firm enough to support foot traffic and vegetation is sparse enough to pass through. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved road surface","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","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_58.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1401,"end_region_id":1141,"start_point":[548,155],"end_point":[48,956],"distance":944.2462602520594},{"start_region_id":1401,"end_region_id":1249,"start_point":[548,155],"end_point":[924,1000],"distance":924.8789109932176},{"start_region_id":1401,"end_region_id":1014,"start_point":[548,155],"end_point":[170,914],"distance":847.9180384919288},{"start_region_id":1401,"end_region_id":1010,"start_point":[548,155],"end_point":[981,870],"distance":835.8911412379007},{"start_region_id":1401,"end_region_id":1133,"start_point":[548,155],"end_point":[479,981],"distance":828.8769510608918}],"complexity_score":0.6214103335062676}
{"id":4488,"query_id":"Q00898","question":"A quadcopter drone starts from a sandy, open area and needs to reach a hard, paved surface as quickly as possible. The airspace includes open ground, hard surfaces, and areas with tall vertical obstacles. Your drone can fly over all terrain types, but areas with dense vertical obstacles require careful maneuvering, which slows down flight. Open ground and hard surfaces allow for faster, unobstructed flight. Which flight path should you take to minimize travel time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a sandy, open area","end_land_type":"a hard, paved surface","task_description":"Which flight path should you take to minimize 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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":78,"start_point":[983,934],"end_point":[50,36],"distance":1294.9490337461161},{"start_region_id":34,"end_region_id":78,"start_point":[839,991],"end_point":[50,36],"distance":1238.7679362979977},{"start_region_id":29,"end_region_id":80,"start_point":[983,934],"end_point":[412,17],"distance":1080.2453425032668},{"start_region_id":34,"end_region_id":80,"start_point":[839,991],"end_point":[412,17],"distance":1063.487188451276},{"start_region_id":13,"end_region_id":78,"start_point":[989,491],"end_point":[50,36],"distance":1043.429920981759}],"complexity_score":0.6214236463596119}
{"id":6718,"query_id":"Q01344","question":"A delivery drone starts from an exposed, rocky surface and needs to reach a cluster of tall trees. The drone can fly over open ground, grassy areas, hard artificial surfaces, vehicle pathways, cultivated fields, and liquid surfaces without restriction. The drone can also navigate around vertical obstacles and structures if necessary. The drone must find the safest path to the destination.","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"exposed, rocky surface","end_land_type":"cluster of tall trees","task_description":"What is the safest route 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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":115,"start_point":[983,934],"end_point":[115,83],"distance":1215.5759951562059},{"start_region_id":34,"end_region_id":115,"start_point":[839,991],"end_point":[115,83],"distance":1161.3096055746719},{"start_region_id":3,"end_region_id":163,"start_point":[898,35],"end_point":[165,885],"distance":1122.4032252270126},{"start_region_id":9,"end_region_id":163,"start_point":[942,220],"end_point":[165,885],"distance":1022.718925218459},{"start_region_id":29,"end_region_id":125,"start_point":[983,934],"end_point":[311,167],"distance":1019.7416339445988}],"complexity_score":0.6214236463596119}
{"id":7531,"query_id":"Q01507","question":"An aerial surveillance drone starts from a dry, sandy area with loose soil and scattered rocks and needs to reach another similar patch of dry, sandy ground with loose soil and scattered rocks. The drone can fly over open, flat surfaces like sand or rock accumulations, as well as paved lanes used by vehicles, but must avoid tall vertical obstacles like groups of trees due to collision risk. It can also cross liquid bodies, though flying over them increases risk if the drone malfunctions. The drone must prioritize safety by minimizing exposure to hazards such as loss of control or collisions.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks.","end_land_type":"The destination is another similar patch of dry, sandy ground with loose soil and scattered rocks.","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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":29,"start_point":[263,276],"end_point":[983,934],"distance":975.3789007355039},{"start_region_id":29,"end_region_id":10,"start_point":[983,934],"end_point":[263,276],"distance":975.3789007355039},{"start_region_id":34,"end_region_id":3,"start_point":[839,991],"end_point":[898,35],"distance":957.8188764061815},{"start_region_id":3,"end_region_id":34,"start_point":[898,35],"end_point":[839,991],"distance":957.8188764061815},{"start_region_id":23,"end_region_id":3,"start_point":[573,929],"end_point":[898,35],"distance":951.2418199385475}],"complexity_score":0.6214236463596119}
{"id":7940,"query_id":"Q01588","question":"An aerial surveillance drone starts from loose, sandy ground and needs to return to another patch of loose, sandy ground. The drone can fly over open sandy areas, hard paved surfaces, cultivated fields, and water bodies. It can also navigate around vertical structures and tall vegetation, but these present collision risks. The drone must avoid any terrain that could cause loss of control or damage. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the safest path for the aerial surveillance drone to return from one patch of loose, sandy ground to another?","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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":29,"start_point":[263,276],"end_point":[983,934],"distance":975.3789007355039},{"start_region_id":29,"end_region_id":10,"start_point":[983,934],"end_point":[263,276],"distance":975.3789007355039},{"start_region_id":34,"end_region_id":3,"start_point":[839,991],"end_point":[898,35],"distance":957.8188764061815},{"start_region_id":3,"end_region_id":34,"start_point":[898,35],"end_point":[839,991],"distance":957.8188764061815},{"start_region_id":23,"end_region_id":3,"start_point":[573,929],"end_point":[898,35],"distance":951.2418199385475}],"complexity_score":0.6214236463596119}
{"id":8966,"query_id":"Q01794","question":"An aerial surveillance drone starts from a patch of loose, sandy ground, an aerial surveillance drone must navigate back to another similar patch of loose, sandy ground. The drone can fly over open, dry terrain with sparse vegetation, paved surfaces, vehicle lanes, and water bodies, but must avoid areas with tall, dense vertical obstacles and solid structures. The drone's 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":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to another similar patch of loose, sandy ground","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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":29,"start_point":[263,276],"end_point":[983,934],"distance":975.3789007355039},{"start_region_id":29,"end_region_id":10,"start_point":[983,934],"end_point":[263,276],"distance":975.3789007355039},{"start_region_id":34,"end_region_id":3,"start_point":[839,991],"end_point":[898,35],"distance":957.8188764061815},{"start_region_id":3,"end_region_id":34,"start_point":[898,35],"end_point":[839,991],"distance":957.8188764061815},{"start_region_id":23,"end_region_id":3,"start_point":[573,929],"end_point":[898,35],"distance":951.2418199385475}],"complexity_score":0.6214236463596119}
{"id":9704,"query_id":"Q01941","question":"A quadcopter drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach another area of similar loose, sandy ground with scattered rocks and no vegetation. The drone can fly over open, flat surfaces like bare earth and paved lanes, but must avoid densely packed vertical obstacles like tall, leafy structures. It can also pass over cultivated fields with low, uniform vegetation. The drone cannot pass through solid, enclosed structures or liquid bodies. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is another area of similar loose, sandy ground with scattered rocks and no vegetation.","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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":3,"start_point":[839,991],"end_point":[898,35],"distance":957.8188764061815},{"start_region_id":3,"end_region_id":34,"start_point":[898,35],"end_point":[839,991],"distance":957.8188764061815},{"start_region_id":23,"end_region_id":3,"start_point":[573,929],"end_point":[898,35],"distance":951.2418199385475},{"start_region_id":3,"end_region_id":23,"start_point":[898,35],"end_point":[573,929],"distance":951.2418199385475},{"start_region_id":29,"end_region_id":3,"start_point":[983,934],"end_point":[898,35],"distance":903.0094130184912}],"complexity_score":0.6214236463596119}
{"id":11876,"query_id":"Q02376","question":"A hiker starts from a paved, hard surface and needs to reach a loose, sandy area as quickly as possible. The hiker can traverse soft ground and vegetated areas only if they are dry and stable, and can pass through wooded patches if the trees are sparse enough to walk between. The hiker cannot cross liquid surfaces or enter solid vertical structures. Which route should the hiker take to move the fastest?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard surface","end_land_type":"a loose, sandy area","task_description":"Which route should the hiker take to move the 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":[2,3,6,5,1,0,4,0],"image_name":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":1,"start_point":[85,457],"end_point":[644,101],"distance":662.7344868044819},{"start_region_id":80,"end_region_id":17,"start_point":[412,17],"end_point":[180,572],"distance":601.538859925109},{"start_region_id":78,"end_region_id":1,"start_point":[50,36],"end_point":[644,101],"distance":597.54581414315},{"start_region_id":78,"end_region_id":15,"start_point":[50,36],"end_point":[340,552],"distance":591.9087767553375},{"start_region_id":78,"end_region_id":17,"start_point":[50,36],"end_point":[180,572],"distance":551.5396631249652}],"complexity_score":0.6214236463596119}
{"id":11923,"query_id":"Q02385","question":"A hiker starts from a paved area and needs to reach an open ground of loose earth and rocks. The hiker can traverse paved surfaces, open ground of loose earth and rocks, and areas with tall vegetation that provide shade and vertical structure. The hiker cannot cross liquid surfaces or enter enclosed structures. What is the shortest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved area","end_land_type":"open ground of loose earth and rocks","task_description":"What is the shortest path to reach 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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":15,"start_point":[50,36],"end_point":[340,552],"distance":591.9087767553375},{"start_region_id":78,"end_region_id":17,"start_point":[50,36],"end_point":[180,572],"distance":551.5396631249652},{"start_region_id":78,"end_region_id":10,"start_point":[50,36],"end_point":[263,276],"distance":320.887830869293},{"start_region_id":79,"end_region_id":15,"start_point":[85,457],"end_point":[340,552],"distance":272.12129648375554},{"start_region_id":79,"end_region_id":10,"start_point":[85,457],"end_point":[263,276],"distance":253.86019774671254}],"complexity_score":0.6214236463596119}
{"id":14913,"query_id":"Q02983","question":"An aerial drone is starting from sandy, open ground and needs to reach a group of tall trees. The area includes grassy expanses, hard flat surfaces, cultivated plots, and vertical structures. The drone can fly over vertical structures and trees with caution due to obstacle avoidance sensors, but must avoid liquid areas for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"sandy, open ground","end_land_type":"a group of tall trees","task_description":"What is the safest flight 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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":174,"start_point":[898,35],"end_point":[478,954],"distance":1010.4261477218412},{"start_region_id":23,"end_region_id":112,"start_point":[573,929],"end_point":[990,78],"distance":947.6761050063466},{"start_region_id":34,"end_region_id":112,"start_point":[839,991],"end_point":[990,78],"distance":925.4026150816735},{"start_region_id":1,"end_region_id":163,"start_point":[644,101],"end_point":[165,885],"distance":918.7475170034475},{"start_region_id":9,"end_region_id":174,"start_point":[942,220],"end_point":[478,954],"distance":868.3616758010455}],"complexity_score":0.6214236463596119}
{"id":16542,"query_id":"Q03309","question":"An aerial survey drone is positioned on a grassy, open field with low vegetation and needs to reach an exposed, rocky or sandy ground without vegetation. The drone can fly over areas with low vegetation, cultivated fields, and scattered trees, but must avoid dense tree canopies as they slow down navigation. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"exposed, rocky or sandy ground without vegetation","task_description":"What is the fastest path for the aerial survey drone to travel from the grassy, open field to the exposed, rocky or sandy 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":"western_21.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":29,"start_point":[55,122],"end_point":[983,934],"distance":1233.0969142772194},{"start_region_id":72,"end_region_id":3,"start_point":[124,960],"end_point":[898,35],"distance":1206.1098623259822},{"start_region_id":43,"end_region_id":34,"start_point":[55,122],"end_point":[839,991],"distance":1170.3918147355612},{"start_region_id":72,"end_region_id":9,"start_point":[124,960],"end_point":[942,220],"distance":1103.0521293211848},{"start_region_id":44,"end_region_id":29,"start_point":[161,278],"end_point":[983,934],"distance":1051.67485469607}],"complexity_score":0.6214236463596119}
{"id":3765,"query_id":"Q00753","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 loose earth and rocks without vegetation, patches of wild grass and shrubs, hard artificial surfaces like sidewalks and parking lots, individual trees or groups of trees, and the cultivated fields themselves. All these surfaces are accessible for traversal. 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":["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":"podkarpackie_18.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":276,"end_region_id":116,"start_point":[722,410],"end_point":[51,1010],"distance":900.133878931351},{"start_region_id":275,"end_region_id":116,"start_point":[240,352],"end_point":[51,1010],"distance":684.6057259474244},{"start_region_id":278,"end_region_id":116,"start_point":[395,511],"end_point":[51,1010],"distance":606.0833276043815},{"start_region_id":281,"end_region_id":115,"start_point":[280,999],"end_point":[591,525],"distance":566.9188654472525},{"start_region_id":275,"end_region_id":115,"start_point":[240,352],"end_point":[591,525],"distance":391.3182847759609}],"complexity_score":0.6215198723406058}
{"id":5032,"query_id":"Q01007","question":"An agricultural monitoring drone is hovering over a cultivated field with low vegetation. It needs to reach a paved lane below. The drone can fly over hard surfaces, soft ground, and liquid areas, but it must avoid flying through dense tree canopies or close to solid vertical structures like buildings. What is the fastest flight path for the drone?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"paved lane","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":"podkarpackie_18.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":281,"end_region_id":115,"start_point":[280,999],"end_point":[591,525],"distance":566.9188654472525},{"start_region_id":275,"end_region_id":115,"start_point":[240,352],"end_point":[591,525],"distance":391.3182847759609},{"start_region_id":276,"end_region_id":115,"start_point":[722,410],"end_point":[591,525],"distance":174.3158053648607}],"complexity_score":0.6215198723406058}
{"id":12713,"query_id":"Q02543","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. You can traverse areas with short grass and shrubs, hard paved surfaces, vehicle lanes, and cultivated fields, but you must avoid water bodies and buildings. The wooded areas are only passable if there are clear gaps between trees that allow safe passage. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest route from the cultivated field to the wooded area?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"podkarpackie_18.tif","subfolder":"podkarpackie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":281,"end_region_id":117,"start_point":[280,999],"end_point":[135,61],"distance":949.1411907614167},{"start_region_id":281,"end_region_id":119,"start_point":[280,999],"end_point":[403,91],"distance":916.2930753858178},{"start_region_id":281,"end_region_id":170,"start_point":[280,999],"end_point":[982,413],"distance":914.4397191723465},{"start_region_id":281,"end_region_id":136,"start_point":[280,999],"end_point":[576,147],"distance":901.9534356051869},{"start_region_id":275,"end_region_id":238,"start_point":[240,352],"end_point":[981,858],"distance":897.2831214282369}],"complexity_score":0.6215198723406058}
{"id":4504,"query_id":"Q00901","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The environment contains areas with vertical obstacles that provide overhead cover, but these can be navigated around if necessary. The paved, hard-surfaced areas and vehicle lanes are both accessible surfaces. What is the shortest path to the vehicle lane?","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 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":"khartoum_14.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":18,"start_point":[75,13],"end_point":[565,567],"distance":739.6053001432589},{"start_region_id":4,"end_region_id":18,"start_point":[47,78],"end_point":[565,567],"distance":712.351738960466},{"start_region_id":7,"end_region_id":18,"start_point":[49,218],"end_point":[565,567],"distance":622.9422124081816},{"start_region_id":8,"end_region_id":18,"start_point":[59,344],"end_point":[565,567],"distance":552.9602155670876},{"start_region_id":9,"end_region_id":18,"start_point":[69,443],"end_point":[565,567],"distance":511.2650975765899}],"complexity_score":0.6215236750333548}
{"id":1549,"query_id":"Q00310","question":"An aerial surveillance drone starts from a flat, paved area and needs to reach another flat, paved area. The drone can fly over open liquid surfaces, and it is permitted to navigate around tall vertical obstacles if necessary. However, it must avoid any contact with solid vertical structures. The drone's primary concern is minimizing risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, paved area","end_land_type":"Another flat, paved area","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":"soriano_15.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":232,"start_point":[84,177],"end_point":[969,988],"distance":1200.3941019515216},{"start_region_id":232,"end_region_id":71,"start_point":[969,988],"end_point":[84,177],"distance":1200.3941019515216},{"start_region_id":220,"end_region_id":67,"start_point":[96,890],"end_point":[745,47],"distance":1063.8843922156204},{"start_region_id":67,"end_region_id":220,"start_point":[745,47],"end_point":[96,890],"distance":1063.8843922156204},{"start_region_id":204,"end_region_id":71,"start_point":[892,776],"end_point":[84,177],"distance":1005.8155894596185}],"complexity_score":0.6215618882926528}
{"id":7369,"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":"soriano_15.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":257,"end_region_id":257,"start_point":[147,204],"end_point":[906,933],"distance":1052.3887114559905}],"complexity_score":0.6215618882926528}
{"id":16560,"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":"soriano_15.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":57,"start_point":[921,279],"end_point":[434,915],"distance":801.0399490662123},{"start_region_id":57,"end_region_id":21,"start_point":[434,915],"end_point":[921,279],"distance":801.0399490662123},{"start_region_id":26,"end_region_id":57,"start_point":[915,335],"end_point":[434,915],"distance":753.4991705370352},{"start_region_id":57,"end_region_id":26,"start_point":[434,915],"end_point":[915,335],"distance":753.4991705370352},{"start_region_id":59,"end_region_id":21,"start_point":[623,961],"end_point":[921,279],"distance":744.2633942362072}],"complexity_score":0.6215618882926528}
{"id":17837,"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_36.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":2,"start_point":[67,326],"end_point":[392,62],"distance":418.7135058724521},{"start_region_id":2,"end_region_id":10,"start_point":[392,62],"end_point":[67,326],"distance":418.7135058724521},{"start_region_id":2,"end_region_id":12,"start_point":[392,62],"end_point":[220,342],"distance":328.60919037665394},{"start_region_id":12,"end_region_id":2,"start_point":[220,342],"end_point":[392,62],"distance":328.60919037665394},{"start_region_id":1,"end_region_id":12,"start_point":[159,39],"end_point":[220,342],"distance":309.0792778560219}],"complexity_score":0.6216150805738967}
{"id":17972,"query_id":"Q03595","question":"An aerial drone starts from a grassy, open field and needs to reach another grassy area while flying over varied surfaces. The terrain includes loose, sandy ground; hard, paved pathways; dense vegetation clusters; and cultivated plots with soft soil. You must avoid any vertical structures and liquid bodies. To ensure a smooth and stable flight, what is the most comfortable path?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"Rangeland","end_land_type":"Rangeland","task_description":"What is the most comfortable path to reach the destination?","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":"rio_36.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":2,"start_point":[67,326],"end_point":[392,62],"distance":418.7135058724521},{"start_region_id":2,"end_region_id":10,"start_point":[392,62],"end_point":[67,326],"distance":418.7135058724521},{"start_region_id":2,"end_region_id":12,"start_point":[392,62],"end_point":[220,342],"distance":328.60919037665394},{"start_region_id":12,"end_region_id":2,"start_point":[220,342],"end_point":[392,62],"distance":328.60919037665394},{"start_region_id":1,"end_region_id":12,"start_point":[159,39],"end_point":[220,342],"distance":309.0792778560219}],"complexity_score":0.6216150805738967}
{"id":11040,"query_id":"Q02208","question":"Starting above a patch of wild grass and shrubs, a delivery drone needs to reach another similar patch of wild vegetation. The drone must prioritize flying over open, unobstructed areas to minimize collision risk. It can fly over sandy expanses, grassy fields, paved surfaces like parking lots and streets, cultivated crop areas, and even shallow water surfaces if necessary, but should avoid flying directly through dense tree canopies or between tall buildings, as these pose higher risks of impact or signal interference. The goal is to find the path that minimizes the risk of crashing or losing control.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting above a patch of wild grass and shrubs.","end_land_type":"The destination is above another similar patch of wild vegetation.","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":"vienna_4.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":17,"start_point":[576,89],"end_point":[176,445],"distance":535.4773571309995},{"start_region_id":17,"end_region_id":2,"start_point":[176,445],"end_point":[576,89],"distance":535.4773571309995},{"start_region_id":2,"end_region_id":14,"start_point":[576,89],"end_point":[135,385],"distance":531.1280448253509},{"start_region_id":14,"end_region_id":2,"start_point":[135,385],"end_point":[576,89],"distance":531.1280448253509}],"complexity_score":0.621705414695372}
{"id":12029,"query_id":"Q02406","question":"A delivery van starts from a paved parking lot and needs to reach a paved street as quickly as possible. The van can only travel on hard, stable surfaces that provide good traction and minimal rolling resistance, such as compacted gravel or asphalt, and cannot drive on soft, loose soil, vegetation, liquid, or vertical obstacles. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved parking lot","end_land_type":"a paved street","task_description":"What is the fastest path for the delivery van to travel from the paved parking lot to the paved street?","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":"vienna_4.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":165,"start_point":[971,810],"end_point":[443,485],"distance":620.0072580220332},{"start_region_id":157,"end_region_id":165,"start_point":[845,906],"end_point":[443,485],"distance":582.1039426081909},{"start_region_id":55,"end_region_id":165,"start_point":[68,131],"end_point":[443,485],"distance":515.6946771104002},{"start_region_id":52,"end_region_id":165,"start_point":[164,93],"end_point":[443,485],"distance":481.1496648653099},{"start_region_id":152,"end_region_id":165,"start_point":[747,865],"end_point":[443,485],"distance":486.6374420448965}],"complexity_score":0.621705414695372}
{"id":16105,"query_id":"Q03221","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, grassy or shrub-covered areas, and liquid surfaces, but must avoid tall vertical obstacles and solid 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":"vienna_4.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":165,"end_region_id":165,"start_point":[958,5],"end_point":[52,784],"distance":1194.8543844335175}],"complexity_score":0.621705414695372}
{"id":1490,"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_6.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":61,"start_point":[446,576],"end_point":[804,252],"distance":482.8457310570323},{"start_region_id":130,"end_region_id":63,"start_point":[446,576],"end_point":[33,280],"distance":508.11908053132584},{"start_region_id":130,"end_region_id":111,"start_point":[446,576],"end_point":[869,773],"distance":466.624045672745},{"start_region_id":130,"end_region_id":120,"start_point":[446,576],"end_point":[809,864],"distance":463.37134136672717},{"start_region_id":130,"end_region_id":122,"start_point":[446,576],"end_point":[74,875],"distance":477.2682683774399}],"complexity_score":0.6217668327801179}
{"id":7548,"query_id":"Q01510","question":"A quadcopter drone is on a flat, hard, paved surface and needs to reach another flat, hard, paved surface as quickly as possible. The drone can fly over open, dry ground composed of loose earth and rocks, as well as over cultivated fields with low vegetation. It can also fly over liquid surfaces. However, it cannot fly through dense clusters of tall, vertical objects that would require complex navigation. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"another flat, hard, paved surface","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":"rotterdam_6.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":122,"start_point":[804,252],"end_point":[74,875],"distance":959.7025580876608},{"start_region_id":122,"end_region_id":61,"start_point":[74,875],"end_point":[804,252],"distance":959.7025580876608},{"start_region_id":63,"end_region_id":120,"start_point":[33,280],"end_point":[809,864],"distance":971.2013179562721},{"start_region_id":120,"end_region_id":63,"start_point":[809,864],"end_point":[33,280],"distance":971.2013179562721},{"start_region_id":63,"end_region_id":111,"start_point":[33,280],"end_point":[869,773],"distance":970.5385103127027}],"complexity_score":0.6217668327801179}
{"id":562,"query_id":"Q00113","question":"A quadcopter drone starts from a paved tennis court and needs to reach a paved runway. The area includes hard, flat surfaces like tennis courts and runways, as well as rough, uneven ground with loose soil and rocks, and areas with tall vertical obstacles like trees. You must avoid any liquid surfaces. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved tennis court","end_land_type":"a paved runway","task_description":"What is the shortest path from the paved tennis court to the paved runway?","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":"mexico_city_14.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":200,"start_point":[773,959],"end_point":[158,31],"distance":1113.2874741054081},{"start_region_id":72,"end_region_id":219,"start_point":[967,202],"end_point":[27,660],"distance":1045.640473585448},{"start_region_id":178,"end_region_id":200,"start_point":[779,851],"end_point":[158,31],"distance":1028.6111996279255},{"start_region_id":184,"end_region_id":204,"start_point":[773,959],"end_point":[141,195],"distance":991.524079384863},{"start_region_id":138,"end_region_id":200,"start_point":[979,622],"end_point":[158,31],"distance":1011.5937919936046}],"complexity_score":0.6217690249499265}
{"id":8877,"query_id":"Q01776","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 soil and rocks, open grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, and bodies of water. However, it must avoid any tall vertical structures or dense vegetation clusters that could pose collision risks. The drone's primary concern is minimizing operational hazards during 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":"mexico_city_14.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":223,"end_region_id":200,"start_point":[628,898],"end_point":[158,31],"distance":986.1992699246942},{"start_region_id":200,"end_region_id":223,"start_point":[158,31],"end_point":[628,898],"distance":986.1992699246942},{"start_region_id":223,"end_region_id":204,"start_point":[628,898],"end_point":[141,195],"distance":855.2064078338047},{"start_region_id":204,"end_region_id":223,"start_point":[141,195],"end_point":[628,898],"distance":855.2064078338047},{"start_region_id":203,"end_region_id":200,"start_point":[778,499],"end_point":[158,31],"distance":776.8037075091751}],"complexity_score":0.6217690249499265}
{"id":17670,"query_id":"Q03534","question":"A quadcopter drone is deployed from a grassy, open field and needs to reach a tall, leafy canopy as quickly as possible. The drone can fly over soft, vegetated ground, cultivated crop fields, and open water surfaces. However, it must avoid flying directly through dense foliage, as that would significantly slow it down. What is the fastest path to the canopy?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"a tall, leafy canopy","task_description":"What is the fastest path to the canopy?","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":"mexico_city_14.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":343,"start_point":[205,325],"end_point":[899,895],"distance":898.073493651828},{"start_region_id":32,"end_region_id":244,"start_point":[321,729],"end_point":[907,119],"distance":845.8699663659894},{"start_region_id":19,"end_region_id":278,"start_point":[205,325],"end_point":[965,329],"distance":760.0105262428935},{"start_region_id":32,"end_region_id":278,"start_point":[321,729],"end_point":[965,329],"distance":758.1134479746419},{"start_region_id":19,"end_region_id":244,"start_point":[205,325],"end_point":[907,119],"distance":731.6009841436793}],"complexity_score":0.6217690249499265}
{"id":6976,"query_id":"Q01396","question":"An aerial surveillance drone starts from a flat, cultivated field with short vegetation and needs to reach a flat, hard-surfaced area. The drone must avoid any tall, dense vegetation or vertical structures that could cause collisions. Open water bodies are accessible but present a risk if the drone malfunctions. The terrain includes expanses of loose, sandy soil; areas covered with low, wild grasses and shrubs; and hard, compacted surfaces used for vehicle movement. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Agriculture land","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":"chincha_23.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":49,"start_point":[706,773],"end_point":[57,42],"distance":977.5285162080951},{"start_region_id":161,"end_region_id":50,"start_point":[706,773],"end_point":[201,124],"distance":822.3296176108458},{"start_region_id":159,"end_region_id":49,"start_point":[833,267],"end_point":[57,42],"distance":807.9610139109436},{"start_region_id":160,"end_region_id":91,"start_point":[228,804],"end_point":[984,604],"distance":782.0076725966312},{"start_region_id":160,"end_region_id":49,"start_point":[228,804],"end_point":[57,42],"distance":780.951342914525}],"complexity_score":0.6218049280364278}
{"id":9743,"query_id":"Q01949","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone must avoid vertical obstacles like tall structures and dense vegetation canopies that could cause collisions. Open water surfaces are accessible but pose stability risks in windy conditions. The path should prioritize stable, predictable terrain that minimizes the risk of crashes or signal interference.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest route for the drone to reach 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":"chincha_23.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":49,"start_point":[706,773],"end_point":[57,42],"distance":977.5285162080951},{"start_region_id":161,"end_region_id":50,"start_point":[706,773],"end_point":[201,124],"distance":822.3296176108458},{"start_region_id":159,"end_region_id":49,"start_point":[833,267],"end_point":[57,42],"distance":807.9610139109436},{"start_region_id":160,"end_region_id":91,"start_point":[228,804],"end_point":[984,604],"distance":782.0076725966312},{"start_region_id":160,"end_region_id":49,"start_point":[228,804],"end_point":[57,42],"distance":780.951342914525}],"complexity_score":0.6218049280364278}
{"id":8711,"query_id":"Q01743","question":"A quadcopter drone starts from a grassy, open field and needs to reach a flat, paved area. The drone can fly over any surface except dense tree canopies and solid structures, which are blocked. The water surface is accessible for overflight. 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":"santiago_37.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":47,"start_point":[107,68],"end_point":[985,127],"distance":879.9801134116611},{"start_region_id":2,"end_region_id":46,"start_point":[107,68],"end_point":[917,379],"distance":867.652580241654},{"start_region_id":7,"end_region_id":41,"start_point":[897,191],"end_point":[68,33],"distance":843.9223897965974},{"start_region_id":11,"end_region_id":47,"start_point":[158,243],"end_point":[985,127],"distance":835.0958028873094},{"start_region_id":2,"end_region_id":60,"start_point":[107,68],"end_point":[859,421],"distance":830.7304015142338}],"complexity_score":0.6219828000892725}
{"id":17389,"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_37.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":2,"start_point":[939,969],"end_point":[107,68],"distance":1226.3869699242568},{"start_region_id":83,"end_region_id":10,"start_point":[939,969],"end_point":[206,179],"distance":1077.6775955729988},{"start_region_id":83,"end_region_id":11,"start_point":[939,969],"end_point":[158,243],"distance":1066.3193705452416},{"start_region_id":83,"end_region_id":8,"start_point":[939,969],"end_point":[440,131],"distance":975.3178968931104},{"start_region_id":77,"end_region_id":2,"start_point":[1007,47],"end_point":[107,68],"distance":900.2449666618526}],"complexity_score":0.6219828000892725}
{"id":5170,"query_id":"Q01034","question":"A passenger vehicle starts from a paved street and needs to reach a crop field while prioritizing safety. The vehicle is permitted to drive on crop fields because the soil is dry and compacted. The vehicle must avoid any loose, sandy, or rocky terrain; any grassy or shrub-covered areas; any areas with trees or vertical obstacles; any liquid surfaces; and any vertical structures. The vehicle should use only hard, paved surfaces and firm, cultivated ground.","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a paved street","end_land_type":"a crop field","task_description":"What is the safest path for the passenger vehicle to take?","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":"abancay_4.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":204,"start_point":[523,517],"end_point":[956,848],"distance":545.0229352972221}],"complexity_score":0.6220131483182899}
{"id":9454,"query_id":"Q01891","question":"A quadcopter drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over most terrain types but must avoid dense vegetation and vertical structures to ensure stable and comfortable flight. It can traverse loose soil, hard surfaces, liquid areas, and agricultural areas, but flying through trees or buildings is prohibited due to collision risk and turbulence. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved surface","end_land_type":"a cultivated field","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":"abancay_4.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":204,"start_point":[523,517],"end_point":[956,848],"distance":545.0229352972221},{"start_region_id":115,"end_region_id":206,"start_point":[523,517],"end_point":[699,960],"distance":476.68123520860354}],"complexity_score":0.6220131483182899}
{"id":17167,"query_id":"Q03434","question":"A hiker is starting from a densely vegetated area with tall, leafy plants and a canopy overhead and needs to reach a flat, hard, and smooth paved area. The terrain includes open areas covered with low, natural grasses and shrubs that are dry and firm enough to walk on. The hiker is wearing sturdy boots that provide good traction on uneven ground. What is the fastest path to the destination?","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":"a flat, hard, and smooth paved area","task_description":"What is the fastest path to 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":[2,3,5,4,1,0,0,0],"image_name":"abancay_4.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":65,"start_point":[921,945],"end_point":[47,92],"distance":1221.2636897902107},{"start_region_id":183,"end_region_id":65,"start_point":[881,876],"end_point":[47,92],"distance":1144.6449231093457},{"start_region_id":175,"end_region_id":65,"start_point":[945,722],"end_point":[47,92],"distance":1096.9521411620472},{"start_region_id":188,"end_region_id":66,"start_point":[921,945],"end_point":[193,171],"distance":1062.5723504778393},{"start_region_id":162,"end_region_id":65,"start_point":[942,589],"end_point":[47,92],"distance":1023.7353173550281}],"complexity_score":0.6220131483182899}
{"id":12758,"query_id":"Q02552","question":"A hiker starts from a paved area and needs to reach a cultivated field. You can walk on paved surfaces, vehicle lanes, grassy areas with shrubs, areas with individual trees, and cultivated fields. However, you cannot walk on water bodies or enter buildings. What is the shortest path to the cultivated field?","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 cultivated field?","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_42.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":132,"start_point":[31,958],"end_point":[931,117],"distance":1231.7796069102621},{"start_region_id":64,"end_region_id":135,"start_point":[31,958],"end_point":[982,315],"distance":1147.9764805953125},{"start_region_id":64,"end_region_id":136,"start_point":[31,958],"end_point":[991,399],"distance":1110.8919839480345},{"start_region_id":44,"end_region_id":143,"start_point":[988,359],"end_point":[19,778],"distance":1055.7092402740443},{"start_region_id":74,"end_region_id":132,"start_point":[307,957],"end_point":[931,117],"distance":1046.4110091163989}],"complexity_score":0.6220676633228404}
{"id":14100,"query_id":"Q02820","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a cultivated field with loose soil. The terrain includes rough, uneven ground composed of loose earth and rocks, which may be traversable with high clearance and four-wheel drive. The vehicle must avoid any areas with dense vegetation or vertical obstacles, as these are impassable, and liquid surfaces are strictly off-limits. The cultivated field is accessible because the soil is firm and the crops are low enough to drive over without damage. 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 cultivated field with loose soil","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":"kyoto_42.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":132,"start_point":[31,958],"end_point":[931,117],"distance":1231.7796069102621},{"start_region_id":64,"end_region_id":135,"start_point":[31,958],"end_point":[982,315],"distance":1147.9764805953125},{"start_region_id":64,"end_region_id":136,"start_point":[31,958],"end_point":[991,399],"distance":1110.8919839480345},{"start_region_id":44,"end_region_id":143,"start_point":[988,359],"end_point":[19,778],"distance":1055.7092402740443},{"start_region_id":74,"end_region_id":132,"start_point":[307,957],"end_point":[931,117],"distance":1046.4110091163989}],"complexity_score":0.6220676633228404}
{"id":152,"query_id":"Q00031","question":"An aerial survey drone is positioned on a grassy, open field with low vegetation and needs to reach a cultivated crop field with rows of plants. The drone can fly over any solid or liquid surface, but must avoid tall vertical obstacles like trees and structures, as they pose collision risks and require careful maneuvering. The drone's priority is to maintain high speed and stable flight, so it should favor open, unobstructed areas to minimize speed reductions. 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 with rows of plants","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":"pomorskie_40.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":150,"start_point":[959,520],"end_point":[16,199],"distance":996.1375407040937},{"start_region_id":3,"end_region_id":150,"start_point":[975,60],"end_point":[16,199],"distance":969.0211555998145},{"start_region_id":3,"end_region_id":154,"start_point":[975,60],"end_point":[357,775],"distance":945.0656061882688},{"start_region_id":20,"end_region_id":150,"start_point":[575,907],"end_point":[16,199],"distance":902.0781562592013},{"start_region_id":24,"end_region_id":150,"start_point":[354,974],"end_point":[16,199],"distance":845.4992607921074}],"complexity_score":0.6220922855669859}
{"id":4272,"query_id":"Q00855","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 low, herbaceous vegetation or bushes, as well as liquid surfaces, but must avoid tall, vertical obstacles and solid structures. Which path should the drone take to reach the destination with minimal risk?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path should the drone take to reach the destination with minimal 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":"pomorskie_40.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":153,"end_region_id":150,"start_point":[819,773],"end_point":[16,199],"distance":987.0587621818672},{"start_region_id":150,"end_region_id":153,"start_point":[16,199],"end_point":[819,773],"distance":987.0587621818672},{"start_region_id":154,"end_region_id":150,"start_point":[357,775],"end_point":[16,199],"distance":669.3705998921673},{"start_region_id":150,"end_region_id":154,"start_point":[16,199],"end_point":[357,775],"distance":669.3705998921673},{"start_region_id":153,"end_region_id":151,"start_point":[819,773],"end_point":[291,411],"distance":640.1781002189938}],"complexity_score":0.6220922855669859}
{"id":7996,"query_id":"Q01600","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open, loose soil areas, vegetated areas with tall plants, and liquid surfaces, but must avoid vertical structures and dense overhead obstacles. The goal is to minimize risk of collision, signal interference, or instability during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance 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","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":"pomorskie_40.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":153,"start_point":[66,299],"end_point":[819,773],"distance":889.7668233868916},{"start_region_id":30,"end_region_id":154,"start_point":[842,71],"end_point":[357,775],"distance":854.8923908890522},{"start_region_id":30,"end_region_id":150,"start_point":[842,71],"end_point":[16,199],"distance":835.8588397570489},{"start_region_id":50,"end_region_id":150,"start_point":[551,695],"end_point":[16,199],"distance":729.5484905062857},{"start_region_id":30,"end_region_id":153,"start_point":[842,71],"end_point":[819,773],"distance":702.3766795673102}],"complexity_score":0.6220922855669859}
{"id":17993,"query_id":"Q03599","question":"A delivery drone is on a paved surface and needs to reach a cultivated field with planted crops. The drone must fly only over terrains that minimize risk of collision or signal interference. Allowed terrains include the paved surface, loose soil and rock areas, grassy or shrub-covered ground, individual or clusters of tall vertical plants, and planted crop fields. However, it must avoid any liquid bodies, permanent vertical structures, and any terrain not listed here. What is the safest flight path?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved surface","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":"pomorskie_40.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":150,"start_point":[469,731],"end_point":[16,199],"distance":698.7367172261667},{"start_region_id":72,"end_region_id":153,"start_point":[419,311],"end_point":[819,773],"distance":611.1006463750468},{"start_region_id":72,"end_region_id":154,"start_point":[419,311],"end_point":[357,775],"distance":468.12391521903686},{"start_region_id":72,"end_region_id":150,"start_point":[419,311],"end_point":[16,199],"distance":418.2738337500925},{"start_region_id":74,"end_region_id":153,"start_point":[469,731],"end_point":[819,773],"distance":352.5109927363968}],"complexity_score":0.6220922855669859}
{"id":4832,"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_61.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":49,"start_point":[230,278],"end_point":[574,221],"distance":348.69040709488985},{"start_region_id":49,"end_region_id":53,"start_point":[574,221],"end_point":[230,278],"distance":348.69040709488985},{"start_region_id":59,"end_region_id":62,"start_point":[496,405],"end_point":[197,448],"distance":302.0761493398643},{"start_region_id":62,"end_region_id":59,"start_point":[197,448],"end_point":[496,405],"distance":302.0761493398643},{"start_region_id":59,"end_region_id":70,"start_point":[496,405],"end_point":[270,586],"distance":289.54619665953135}],"complexity_score":0.6221401405338574}
{"id":8752,"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_61.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":81,"start_point":[466,563],"end_point":[347,283],"distance":304.23839336941023},{"start_region_id":28,"end_region_id":81,"start_point":[78,421],"end_point":[347,283],"distance":302.33259830855155},{"start_region_id":35,"end_region_id":82,"start_point":[466,563],"end_point":[236,529],"distance":232.4994623649698}],"complexity_score":0.6221401405338574}
{"id":13212,"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_61.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":49,"start_point":[270,586],"end_point":[574,221],"distance":475.0168418066879},{"start_region_id":49,"end_region_id":70,"start_point":[574,221],"end_point":[270,586],"distance":475.0168418066879},{"start_region_id":53,"end_region_id":68,"start_point":[230,278],"end_point":[580,585],"distance":465.56309991235344},{"start_region_id":68,"end_region_id":53,"start_point":[580,585],"end_point":[230,278],"distance":465.56309991235344},{"start_region_id":62,"end_region_id":49,"start_point":[197,448],"end_point":[574,221],"distance":440.06590415527535}],"complexity_score":0.6221401405338574}
{"id":17502,"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_61.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":35,"start_point":[347,283],"end_point":[466,563],"distance":304.23839336941023},{"start_region_id":81,"end_region_id":28,"start_point":[347,283],"end_point":[78,421],"distance":302.33259830855155},{"start_region_id":82,"end_region_id":35,"start_point":[236,529],"end_point":[466,563],"distance":232.4994623649698}],"complexity_score":0.6221401405338574}
{"id":1056,"query_id":"Q00212","question":"A surveillance 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 most surfaces, but must avoid dense clusters of tall vegetation due to collision risk. It cannot pass through solid vertical structures. The mission requires finding the most direct route.","agent_category":"Drone","specific_agent":"Aerial surveillance 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 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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":113,"start_point":[299,495],"end_point":[846,589],"distance":555.018017725551},{"start_region_id":1,"end_region_id":64,"start_point":[299,495],"end_point":[112,108],"distance":429.81158662837373},{"start_region_id":1,"end_region_id":79,"start_point":[299,495],"end_point":[16,261],"distance":367.21247255505904},{"start_region_id":1,"end_region_id":115,"start_point":[299,495],"end_point":[186,789],"distance":314.96825236839345},{"start_region_id":1,"end_region_id":93,"start_point":[299,495],"end_point":[500,629],"distance":241.5719354560873}],"complexity_score":0.6221727593653205}
{"id":1979,"query_id":"Q00396","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to return to a similar patch of loose, sandy ground. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over areas with short, sparse vegetation; tall, dense vegetation that requires careful navigation; open water surfaces; and cultivated fields with regular crop patterns. It cannot fly through solid vertical structures or paved surfaces.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needs to return to a similar 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","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,0,1,1,1,0],"cost_vector":[3,3,0,0,1,2,3,0],"image_name":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[3,507],"end_point":[509,691],"distance":538.4161958931028}],"complexity_score":0.6221727593653205}
{"id":2835,"query_id":"Q00567","question":"A rally car starts on loose, sandy ground and needs to reach a paved lane as quickly as possible. The vehicle can traverse hard, flat surfaces like parking lots and sidewalks, and can also cross cultivated fields if necessary, but cannot go through water, trees, or buildings. Which path allows the vehicle to reach the paved lane the fastest?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"loose, sandy ground","end_land_type":"a paved lane","task_description":"Which path allows the vehicle to reach the paved lane the fastest?","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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":132,"start_point":[299,495],"end_point":[764,624],"distance":482.56191312618114}],"complexity_score":0.6221727593653205}
{"id":3184,"query_id":"Q00637","question":"A hiker is starting from a grassy, uneven field covered with low vegetation and needs to reach a destination on a dry, exposed surface of loose soil and rocks. The hiker must avoid any paved or hard surfaces, water bodies, cultivated fields, trees, and structures. The path must prioritize terrain that minimizes the risk of slips, trips, or unstable footing.","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the safest path from the grassy field to the rocky area?","task_type":"Safest","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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":1,"start_point":[257,937],"end_point":[299,495],"distance":443.9909908995902}],"complexity_score":0.6221727593653205}
{"id":7587,"query_id":"Q01518","question":"An aerial surveillance drone starts from a flat, open area of loose soil and rocks, an aerial surveillance drone must reach a hard, paved surface. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical obstacles like trees and structures. Which path minimizes the risk of collision or instability?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"Which path minimizes the risk of collision or instability?","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_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":113,"start_point":[299,495],"end_point":[846,589],"distance":555.018017725551},{"start_region_id":1,"end_region_id":64,"start_point":[299,495],"end_point":[112,108],"distance":429.81158662837373},{"start_region_id":1,"end_region_id":79,"start_point":[299,495],"end_point":[16,261],"distance":367.21247255505904},{"start_region_id":1,"end_region_id":115,"start_point":[299,495],"end_point":[186,789],"distance":314.96825236839345},{"start_region_id":1,"end_region_id":93,"start_point":[299,495],"end_point":[500,629],"distance":241.5719354560873}],"complexity_score":0.6221727593653205}
{"id":8600,"query_id":"Q01720","question":"An off-road vehicle is positioned on uneven, rocky terrain and aims to reach a paved street. The vehicle can travel across loose soil and rocks, as well as grassy fields, but cannot pass through wooded areas, water, or structures. The paved street is the target destination. What is the safest route for the off-road vehicle?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"a paved street","task_description":"What is the safest route for the off-road vehicle?","task_type":"Safest","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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":132,"start_point":[299,495],"end_point":[764,624],"distance":482.56191312618114}],"complexity_score":0.6221727593653205}
{"id":9707,"query_id":"Q01942","question":"A hiker starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach another area of similar loose, sandy ground with scattered rocks and no vegetation. The hiker can walk on paved lanes and hard, artificial surfaces, but must avoid liquid bodies and solid, enclosed structures. The hiker is allowed to traverse cultivated fields with low, uniform vegetation and areas with loose earth and rocks, as the terrain is dry and stable. However, the hiker cannot pass through densely packed vertical obstacles like tall, leafy structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is another area of similar loose, sandy ground with scattered rocks and no vegetation.","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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[4,517],"end_point":[519,650],"distance":531.8966064941569}],"complexity_score":0.6221727593653205}
{"id":11803,"query_id":"Q02361","question":"An off-road vehicle starts from a paved street and needs to reach a rocky, uneven ground. The vehicle can travel on paved surfaces and compacted artificial areas, but cannot cross trees, water bodies, or buildings. The rocky ground is accessible because it is firm and dry enough for off-road driving. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a rocky, uneven ground","task_description":"What is the shortest path for the off-road vehicle 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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":132,"end_region_id":1,"start_point":[764,624],"end_point":[299,495],"distance":482.56191312618114}],"complexity_score":0.6221727593653205}
{"id":16549,"query_id":"Q03310","question":"An aerial survey drone begins its mission on a grassy, vegetated area and needs to reach an exposed, dry ground area. The drone can fly over open ground with sparse vegetation, areas with dense vegetation and tall vertical obstacles, and liquid surfaces. The mission requires the drone to avoid any potential hazards that could cause loss of control or damage. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, vegetated area","end_land_type":"exposed, dry ground","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":"dhaka_14.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":1,"start_point":[845,44],"end_point":[299,495],"distance":708.1786497770178},{"start_region_id":62,"end_region_id":1,"start_point":[823,984],"end_point":[299,495],"distance":716.7265866423542},{"start_region_id":3,"end_region_id":1,"start_point":[645,31],"end_point":[299,495],"distance":578.8022114677863},{"start_region_id":19,"end_region_id":1,"start_point":[789,248],"end_point":[299,495],"distance":548.733997488765},{"start_region_id":16,"end_region_id":1,"start_point":[560,202],"end_point":[299,495],"distance":392.3901120058965}],"complexity_score":0.6221727593653205}
{"id":16168,"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_13.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":71,"start_point":[565,796],"end_point":[878,116],"distance":748.577985249366},{"start_region_id":71,"end_region_id":70,"start_point":[878,116],"end_point":[565,796],"distance":748.577985249366}],"complexity_score":0.6222183706558384}
{"id":255,"query_id":"Q00051","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field while prioritizing safety. The drone must avoid any areas with tall vegetation or vertical structures that could pose collision risks. The drone can fly over dry, exposed earth surfaces; grassy or shrub-covered terrain; paved or compacted surfaces; vehicle lanes; liquid bodies; and cultivated fields. However, areas with tall vegetation or vertical structures are only traversable if they are explicitly stated to be safe for passage, which they are not in this scenario. The drone cannot use any other types of terrain. What is the safest 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":"cultivated crop 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":"les_cayes_37.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":47,"end_region_id":283,"start_point":[446,865],"end_point":[956,173],"distance":859.6301530309415},{"start_region_id":1,"end_region_id":358,"start_point":[569,169],"end_point":[751,974],"distance":825.3175146572379},{"start_region_id":47,"end_region_id":279,"start_point":[446,865],"end_point":[682,107],"distance":793.8891610294223},{"start_region_id":60,"end_region_id":280,"start_point":[801,787],"end_point":[258,240],"distance":770.7515812504053},{"start_region_id":1,"end_region_id":339,"start_point":[569,169],"end_point":[664,890],"distance":727.2317374812516}],"complexity_score":0.6223045425968788}
{"id":7717,"query_id":"Q01544","question":"A delivery drone begins its journey on a paved, hard surface lane and needs to reach a cultivated field with rows of crops. The drone can fly over liquid surfaces, but must avoid tall, dense vegetation and solid vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard surface lane","end_land_type":"A cultivated field with rows of crops","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":"les_cayes_37.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":358,"start_point":[491,525],"end_point":[751,974],"distance":518.8458345211995},{"start_region_id":138,"end_region_id":283,"start_point":[491,525],"end_point":[956,173],"distance":583.2057955816283},{"start_region_id":138,"end_region_id":305,"start_point":[491,525],"end_point":[126,551],"distance":365.92485567394846},{"start_region_id":138,"end_region_id":339,"start_point":[491,525],"end_point":[664,890],"distance":403.92326003833944},{"start_region_id":138,"end_region_id":295,"start_point":[491,525],"end_point":[885,711],"distance":435.6971425198931}],"complexity_score":0.6223045425968788}
{"id":1469,"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_14.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":14,"start_point":[52,239],"end_point":[817,548],"distance":825.0490894486219},{"start_region_id":280,"end_region_id":14,"start_point":[69,766],"end_point":[817,548],"distance":779.1200164287912},{"start_region_id":258,"end_region_id":14,"start_point":[138,395],"end_point":[817,548],"distance":696.0244248587833},{"start_region_id":249,"end_region_id":2,"start_point":[661,555],"end_point":[126,225],"distance":628.589691293136},{"start_region_id":280,"end_region_id":2,"start_point":[69,766],"end_point":[126,225],"distance":543.9944852661652}],"complexity_score":0.6223410542292711}
{"id":5644,"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_14.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":253,"end_region_id":14,"start_point":[52,239],"end_point":[817,548],"distance":825.0490894486219},{"start_region_id":280,"end_region_id":14,"start_point":[69,766],"end_point":[817,548],"distance":779.1200164287912},{"start_region_id":258,"end_region_id":14,"start_point":[138,395],"end_point":[817,548],"distance":696.0244248587833},{"start_region_id":249,"end_region_id":2,"start_point":[661,555],"end_point":[126,225],"distance":628.589691293136},{"start_region_id":280,"end_region_id":2,"start_point":[69,766],"end_point":[126,225],"distance":543.9944852661652}],"complexity_score":0.6223410542292711}
{"id":7694,"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":"rotterdam_14.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":253,"start_point":[724,715],"end_point":[52,239],"distance":823.5047055117536},{"start_region_id":230,"end_region_id":253,"start_point":[652,797],"end_point":[52,239],"distance":819.3680491696024},{"start_region_id":79,"end_region_id":280,"start_point":[795,373],"end_point":[69,766],"distance":825.5452743490208},{"start_region_id":79,"end_region_id":253,"start_point":[795,373],"end_point":[52,239],"distance":754.986754850706},{"start_region_id":228,"end_region_id":250,"start_point":[58,791],"end_point":[455,228],"distance":688.8962185989991}],"complexity_score":0.6223410542292711}
{"id":15297,"query_id":"Q03060","question":"A hiker is starting from an area of natural, uncultivated grassy terrain and needs to reach a paved, hard-surface area. The hiker can traverse grassy areas, cultivated fields with crops, and wooded areas with trees, but cannot cross water bodies or enter buildings. What is the shortest path to reach the paved area?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest path to reach the paved 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":"rotterdam_14.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":228,"start_point":[817,548],"end_point":[58,791],"distance":796.9504376057522},{"start_region_id":2,"end_region_id":216,"start_point":[126,225],"end_point":[724,715],"distance":773.1131870560739},{"start_region_id":2,"end_region_id":230,"start_point":[126,225],"end_point":[652,797],"distance":777.0842940119173},{"start_region_id":14,"end_region_id":231,"start_point":[817,548],"end_point":[195,769],"distance":660.0946901770988},{"start_region_id":2,"end_region_id":79,"start_point":[126,225],"end_point":[795,373],"distance":685.1751600868205}],"complexity_score":0.6223410542292711}
{"id":16672,"query_id":"Q03335","question":"A delivery drone starts from a grassy field and needs to reach a paved street. The area contains various surfaces: some are covered with loose soil and low vegetation, others have tall vertical obstacles that require careful navigation, some are liquid surfaces, and some are cultivated areas with uneven soil. You must avoid any hard, artificial surfaces that aren't the destination street. Your drone can fly over most terrain but prioritizes smooth, predictable airspace to minimize vibration and ensure stable flight comfort. What is the most comfortable path to reach the paved street?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the most comfortable path to reach the paved street?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,1,1,1,1,0],"cost_vector":[3,3,0,3,1,2,3,0],"image_name":"rotterdam_14.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":253,"start_point":[817,548],"end_point":[52,239],"distance":825.0490894486219},{"start_region_id":14,"end_region_id":280,"start_point":[817,548],"end_point":[69,766],"distance":779.1200164287912},{"start_region_id":14,"end_region_id":258,"start_point":[817,548],"end_point":[138,395],"distance":696.0244248587833},{"start_region_id":14,"end_region_id":264,"start_point":[817,548],"end_point":[473,439],"distance":360.855926929294}],"complexity_score":0.6223410542292711}
{"id":2970,"query_id":"Q00594","question":"An off-road vehicle starts from a patch of grassy, shrub-covered ground and needs to reach another area of similar grassy, shrub-covered ground. The vehicle can traverse both loose, sandy or rocky surfaces without vegetation and grassy or shrubby terrain that is not cultivated, provided the ground is firm enough for vehicle traction. All other surface types are impassable for this journey. ","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path the off-road vehicle 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":"melbourne_20.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":21,"start_point":[1021,549],"end_point":[942,218],"distance":340.2969291662797}],"complexity_score":0.6223768293436066}
{"id":5684,"query_id":"Q01137","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open surface. The drone can fly over most surfaces, but navigating through dense vegetation requires careful maneuvering to avoid collisions. The flat, hard surface is clear and stable, providing a safe landing zone. What is the safest path to take?","agent_category":"Drone","specific_agent":"Aerial surveillance 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 safest path 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_20.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":529,"end_region_id":67,"start_point":[22,925],"end_point":[964,209],"distance":1183.2244081322867},{"start_region_id":440,"end_region_id":379,"start_point":[893,124],"end_point":[43,941],"distance":1178.977947206817},{"start_region_id":516,"end_region_id":67,"start_point":[86,789],"end_point":[964,209],"distance":1052.2756292911092},{"start_region_id":467,"end_region_id":379,"start_point":[939,419],"end_point":[43,941],"distance":1036.9667304209909},{"start_region_id":523,"end_region_id":67,"start_point":[173,882],"end_point":[964,209],"distance":1038.5615051599013}],"complexity_score":0.6223768293436066}
{"id":3421,"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_40.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":212,"start_point":[895,61],"end_point":[459,325],"distance":509.6979497702536},{"start_region_id":143,"end_region_id":212,"start_point":[962,344],"end_point":[459,325],"distance":503.3587190066345},{"start_region_id":147,"end_region_id":212,"start_point":[461,814],"end_point":[459,325],"distance":489.004089962446},{"start_region_id":148,"end_region_id":212,"start_point":[906,456],"end_point":[459,325],"distance":465.8003864317848},{"start_region_id":141,"end_region_id":212,"start_point":[894,393],"end_point":[459,325],"distance":440.2828636229214}],"complexity_score":0.622388972479223}
{"id":8815,"query_id":"Q01763","question":"A quadcopter drone is on a flat, hard, paved surface and needs to reach a long, hard, paved lane. The drone can fly over areas of loose, dry soil or rock, overgrown grassy or shrubby terrain, and bodies of liquid. However, it must avoid any tall, solid vertical structures or dense clusters of tall vegetation. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, hard, paved surface","end_land_type":"A long, hard, 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":"daressalaam_56.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":444,"end_region_id":635,"start_point":[899,616],"end_point":[319,465],"distance":599.3337968110926},{"start_region_id":616,"end_region_id":635,"start_point":[26,965],"end_point":[319,465],"distance":579.5248053362341},{"start_region_id":235,"end_region_id":635,"start_point":[845,329],"end_point":[319,465],"distance":543.2973403211173},{"start_region_id":578,"end_region_id":635,"start_point":[675,809],"end_point":[319,465],"distance":495.04747247107525},{"start_region_id":203,"end_region_id":635,"start_point":[636,154],"end_point":[319,465],"distance":444.08332551448046}],"complexity_score":0.6224835731596897}
{"id":9591,"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":"daressalaam_56.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":235,"end_region_id":616,"start_point":[845,329],"end_point":[26,965],"distance":1036.9459966652073},{"start_region_id":616,"end_region_id":235,"start_point":[26,965],"end_point":[845,329],"distance":1036.9459966652073},{"start_region_id":203,"end_region_id":616,"start_point":[636,154],"end_point":[26,965],"distance":1014.800965707069},{"start_region_id":616,"end_region_id":203,"start_point":[26,965],"end_point":[636,154],"distance":1014.800965707069},{"start_region_id":444,"end_region_id":178,"start_point":[899,616],"end_point":[90,57],"distance":983.342259846489}],"complexity_score":0.6224835731596897}
{"id":13257,"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":"daressalaam_56.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":616,"end_region_id":3,"start_point":[26,965],"end_point":[836,85],"distance":1196.0351165413163},{"start_region_id":178,"end_region_id":124,"start_point":[90,57],"end_point":[948,850],"distance":1168.3377080279486},{"start_region_id":178,"end_region_id":155,"start_point":[90,57],"end_point":[708,959],"distance":1093.402030362117},{"start_region_id":179,"end_region_id":124,"start_point":[248,22],"end_point":[948,850],"distance":1084.2435150832123},{"start_region_id":207,"end_region_id":124,"start_point":[210,92],"end_point":[948,850],"distance":1057.9262734236256}],"complexity_score":0.6224835731596897}
{"id":1920,"query_id":"Q00384","question":"A hiker starts from a paved lane and needs to reach a cluster of tall vegetation. The hiker can traverse hard surfaces like sidewalks and parking lots, as well as cultivated fields, but must avoid liquid areas and vertical structures. The tall vegetation is conditionally traversable if there are clear gaps between the trunks. 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 vegetation","task_description":"What is the shortest path from the paved lane to the cluster of tall vegetation?","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_31.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":345,"end_region_id":491,"start_point":[922,165],"end_point":[71,909],"distance":1130.3702933110017},{"start_region_id":346,"end_region_id":365,"start_point":[263,847],"end_point":[935,226],"distance":915.0},{"start_region_id":345,"end_region_id":458,"start_point":[922,165],"end_point":[230,755],"distance":909.3756099654312},{"start_region_id":346,"end_region_id":371,"start_point":[263,847],"end_point":[930,279],"distance":876.0781928572358},{"start_region_id":346,"end_region_id":361,"start_point":[263,847],"end_point":[795,209],"distance":830.7033164734568}],"complexity_score":0.6225941037782959}
{"id":5981,"query_id":"Q01197","question":"A pedestrian starts from a paved, hard surface area such as a sidewalk or parking lot and needs to reach another paved, hard surface area such as a sidewalk or parking lot. The terrain consists only of hard, flat surfaces suitable for walking, including sidewalks, footpaths, and paved roads. 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":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved, hard surface area such as a sidewalk or parking lot","end_land_type":"another paved, hard surface area such as a sidewalk or parking lot","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":"aachen_31.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":305,"start_point":[102,131],"end_point":[733,895],"distance":990.8869764004369},{"start_region_id":305,"end_region_id":188,"start_point":[733,895],"end_point":[102,131],"distance":990.8869764004369},{"start_region_id":188,"end_region_id":254,"start_point":[102,131],"end_point":[947,582],"distance":957.8235745689286},{"start_region_id":254,"end_region_id":188,"start_point":[947,582],"end_point":[102,131],"distance":957.8235745689286},{"start_region_id":183,"end_region_id":324,"start_point":[544,86],"end_point":[220,928],"distance":902.1862335460456}],"complexity_score":0.6225941037782959}
{"id":664,"query_id":"Q00133","question":"A quadcopter drone starts from a paved lane and needs to reach an exposed area of loose soil and rocks. The drone can fly over hard surfaces, loose soil and rock areas, and areas with individual trees or small groups of trees. The drone must avoid flying too close to any permanent structures and should minimize flight over liquid surfaces. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved lane","end_land_type":"exposed, loose soil and rock area","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree","Water"],"traverse_vector":[1,0,1,1,1,1,0,0],"cost_vector":[2,0,2,2,1,1,0,0],"image_name":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":4,"start_point":[914,145],"end_point":[111,865],"distance":1078.5216734029966},{"start_region_id":276,"end_region_id":4,"start_point":[443,411],"end_point":[111,865],"distance":562.4411080282094}],"complexity_score":0.6226432440338323}
{"id":3190,"query_id":"Q00638","question":"A survey drone is launched from a low-vegetation area and must fly to a destination over exposed, rocky terrain. The drone must avoid flying close to trees or structures, and should prioritize open areas that minimize the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"Survey drone","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the safest flight path for the drone from the low-vegetation area to the rocky terrain?","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_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":4,"start_point":[937,85],"end_point":[111,865],"distance":1136.0792225896926},{"start_region_id":16,"end_region_id":4,"start_point":[932,198],"end_point":[111,865],"distance":1057.7948761456541},{"start_region_id":27,"end_region_id":4,"start_point":[970,323],"end_point":[111,865],"distance":1015.6992665154386},{"start_region_id":8,"end_region_id":4,"start_point":[677,85],"end_point":[111,865],"distance":963.719876312614},{"start_region_id":45,"end_region_id":4,"start_point":[942,413],"end_point":[111,865],"distance":945.9730440134116}],"complexity_score":0.6226432440338323}
{"id":6273,"query_id":"Q01255","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a wide, paved lane used by motor vehicles. The drone can fly over open areas with low vegetation, hard artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall, vertical objects that could obstruct its path. What is the shortest route?","agent_category":"Drone","specific_agent":"Aerial survey 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 wide, paved lane used by motor vehicles.","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":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":277,"start_point":[111,865],"end_point":[914,145],"distance":1078.5216734029966},{"start_region_id":4,"end_region_id":276,"start_point":[111,865],"end_point":[443,411],"distance":562.4411080282094}],"complexity_score":0.6226432440338323}
{"id":6700,"query_id":"Q01340","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a destination on loose, sandy ground. The drone can fly over areas with hard surfaces, loose soil, grassy patches, scattered trees, and structures, but must avoid flying directly over water bodies due to safety concerns. The safest route should prioritize open areas that minimize collision risk and interference, while avoiding terrain that could pose hazards to flight stability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","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","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,1],"image_name":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":4,"start_point":[811,76],"end_point":[111,865],"distance":1054.7611103941972},{"start_region_id":143,"end_region_id":4,"start_point":[614,114],"end_point":[111,865],"distance":903.8860547657542},{"start_region_id":157,"end_region_id":4,"start_point":[800,387],"end_point":[111,865],"distance":838.5731929891391},{"start_region_id":241,"end_region_id":4,"start_point":[512,695],"end_point":[111,865],"distance":435.54678279147004}],"complexity_score":0.6226432440338323}
{"id":8003,"query_id":"Q01601","question":"An aerial surveillance drone is positioned on a paved, hard surface and needs to reach a target area of loose, sandy or rocky ground without vegetation. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and other paved or hard surfaces, but 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, hard surface","end_land_type":"loose, sandy or rocky ground without vegetation","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_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":4,"start_point":[811,76],"end_point":[111,865],"distance":1054.7611103941972},{"start_region_id":143,"end_region_id":4,"start_point":[614,114],"end_point":[111,865],"distance":903.8860547657542},{"start_region_id":157,"end_region_id":4,"start_point":[800,387],"end_point":[111,865],"distance":838.5731929891391},{"start_region_id":241,"end_region_id":4,"start_point":[512,695],"end_point":[111,865],"distance":435.54678279147004}],"complexity_score":0.6226432440338323}
{"id":8570,"query_id":"Q01714","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy, shrub-covered area. The hiker can traverse the sandy ground, grassy areas, and wooded patches, but must avoid any paved surfaces, roads, water bodies, or buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy, shrub-covered area","task_description":"What is the shortest path from the loose, sandy ground to the grassy, shrub-covered area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree"],"traverse_vector":[1,1,0,0,1,0,0,0],"cost_vector":[1,1,0,0,1,0,0,0],"image_name":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":115,"start_point":[111,865],"end_point":[909,887],"distance":798.3032005447554},{"start_region_id":4,"end_region_id":12,"start_point":[111,865],"end_point":[69,251],"distance":615.4348056455696},{"start_region_id":4,"end_region_id":93,"start_point":[111,865],"end_point":[691,690],"distance":605.8258825768341},{"start_region_id":4,"end_region_id":114,"start_point":[111,865],"end_point":[412,922],"distance":306.3494736408078},{"start_region_id":4,"end_region_id":91,"start_point":[111,865],"end_point":[336,682],"distance":290.0241369265669}],"complexity_score":0.6226432440338323}
{"id":9665,"query_id":"Q01933","question":"A quadcopter drone is currently hovering above a paved, hard-surfaced lane. It needs to reach a natural area of loose, dry earth and rocks. The drone must maintain a smooth, stable flight to ensure sensor stability and passenger comfort (if carrying payload). The drone can fly over various surfaces including paved lanes, loose earthy areas, cultivated fields with tilled soil, and even above liquid surfaces or near vertical structures if necessary. However, flying through dense clusters of tall, rigid obstacles should be minimized to avoid turbulence and abrupt maneuvers. Given these constraints, what is the most comfortable path to reach the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a natural area of loose, dry earth and rocks","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":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":277,"end_region_id":4,"start_point":[914,145],"end_point":[111,865],"distance":1078.5216734029966},{"start_region_id":276,"end_region_id":4,"start_point":[443,411],"end_point":[111,865],"distance":562.4411080282094}],"complexity_score":0.6226432440338323}
{"id":10640,"query_id":"Q02128","question":"A quadcopter drone needs to travel from a patch of exposed, dry earth with no vegetation to a tall, leafy structure with a distinct vertical profile. The drone can fly over open ground, paved lanes, cultivated fields, and liquid surfaces. However, it must avoid colliding with the tall, leafy structures themselves, so it can only pass through the spaces between them or fly above their canopy. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of exposed, dry earth with no vegetation.","end_land_type":"The destination is a tall, leafy structure with a distinct vertical profile.","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":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":353,"start_point":[111,865],"end_point":[987,509],"distance":945.5749573672094},{"start_region_id":4,"end_region_id":297,"start_point":[111,865],"end_point":[824,302],"distance":908.4811500521075},{"start_region_id":4,"end_region_id":413,"start_point":[111,865],"end_point":[988,755],"distance":883.8715970094298},{"start_region_id":4,"end_region_id":444,"start_point":[111,865],"end_point":[955,943],"distance":847.5966021640247},{"start_region_id":4,"end_region_id":292,"start_point":[111,865],"end_point":[411,98],"distance":823.5830255657289}],"complexity_score":0.6226432440338323}
{"id":11178,"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_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":4,"start_point":[181,923],"end_point":[51,771],"distance":200.0099997500125}],"complexity_score":0.6226432440338323}
{"id":16387,"query_id":"Q03278","question":"An aerial surveillance drone is operating in an environment where only certain surfaces are available for flight. The drone begins its mission on loose, dry earth and scattered rocks. It must navigate to a paved, hard-surfaced lane. The drone can fly over areas with short, sparse vegetation and over liquid surfaces, but must avoid tall, dense vertical obstacles and solid structures. The drone's priority is to minimize operational risks such as collisions, signal interference, or unstable flight conditions.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of loose, dry earth and scattered rocks","end_land_type":"and needs to reach a paved, hard-surfaced lane","task_description":"What is the safest flight path for the drone to reach 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":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":277,"start_point":[111,865],"end_point":[914,145],"distance":1078.5216734029966},{"start_region_id":4,"end_region_id":276,"start_point":[111,865],"end_point":[443,411],"distance":562.4411080282094}],"complexity_score":0.6226432440338323}
{"id":16907,"query_id":"Q03382","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach a flat, open area with loose, dry soil and no vegetation. The drone can fly over all surfaces except those with dense, tall vertical structures, which are only passable if they are sparse enough to allow safe flight between them. The terrain includes areas with low, natural vegetation; open, dry ground; cultivated fields with crops; and the mentioned vertical obstacles. The drone must avoid any liquid surfaces and man-made structures. What is the fastest path to the destination?","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 a flat, open area with loose, dry soil and no vegetation.","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":"mahe_42.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":444,"end_region_id":4,"start_point":[955,943],"end_point":[111,865],"distance":847.5966021640247},{"start_region_id":423,"end_region_id":4,"start_point":[919,803],"end_point":[111,865],"distance":810.3752217337349},{"start_region_id":287,"end_region_id":4,"start_point":[152,139],"end_point":[111,865],"distance":727.1567918956681},{"start_region_id":416,"end_region_id":4,"start_point":[720,800],"end_point":[111,865],"distance":612.4589782181334},{"start_region_id":415,"end_region_id":4,"start_point":[567,806],"end_point":[111,865],"distance":459.80104393095934}],"complexity_score":0.6226432440338323}
{"id":1637,"query_id":"Q00328","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an area of natural herbaceous vegetation. The drone can fly over loose, sandy or rocky ground without vegetation, natural grassy or shrub-covered areas, paved surfaces used by vehicles, liquid bodies, and cultivated crop fields. However. The drone must avoid any tall, vertical structures that could cause collisions and prioritize terrain that minimizes operational risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"area of natural herbaceous 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":"palu_16.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":5,"start_point":[557,828],"end_point":[978,38],"distance":895.176518905629},{"start_region_id":165,"end_region_id":60,"start_point":[847,77],"end_point":[561,938],"distance":907.2579567025026},{"start_region_id":172,"end_region_id":9,"start_point":[557,828],"end_point":[832,146],"distance":735.3563761877638},{"start_region_id":165,"end_region_id":54,"start_point":[847,77],"end_point":[625,801],"distance":757.2714176568398},{"start_region_id":172,"end_region_id":7,"start_point":[557,828],"end_point":[692,134],"distance":707.0084865120078}],"complexity_score":0.62266391779029}
{"id":11977,"query_id":"Q02396","question":"A family sedan starts from a paved lane and needs to reach a hard, flat surface like a parking lot or sidewalk. The vehicle must avoid any terrain that is not solid and stable, such as loose soil, vegetation, or liquid areas, to minimize the risk of skidding, getting stuck, or encountering unpredictable hazards. What is the safest path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a parking lot or sidewalk","task_description":"What is the safest path for the family sedan to take from the paved lane to the hard, flat surface?","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_16.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":106,"start_point":[557,828],"end_point":[839,329],"distance":573.1710041514661},{"start_region_id":172,"end_region_id":108,"start_point":[557,828],"end_point":[749,360],"distance":505.8537338005918},{"start_region_id":166,"end_region_id":112,"start_point":[821,430],"end_point":[549,625],"distance":334.6774566653691},{"start_region_id":172,"end_region_id":136,"start_point":[557,828],"end_point":[866,632],"distance":365.9193900300994},{"start_region_id":166,"end_region_id":136,"start_point":[821,430],"end_point":[866,632],"distance":206.95168518279817}],"complexity_score":0.62266391779029}
{"id":15769,"query_id":"Q03154","question":"An aerial surveillance drone starts from a grassy, open area with scattered low vegetation and needs to reach another grassy, open area with scattered low vegetation. The drone can fly over any surface except dense vertical obstacles like tall trees or buildings, which are blocked. The terrain includes loose, sandy or rocky ground; grassy or shrub-covered areas; hard, paved surfaces like sidewalks and parking lots; vehicle lanes made of asphalt or concrete; areas with tall, dense vertical obstacles; liquid bodies; and cultivated fields with crops. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a grassy, open area with scattered low vegetation.","end_land_type":"Ending at another grassy, open area with scattered 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_16.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":5,"start_point":[561,938],"end_point":[978,38],"distance":991.9117904330002},{"start_region_id":5,"end_region_id":60,"start_point":[978,38],"end_point":[561,938],"distance":991.9117904330002},{"start_region_id":54,"end_region_id":5,"start_point":[625,801],"end_point":[978,38],"distance":840.7008980606598},{"start_region_id":5,"end_region_id":54,"start_point":[978,38],"end_point":[625,801],"distance":840.7008980606598},{"start_region_id":60,"end_region_id":9,"start_point":[561,938],"end_point":[832,146],"distance":837.0812385903772}],"complexity_score":0.62266391779029}
{"id":16475,"query_id":"Q03295","question":"An aerial survey drone starts from a flat, paved surface and needs to reach a tall, vertical structure with branches and foliage. The drone can fly over hard surfaces, vehicle lanes, liquid areas, cultivated fields, and even man-made structures, but must navigate carefully around vertical obstacles with branches and foliage that could potentially damage its rotors. The drone's primary objective is to minimize travel time while avoiding any terrain that would force it to slow down significantly.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, paved surface","end_land_type":"A tall, vertical structure with branches and foliage","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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"piura_47.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":256,"start_point":[992,133],"end_point":[126,512],"distance":945.3025970555672},{"start_region_id":165,"end_region_id":256,"start_point":[986,702],"end_point":[126,512],"distance":880.7383266328314},{"start_region_id":166,"end_region_id":256,"start_point":[909,754],"end_point":[126,512],"distance":819.5443856192293},{"start_region_id":111,"end_region_id":256,"start_point":[875,441],"end_point":[126,512],"distance":752.3576277276652},{"start_region_id":71,"end_region_id":256,"start_point":[546,107],"end_point":[126,512],"distance":583.4595101633017}],"complexity_score":0.6227321574687322}
{"id":228,"query_id":"Q00046","question":"A quadcopter drone starts from a patch of loose, sandy soil and aiming to reach a planted crop field, a quadcopter drone must navigate through terrain where loose granular surfaces, grassy or shrub-covered ground, liquid bodies, and cultivated areas are all accessible. The drone can fly over all these surfaces but must avoid any vertical structures or dense tree canopies that could pose collision risks. The safest path should prioritize open, unobstructed areas to minimize the risk of accidents or damage. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, sandy soil","end_land_type":"and aiming to reach a planted crop 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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":181,"start_point":[735,731],"end_point":[74,382],"distance":747.4770899499194},{"start_region_id":3,"end_region_id":180,"start_point":[735,731],"end_point":[149,271],"distance":744.980536658509},{"start_region_id":3,"end_region_id":187,"start_point":[735,731],"end_point":[35,905],"distance":721.3016012736974},{"start_region_id":3,"end_region_id":178,"start_point":[735,731],"end_point":[989,152],"distance":632.2633944804966},{"start_region_id":3,"end_region_id":186,"start_point":[735,731],"end_point":[156,712],"distance":579.3116605075371}],"complexity_score":0.622733045849249}
{"id":2095,"query_id":"Q00419","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with neat rows of crops. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open ground covered by grass or shrubs, but must avoid densely packed vertical obstacles like tall, leafy structures. It can also cross over liquid surfaces, though these may cause minor turbulence. The drone cannot pass through solid, vertical man-made structures. What is the most comfortable route for the drone to take?","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 cultivated field with neat rows of crops.","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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":181,"start_point":[735,731],"end_point":[74,382],"distance":747.4770899499194},{"start_region_id":3,"end_region_id":180,"start_point":[735,731],"end_point":[149,271],"distance":744.980536658509},{"start_region_id":3,"end_region_id":187,"start_point":[735,731],"end_point":[35,905],"distance":721.3016012736974},{"start_region_id":3,"end_region_id":178,"start_point":[735,731],"end_point":[989,152],"distance":632.2633944804966},{"start_region_id":3,"end_region_id":186,"start_point":[735,731],"end_point":[156,712],"distance":579.3116605075371}],"complexity_score":0.622733045849249}
{"id":2732,"query_id":"Q00547","question":"An off-road vehicle starts from rough, sandy terrain and needs to reach a paved, hard surface. The terrain includes compacted soil and gravel areas that are drivable, but vertical obstacles and liquid bodies are impassable. The vehicle can cross cultivated fields with crops, as they are flat and firm enough for passage. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, sandy terrain","end_land_type":"paved, hard surface","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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":40,"start_point":[735,731],"end_point":[272,28],"distance":841.7707526399334},{"start_region_id":3,"end_region_id":42,"start_point":[735,731],"end_point":[704,89],"distance":642.7480066091221},{"start_region_id":3,"end_region_id":43,"start_point":[735,731],"end_point":[283,339],"distance":598.304270417653},{"start_region_id":3,"end_region_id":67,"start_point":[735,731],"end_point":[948,199],"distance":573.0558437011179},{"start_region_id":3,"end_region_id":63,"start_point":[735,731],"end_point":[636,393],"distance":352.2002271435951}],"complexity_score":0.622733045849249}
{"id":3222,"query_id":"Q00645","question":"A quadcopter starts from a sandy, open area and needs to reach a hard, paved surface. The quadcopter can fly over sandy, open areas and hard, paved surfaces, 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":"sandy, open area","end_land_type":"hard, paved surface","task_description":"What is the shortest path for the quadcopter to reach the hard, paved surface from the sandy, open area?","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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":91,"start_point":[735,731],"end_point":[551,152],"distance":607.5335381688817}],"complexity_score":0.622733045849249}
{"id":8029,"query_id":"Q01606","question":"An aerial survey drone starts from a cultivated field with soft, tilled soil and needs to reach an exposed area of loose soil and rocks. The aerial survey drone must maintain a smooth, vibration-free flight to protect its sensitive imaging equipment. The drone can fly over open, flat surfaces like paved areas, water bodies, and agricultural fields, but must avoid dense vegetation clusters that cause turbulence and avoid buildings entirely due to collision risk. Over water, flight is possible but introduces slight instability from surface reflections and wind effects. What is the most comfortable path to the destination?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed, loose soil and rock area","task_description":"What is the most comfortable 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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":3,"start_point":[74,382],"end_point":[735,731],"distance":747.4770899499194},{"start_region_id":180,"end_region_id":3,"start_point":[149,271],"end_point":[735,731],"distance":744.980536658509},{"start_region_id":187,"end_region_id":3,"start_point":[35,905],"end_point":[735,731],"distance":721.3016012736974},{"start_region_id":178,"end_region_id":3,"start_point":[989,152],"end_point":[735,731],"distance":632.2633944804966},{"start_region_id":186,"end_region_id":3,"start_point":[156,712],"end_point":[735,731],"distance":579.3116605075371}],"complexity_score":0.622733045849249}
{"id":10173,"query_id":"Q02035","question":"A hiker starts from a paved surface and needs to reach an area of exposed earth or rocky ground. The hiker can traverse hard, artificial surfaces like sidewalks and parking lots, as well as natural terrain including grassy fields and loose soil patches. The hiker cannot enter any structures 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":"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"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":3,"start_point":[551,152],"end_point":[735,731],"distance":607.5335381688817}],"complexity_score":0.622733045849249}
{"id":10549,"query_id":"Q02110","question":"A rally car begins on a paved, hard-surfaced lane and needs to reach a dry, open area of loose earth and rocks as quickly as possible. The vehicle can travel on any firm, solid ground that provides sufficient traction and stability for high-speed movement. It cannot enter areas with standing liquid, dense vertical obstacles, or enclosed structures. Which route allows the rally car to reach the destination in the shortest time?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a dry, open area of loose earth and rocks","task_description":"Which route allows the rally car to reach the destination 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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":3,"start_point":[551,152],"end_point":[735,731],"distance":607.5335381688817}],"complexity_score":0.622733045849249}
{"id":11948,"query_id":"Q02390","question":"A family SUV is on a paved lane and needs to reach a loose, sandy area. The vehicle must avoid any terrain that is not a hard, stable surface or a flat, compacted area, as these could pose risks like getting stuck or losing control. What is the safest path?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a paved lane","end_land_type":"a loose, sandy area","task_description":"What is the safest path for the family SUV to travel from the paved lane to the loose, sandy area?","task_type":"Safest","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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":3,"start_point":[551,152],"end_point":[735,731],"distance":607.5335381688817}],"complexity_score":0.622733045849249}
{"id":14545,"query_id":"Q02909","question":"An off-road vehicle starts from a patch of loose, sandy ground and needs to reach a cultivated field as quickly as possible. The vehicle can traverse paved lanes and compacted dirt tracks, but cannot go through areas with standing water, dense vegetation, or solid structures. Which path allows the vehicle to travel at the highest possible speed?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, sandy ground","end_land_type":"cultivated field","task_description":"Which path allows the vehicle to travel at the highest possible speed?","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_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":181,"start_point":[735,731],"end_point":[74,382],"distance":747.4770899499194},{"start_region_id":3,"end_region_id":180,"start_point":[735,731],"end_point":[149,271],"distance":744.980536658509},{"start_region_id":3,"end_region_id":187,"start_point":[735,731],"end_point":[35,905],"distance":721.3016012736974},{"start_region_id":3,"end_region_id":178,"start_point":[735,731],"end_point":[989,152],"distance":632.2633944804966},{"start_region_id":3,"end_region_id":186,"start_point":[735,731],"end_point":[156,712],"distance":579.3116605075371}],"complexity_score":0.622733045849249}
{"id":15198,"query_id":"Q03040","question":"An aerial survey drone starts from grassy, uneven terrain with scattered low vegetation and needs to reach exposed, loose soil and rocky ground. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It can fly over open liquid surfaces, cultivated fields with low crops, and flat paved areas, but must maintain safe distance from any overhead obstacles. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"exposed, 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","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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":3,"start_point":[964,39],"end_point":[735,731],"distance":728.9067155679113},{"start_region_id":15,"end_region_id":3,"start_point":[133,348],"end_point":[735,731],"distance":713.5075332468467},{"start_region_id":35,"end_region_id":3,"start_point":[237,937],"end_point":[735,731],"distance":538.924855615326},{"start_region_id":24,"end_region_id":3,"start_point":[422,458],"end_point":[735,731],"distance":415.3287854218631},{"start_region_id":36,"end_region_id":3,"start_point":[970,759],"end_point":[735,731],"distance":236.66220653074288}],"complexity_score":0.622733045849249}
{"id":16205,"query_id":"Q03241","question":"A quadcopter drone is starting from a paved surface and needs to reach a sandy area. The drone can fly over various terrains, including loose soil, grassy patches, liquid bodies, and hard surfaces, but it must avoid dense vegetation and vertical structures due to navigation and safety concerns. The goal is to find a path that maximizes flight comfort by prioritizing stable, open areas and avoiding turbulent or obstructed zones.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"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":"viru_26.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":3,"start_point":[551,152],"end_point":[735,731],"distance":607.5335381688817}],"complexity_score":0.622733045849249}
{"id":10249,"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":"accra_7.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":236,"start_point":[914,135],"end_point":[62,870],"distance":1125.2239777039947},{"start_region_id":53,"end_region_id":236,"start_point":[660,78],"end_point":[62,870],"distance":992.4051591965854},{"start_region_id":59,"end_region_id":234,"start_point":[914,135],"end_point":[173,717],"distance":942.2340473576616},{"start_region_id":86,"end_region_id":236,"start_point":[732,253],"end_point":[62,870],"distance":910.8177644293066},{"start_region_id":51,"end_region_id":236,"start_point":[448,38],"end_point":[62,870],"distance":917.180462068398}],"complexity_score":0.622737181279443}
{"id":12676,"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":"accra_7.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":17,"start_point":[122,889],"end_point":[953,288],"distance":1025.5544841694175},{"start_region_id":111,"end_region_id":17,"start_point":[145,699],"end_point":[953,288],"distance":906.5235793954838},{"start_region_id":46,"end_region_id":17,"start_point":[65,196],"end_point":[953,288],"distance":892.7530453602496},{"start_region_id":47,"end_region_id":17,"start_point":[173,455],"end_point":[953,288],"distance":797.6772530290682},{"start_region_id":161,"end_region_id":17,"start_point":[442,756],"end_point":[953,288],"distance":692.9249598621773}],"complexity_score":0.622737181279443}
{"id":14902,"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":"accra_7.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":338,"start_point":[953,288],"end_point":[954,773],"distance":485.00103092673936},{"start_region_id":17,"end_region_id":310,"start_point":[953,288],"end_point":[796,608],"distance":356.4393356519451}],"complexity_score":0.622737181279443}
{"id":4417,"query_id":"Q00884","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface such as a sidewalk or paved area as quickly as possible. The drone can fly over paved lanes, hard flat surfaces, and areas with tall vertical obstacles that can be flown around or above, but cannot land on liquid bodies. Which path allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface such as a sidewalk or paved area","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Building"],"traverse_vector":[0,0,1,1,1,0,0,1],"cost_vector":[0,0,2,2,1,0,0,2],"image_name":"khartoum_65.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":32,"start_point":[614,54],"end_point":[114,631],"distance":763.4978716407794},{"start_region_id":34,"end_region_id":26,"start_point":[614,54],"end_point":[216,566],"distance":648.496723199123},{"start_region_id":34,"end_region_id":28,"start_point":[614,54],"end_point":[184,489],"distance":611.657583947097},{"start_region_id":34,"end_region_id":21,"start_point":[614,54],"end_point":[163,365],"distance":547.8339164381847},{"start_region_id":34,"end_region_id":13,"start_point":[614,54],"end_point":[136,195],"distance":498.3623179976592}],"complexity_score":0.6227425028399016}
{"id":9464,"query_id":"Q01893","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The drone can fly over loose, dry earth with no vegetation; cultivated fields with crops; and liquid surfaces. It cannot pass through dense vertical obstacles 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 travel from the starting paved surface to the destination paved surface?","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":"khartoum_65.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":34,"start_point":[321,230],"end_point":[614,54],"distance":341.796723214252},{"start_region_id":34,"end_region_id":33,"start_point":[614,54],"end_point":[321,230],"distance":341.796723214252}],"complexity_score":0.6227425028399016}
{"id":13895,"query_id":"Q02779","question":"A hiker is standing on a paved, hard surface and needs to reach another paved, hard surface destination. The surrounding terrain includes loose, dry soil and rock accumulations, as well as cultivated fields with crops. The hiker must avoid all liquid areas and vertical structures. What is the safest 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 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":"khartoum_65.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":32,"start_point":[504,23],"end_point":[114,631],"distance":722.3323334864639},{"start_region_id":32,"end_region_id":11,"start_point":[114,631],"end_point":[504,23],"distance":722.3323334864639},{"start_region_id":12,"end_region_id":32,"start_point":[508,133],"end_point":[114,631],"distance":635.0118109137813},{"start_region_id":32,"end_region_id":12,"start_point":[114,631],"end_point":[508,133],"distance":635.0118109137813},{"start_region_id":32,"end_region_id":10,"start_point":[114,631],"end_point":[252,17],"distance":629.3170901858617}],"complexity_score":0.6227425028399016}
{"id":7537,"query_id":"Q01508","question":"A hiker 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 a hiker seeking a smooth and stable walking experience, what is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Agriculture land"],"traverse_vector":[1,0,1,0,0,0,1,0],"cost_vector":[1,0,3,0,0,0,2,0],"image_name":"mazowieckie_2.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":80,"start_point":[772,491],"end_point":[530,381],"distance":265.8270114190806},{"start_region_id":80,"end_region_id":81,"start_point":[530,381],"end_point":[772,491],"distance":265.8270114190806}],"complexity_score":0.622758699845892}
{"id":9128,"query_id":"Q01826","question":"A delivery drone is starting from grassy, uneven terrain with scattered shrubs and needs to reach a cultivated field with rows of crops. The drone can fly over all types of ground surfaces and liquid areas, but must avoid areas with tall, dense vertical obstacles. What is the fastest route?","agent_category":"Drone","specific_agent":"delivery drone","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","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":"mazowieckie_2.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":78,"start_point":[967,911],"end_point":[44,252],"distance":1134.111987415705},{"start_region_id":1,"end_region_id":82,"start_point":[134,402],"end_point":[987,972],"distance":1025.9186127563921},{"start_region_id":3,"end_region_id":82,"start_point":[94,513],"end_point":[987,972],"distance":1004.0567713032964},{"start_region_id":4,"end_region_id":78,"start_point":[951,586],"end_point":[44,252],"distance":966.54280815699},{"start_region_id":10,"end_region_id":79,"start_point":[967,911],"end_point":[236,463],"distance":857.3593179058591}],"complexity_score":0.622758699845892}
{"id":13968,"query_id":"Q02794","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone can fly over bare, sandy or rocky ground without vegetation, and cultivated fields are accessible because the crops are low. However, grassy or shrub-covered areas are avoided due to potential signal interference, roads are restricted due to air traffic regulations, water bodies are avoided due to risk of splash damage, trees are too dense to navigate safely, and buildings are avoided due to collision risk. What is the safest 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 area with a hard, flat surface","task_description":"What is the safest path?","task_type":"Safest","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":"mazowieckie_2.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":21,"start_point":[530,381],"end_point":[916,720],"distance":513.7285275318084},{"start_region_id":81,"end_region_id":17,"start_point":[772,491],"end_point":[528,722],"distance":336.0014880919428},{"start_region_id":80,"end_region_id":17,"start_point":[530,381],"end_point":[528,722],"distance":341.0058650522011},{"start_region_id":81,"end_region_id":21,"start_point":[772,491],"end_point":[916,720],"distance":270.51247660690257}],"complexity_score":0.622758699845892}
{"id":1945,"query_id":"Q00389","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach a flat, paved surface like a parking lot or sports court. The drone can fly over open water bodies and use lanes or streets for vehicles, but must avoid areas with dense vertical obstacles like trees or structures. 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 surface like a parking lot or sports court","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":"san_tome_32.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":419,"end_region_id":217,"start_point":[627,110],"end_point":[71,924],"distance":985.7646778009446},{"start_region_id":419,"end_region_id":208,"start_point":[627,110],"end_point":[932,939],"distance":883.3266666415093},{"start_region_id":419,"end_region_id":215,"start_point":[627,110],"end_point":[721,931],"distance":826.3637213721329},{"start_region_id":419,"end_region_id":192,"start_point":[627,110],"end_point":[166,721],"distance":765.4031617389622},{"start_region_id":419,"end_region_id":145,"start_point":[627,110],"end_point":[129,337],"distance":547.296080746062}],"complexity_score":0.6227774700747597}
{"id":11502,"query_id":"Q02301","question":"A family sedan starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes rough, uneven ground composed of loose earth and rocks; areas dominated by natural herbaceous vegetation or bushes; cultivated fields with crops; and other paved, hard surfaces. The vehicle requires a smooth, stable, and predictable surface to maximize ride comfort. Which path should you take?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route to reach the destination?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"san_tome_32.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":217,"end_region_id":232,"start_point":[71,924],"end_point":[836,305],"distance":984.0660546934845},{"start_region_id":140,"end_region_id":231,"start_point":[992,95],"end_point":[295,552],"distance":833.4614568172904},{"start_region_id":139,"end_region_id":232,"start_point":[85,71],"end_point":[836,305],"distance":786.6110856071125},{"start_region_id":192,"end_region_id":232,"start_point":[166,721],"end_point":[836,305],"distance":788.6418705597617},{"start_region_id":145,"end_region_id":232,"start_point":[129,337],"end_point":[836,305],"distance":707.7238161882077}],"complexity_score":0.6227774700747597}
{"id":15806,"query_id":"Q03162","question":"A delivery drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over most surfaces but must prioritize areas that minimize turbulence and vibration for stable flight. Hard, paved surfaces and open grassy areas are preferred. Water bodies can be flown over but may cause instability. Wooded areas with trees are accessible but may require careful navigation. Structures and buildings are not allowed to be entered. Loose, sandy areas are prohibited. What is the most comfortable path to take?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the most comfortable path for the delivery drone from the cultivated field to the grassy meadow?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[0,1,1,1,1,1,1,0],"cost_vector":[0,3,3,3,1,2,3,0],"image_name":"san_tome_32.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":419,"end_region_id":109,"start_point":[627,110],"end_point":[58,865],"distance":945.4025597595978},{"start_region_id":419,"end_region_id":115,"start_point":[627,110],"end_point":[207,931],"distance":922.1935805458635},{"start_region_id":419,"end_region_id":128,"start_point":[627,110],"end_point":[712,996],"distance":890.067974932252},{"start_region_id":419,"end_region_id":117,"start_point":[627,110],"end_point":[355,934],"distance":867.7326777297257},{"start_region_id":419,"end_region_id":100,"start_point":[627,110],"end_point":[1009,880],"distance":859.5487188053974}],"complexity_score":0.6227774700747597}
{"id":15822,"query_id":"Q03165","question":"A delivery drone starts from a paved, hard surface area and needs to reach a cultivated field with planted crops. The drone can fly over areas with natural grass and shrubs, loose soil surfaces, and vertical structures, but it must avoid liquid surfaces and dense vegetation to minimize risk. What is the safest path to take?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard surface area","end_land_type":"A cultivated field with planted crops","task_description":"What is the safest path to take?","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":"san_tome_32.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":217,"end_region_id":419,"start_point":[71,924],"end_point":[627,110],"distance":985.7646778009446},{"start_region_id":208,"end_region_id":419,"start_point":[932,939],"end_point":[627,110],"distance":883.3266666415093},{"start_region_id":215,"end_region_id":419,"start_point":[721,931],"end_point":[627,110],"distance":826.3637213721329},{"start_region_id":192,"end_region_id":419,"start_point":[166,721],"end_point":[627,110],"distance":765.4031617389622},{"start_region_id":145,"end_region_id":419,"start_point":[129,337],"end_point":[627,110],"distance":547.296080746062}],"complexity_score":0.6227774700747597}
{"id":403,"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_42.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":7,"start_point":[291,280],"end_point":[32,158],"distance":286.29530209208815},{"start_region_id":7,"end_region_id":18,"start_point":[32,158],"end_point":[291,280],"distance":286.29530209208815},{"start_region_id":26,"end_region_id":3,"start_point":[69,331],"end_point":[221,133],"distance":249.61570463414355},{"start_region_id":3,"end_region_id":26,"start_point":[221,133],"end_point":[69,331],"distance":249.61570463414355},{"start_region_id":26,"end_region_id":16,"start_point":[69,331],"end_point":[290,163],"distance":277.6058356735319}],"complexity_score":0.6227977379557021}
{"id":4387,"query_id":"Q00878","question":"A quadcopter drone is currently on a hard, paved lane used by vehicles. It needs to reach a flat, hard artificial surface like a parking lot or sidewalk. The drone can fly over all terrain types except dense vertical obstacles like trees and buildings, which are blocked. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A hard, paved lane used by vehicles","end_land_type":"A flat, hard artificial surface like a parking lot or sidewalk","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":"rio_42.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":26,"start_point":[219,200],"end_point":[69,331],"distance":199.15069670980316}],"complexity_score":0.6227977379557021}
{"id":4616,"query_id":"Q00924","question":"A quadcopter drone is positioned on a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over liquid surfaces, but must avoid dense vertical obstacles that could obstruct its flight path. The paved surfaces are clear and unobstructed. What is the shortest possible 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 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":"rio_42.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":7,"start_point":[291,280],"end_point":[32,158],"distance":286.29530209208815},{"start_region_id":7,"end_region_id":18,"start_point":[32,158],"end_point":[291,280],"distance":286.29530209208815},{"start_region_id":26,"end_region_id":3,"start_point":[69,331],"end_point":[221,133],"distance":249.61570463414355},{"start_region_id":3,"end_region_id":26,"start_point":[221,133],"end_point":[69,331],"distance":249.61570463414355},{"start_region_id":26,"end_region_id":16,"start_point":[69,331],"end_point":[290,163],"distance":277.6058356735319}],"complexity_score":0.6227977379557021}
{"id":12795,"query_id":"Q02559","question":"A farm vehicle starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas with grassy vegetation; hard, paved surfaces; and compacted, stable soil. You must avoid any liquid surfaces, vertical structures, and wooded areas. Given that you are driving a farm vehicle seeking the safest route, which path should you take?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path provides 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":"kyoto_39.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":290,"end_region_id":269,"start_point":[818,881],"end_point":[166,73],"distance":1038.2523777964584},{"start_region_id":269,"end_region_id":290,"start_point":[166,73],"end_point":[818,881],"distance":1038.2523777964584},{"start_region_id":290,"end_region_id":272,"start_point":[818,881],"end_point":[40,219],"distance":1021.5321825571625},{"start_region_id":272,"end_region_id":290,"start_point":[40,219],"end_point":[818,881],"distance":1021.5321825571625},{"start_region_id":272,"end_region_id":287,"start_point":[40,219],"end_point":[910,653],"distance":972.2427680368726}],"complexity_score":0.6228102349710407}
{"id":758,"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_7.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":22,"start_point":[836,949],"end_point":[42,21],"distance":1221.3189591584992},{"start_region_id":22,"end_region_id":49,"start_point":[42,21],"end_point":[836,949],"distance":1221.3189591584992},{"start_region_id":44,"end_region_id":22,"start_point":[952,794],"end_point":[42,21],"distance":1193.9970686731187},{"start_region_id":22,"end_region_id":44,"start_point":[42,21],"end_point":[952,794],"distance":1193.9970686731187},{"start_region_id":45,"end_region_id":26,"start_point":[254,880],"end_point":[855,85],"distance":996.6072446054162}],"complexity_score":0.6228244070252463}
{"id":4128,"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_7.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":104,"start_point":[848,626],"end_point":[198,150],"distance":805.6525305614077},{"start_region_id":74,"end_region_id":127,"start_point":[316,660],"end_point":[949,260],"distance":748.7916933299941},{"start_region_id":78,"end_region_id":92,"start_point":[848,626],"end_point":[406,74],"distance":707.1548628129485},{"start_region_id":74,"end_region_id":175,"start_point":[316,660],"end_point":[980,581],"distance":668.6830340303244},{"start_region_id":72,"end_region_id":175,"start_point":[598,93],"end_point":[980,581],"distance":619.7322002284535}],"complexity_score":0.6228244070252463}
{"id":17394,"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_7.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":104,"start_point":[848,626],"end_point":[198,150],"distance":805.6525305614077},{"start_region_id":74,"end_region_id":127,"start_point":[316,660],"end_point":[949,260],"distance":748.7916933299941},{"start_region_id":78,"end_region_id":92,"start_point":[848,626],"end_point":[406,74],"distance":707.1548628129485},{"start_region_id":74,"end_region_id":175,"start_point":[316,660],"end_point":[980,581],"distance":668.6830340303244},{"start_region_id":72,"end_region_id":175,"start_point":[598,93],"end_point":[980,581],"distance":619.7322002284535}],"complexity_score":0.6228244070252463}
{"id":14860,"query_id":"Q02972","question":"A delivery drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field with soft, tilled soil while ensuring a smooth and stable flight. The drone must avoid any areas with dense vertical obstacles that could cause turbulence or instability, and it cannot pass through areas with standing liquid. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a cultivated field with soft, tilled soil","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":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_51.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":252,"start_point":[319,199],"end_point":[885,364],"distance":589.5600054277767},{"start_region_id":110,"end_region_id":254,"start_point":[319,199],"end_point":[415,716],"distance":525.837427348035},{"start_region_id":110,"end_region_id":253,"start_point":[319,199],"end_point":[783,461],"distance":532.8602068085024},{"start_region_id":110,"end_region_id":255,"start_point":[319,199],"end_point":[25,575],"distance":477.2965535178313},{"start_region_id":110,"end_region_id":251,"start_point":[319,199],"end_point":[681,336],"distance":387.05684337058295}],"complexity_score":0.6228868524895133}
{"id":10956,"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_53.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":37,"start_point":[651,201],"end_point":[131,841],"distance":824.6211251235321},{"start_region_id":133,"end_region_id":41,"start_point":[651,201],"end_point":[217,890],"distance":814.2954009448905},{"start_region_id":134,"end_region_id":41,"start_point":[405,197],"end_point":[217,890],"distance":718.0480485315728},{"start_region_id":134,"end_region_id":37,"start_point":[405,197],"end_point":[131,841],"distance":699.8657014027763},{"start_region_id":135,"end_region_id":41,"start_point":[235,223],"end_point":[217,890],"distance":667.2428343564283}],"complexity_score":0.622963723231913}
{"id":15367,"query_id":"Q03074","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas with soft, grassy ground; hard, flat surfaces; tall, dense vegetation; and loose, tilled soil. The grassy areas are open for low-altitude flight, the hard surfaces are clear for navigation, the dense vegetation has gaps allowing safe passage between trees, and the tilled soil is unobstructed from above. 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"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"koeln_53.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":132,"start_point":[555,892],"end_point":[76,15],"distance":999.2847442045736},{"start_region_id":132,"end_region_id":144,"start_point":[76,15],"end_point":[555,892],"distance":999.2847442045736},{"start_region_id":143,"end_region_id":132,"start_point":[368,892],"end_point":[76,15],"distance":924.3338141602308},{"start_region_id":132,"end_region_id":143,"start_point":[76,15],"end_point":[368,892],"distance":924.3338141602308},{"start_region_id":133,"end_region_id":142,"start_point":[651,201],"end_point":[65,882],"distance":898.4191672042622}],"complexity_score":0.622963723231913}
{"id":16470,"query_id":"Q03294","question":"An aerial survey drone is positioned on a patch of wild grass and shrubs. It needs to reach a cultivated field for a data collection mission. The drone can fly over open grassy areas, paved lanes, areas with tall vertical obstacles, liquid surfaces, and planted fields. However, the mission requires prioritizing flight paths that minimize the 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":"A patch of wild grass and shrubs","end_land_type":"A cultivated field","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":"koeln_53.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":144,"start_point":[88,85],"end_point":[555,892],"distance":932.3829685274179},{"start_region_id":41,"end_region_id":132,"start_point":[217,890],"end_point":[76,15],"distance":886.2877636524155},{"start_region_id":9,"end_region_id":143,"start_point":[88,85],"end_point":[368,892],"distance":854.1949426214136},{"start_region_id":37,"end_region_id":133,"start_point":[131,841],"end_point":[651,201],"distance":824.6211251235321},{"start_region_id":37,"end_region_id":132,"start_point":[131,841],"end_point":[76,15],"distance":827.8290886408861}],"complexity_score":0.622963723231913}
{"id":3666,"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":"accra_54.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":132,"end_region_id":134,"start_point":[244,677],"end_point":[797,346],"distance":644.4920480502456},{"start_region_id":134,"end_region_id":132,"start_point":[797,346],"end_point":[244,677],"distance":644.4920480502456},{"start_region_id":134,"end_region_id":133,"start_point":[797,346],"end_point":[286,321],"distance":511.6111804876825},{"start_region_id":133,"end_region_id":134,"start_point":[286,321],"end_point":[797,346],"distance":511.6111804876825},{"start_region_id":132,"end_region_id":133,"start_point":[244,677],"end_point":[286,321],"distance":358.4689665786984}],"complexity_score":0.6229837291022846}
{"id":17051,"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":"accra_54.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":128,"start_point":[964,84],"end_point":[61,982],"distance":1273.504220644753},{"start_region_id":6,"end_region_id":128,"start_point":[841,95],"end_point":[61,982],"distance":1181.1727223399632},{"start_region_id":16,"end_region_id":128,"start_point":[926,291],"end_point":[61,982],"distance":1107.1160734087462},{"start_region_id":8,"end_region_id":128,"start_point":[722,110],"end_point":[61,982],"distance":1094.2143300103503},{"start_region_id":23,"end_region_id":128,"start_point":[970,482],"end_point":[61,982],"distance":1037.439636798209}],"complexity_score":0.6229837291022846}
{"id":7205,"query_id":"Q01441","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dry, sandy area. The terrain includes smooth, open liquid surfaces and cultivated fields with soft, tilled soil. The drone can fly over all these surfaces, but must avoid any tall, vertical obstacles like trees or 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 dry, sandy 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":"ngaoundere_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":6,"start_point":[67,260],"end_point":[956,729],"distance":1005.1278525640407},{"start_region_id":60,"end_region_id":6,"start_point":[206,69],"end_point":[956,729],"distance":999.0495483208027},{"start_region_id":91,"end_region_id":6,"start_point":[37,983],"end_point":[956,729],"distance":953.4552952288849},{"start_region_id":89,"end_region_id":6,"start_point":[29,851],"end_point":[956,729],"distance":934.9935828656794},{"start_region_id":63,"end_region_id":6,"start_point":[339,235],"end_point":[956,729],"distance":790.3954706347956}],"complexity_score":0.6230544008204503}
{"id":9295,"query_id":"Q01859","question":"A quadcopter drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cultivated field with rows of crops and soft, tilled soil. The drone can fly over open liquid surfaces and hard, paved lanes, but must avoid dense vertical obstacles like tall structures and thick tree canopies. Which path allows the drone to reach the destination as quickly as possible?","agent_category":"Drone","specific_agent":"A quadcopter 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 cultivated field with rows of crops and soft, tilled soil.","task_description":"Which path allows the drone to reach the destination as quickly as possible?","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_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":216,"start_point":[956,729],"end_point":[21,466],"distance":971.2847162392704},{"start_region_id":6,"end_region_id":217,"start_point":[956,729],"end_point":[29,633],"distance":931.9576170620636},{"start_region_id":6,"end_region_id":215,"start_point":[956,729],"end_point":[163,409],"distance":855.1309841188074},{"start_region_id":6,"end_region_id":218,"start_point":[956,729],"end_point":[121,676],"distance":836.6803451737109},{"start_region_id":6,"end_region_id":219,"start_point":[956,729],"end_point":[174,848],"distance":791.0025284409652}],"complexity_score":0.6230544008204503}
{"id":11175,"query_id":"Q02235","question":"A delivery drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with rows of crops planted in soft soil. The drone must avoid flying through areas with tall, dense vegetation or near solid vertical structures, as these pose collision risks. It can fly over open sandy areas, grassy patches, paved surfaces, and agricultural fields, but should minimize time over liquid surfaces due to potential signal interference and lack of emergency landing options. What is the safest route to take?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks","end_land_type":"needs to reach a cultivated field with rows of crops planted in soft soil","task_description":"What is the safest route 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":"ngaoundere_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":216,"start_point":[956,729],"end_point":[21,466],"distance":971.2847162392704},{"start_region_id":6,"end_region_id":217,"start_point":[956,729],"end_point":[29,633],"distance":931.9576170620636},{"start_region_id":6,"end_region_id":215,"start_point":[956,729],"end_point":[163,409],"distance":855.1309841188074},{"start_region_id":6,"end_region_id":218,"start_point":[956,729],"end_point":[121,676],"distance":836.6803451737109},{"start_region_id":6,"end_region_id":219,"start_point":[956,729],"end_point":[174,848],"distance":791.0025284409652}],"complexity_score":0.6230544008204503}
{"id":11295,"query_id":"Q02259","question":"A hiker starts from a cultivated field with loose soil and crop residues and needs to reach a patch of sandy or rocky ground. The hiker can traverse soft, vegetated areas like grassy or shrub-covered terrain, but must avoid any hard surfaces such as paved areas or roads, any liquid surfaces, any vertical structures, and any dense tree canopies. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","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_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":6,"start_point":[649,975],"end_point":[956,729],"distance":393.4018301940142}],"complexity_score":0.6230544008204503}
{"id":13441,"query_id":"Q02689","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, paved area with a hard, smooth surface. The drone can fly over open liquid surfaces, but must avoid any areas with tall vertical obstacles or structures. The drone's flight path should prioritize stability and smoothness to ensure clear sensor readings and minimal vibration.","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 flat, paved area with a hard, smooth 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":"ngaoundere_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":72,"start_point":[956,729],"end_point":[67,260],"distance":1005.1278525640407},{"start_region_id":6,"end_region_id":60,"start_point":[956,729],"end_point":[206,69],"distance":999.0495483208027},{"start_region_id":6,"end_region_id":91,"start_point":[956,729],"end_point":[37,983],"distance":953.4552952288849},{"start_region_id":6,"end_region_id":89,"start_point":[956,729],"end_point":[29,851],"distance":934.9935828656794},{"start_region_id":6,"end_region_id":63,"start_point":[956,729],"end_point":[339,235],"distance":790.3954706347956}],"complexity_score":0.6230544008204503}
{"id":13466,"query_id":"Q02694","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open, dry, solid ground area. The drone can fly over liquid surfaces, but must avoid any vertical structures or dense vegetation that could cause collisions. The drone's primary concern is maintaining stable flight and avoiding obstacles that could damage its rotors or cause loss of control. 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":"open, dry, solid ground","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":"ngaoundere_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":6,"start_point":[67,260],"end_point":[956,729],"distance":1005.1278525640407},{"start_region_id":60,"end_region_id":6,"start_point":[206,69],"end_point":[956,729],"distance":999.0495483208027},{"start_region_id":91,"end_region_id":6,"start_point":[37,983],"end_point":[956,729],"distance":953.4552952288849},{"start_region_id":89,"end_region_id":6,"start_point":[29,851],"end_point":[956,729],"distance":934.9935828656794},{"start_region_id":63,"end_region_id":6,"start_point":[339,235],"end_point":[956,729],"distance":790.3954706347956}],"complexity_score":0.6230544008204503}
{"id":15951,"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_22.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":72,"start_point":[956,729],"end_point":[67,260],"distance":1005.1278525640407},{"start_region_id":6,"end_region_id":60,"start_point":[956,729],"end_point":[206,69],"distance":999.0495483208027},{"start_region_id":6,"end_region_id":91,"start_point":[956,729],"end_point":[37,983],"distance":953.4552952288849},{"start_region_id":6,"end_region_id":89,"start_point":[956,729],"end_point":[29,851],"distance":934.9935828656794},{"start_region_id":6,"end_region_id":63,"start_point":[956,729],"end_point":[339,235],"distance":790.3954706347956}],"complexity_score":0.6230544008204503}
{"id":11413,"query_id":"Q02283","question":"A hiker is standing in a cultivated field with soft, tilled soil. They need to reach a paved street while prioritizing safety. The hiker can walk on surfaces that are stable and secure: hard, paved areas; firm, compacted ground; grassy or shrub-covered terrain; and cultivated fields. The hiker must avoid any areas with deep liquid or vertical structures that could pose a fall hazard. Starting from the cultivated field, what is the safest path to reach the paved street?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the safest path from the cultivated field to the paved street?","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":"malopolskie_15.tif","subfolder":"malopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":66,"start_point":[931,41],"end_point":[394,422],"distance":658.4299507160955},{"start_region_id":149,"end_region_id":66,"start_point":[836,591],"end_point":[394,422],"distance":473.2071428032337},{"start_region_id":150,"end_region_id":66,"start_point":[76,815],"end_point":[394,422],"distance":505.5422830980609},{"start_region_id":145,"end_region_id":66,"start_point":[47,179],"end_point":[394,422],"distance":423.6248340218028},{"start_region_id":146,"end_region_id":66,"start_point":[29,267],"end_point":[394,422],"distance":396.547601177967}],"complexity_score":0.6232213299272549}
{"id":4019,"query_id":"Q00804","question":"A hiker starts from a grassy, open field, you need to return to another grassy, open field area. The terrain includes soft, uneven ground covered with natural vegetation, areas with tall, dense plant growth that may slow movement, and cultivated plots with loose soil and crops. You must avoid any hard, paved surfaces, water bodies, and structures. What is the shortest path?","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?","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":"zanzibar_99.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":62,"start_point":[961,895],"end_point":[686,996],"distance":292.9607482240582},{"start_region_id":62,"end_region_id":53,"start_point":[686,996],"end_point":[961,895],"distance":292.9607482240582}],"complexity_score":0.62323013561345}
{"id":9829,"query_id":"Q01966","question":"An aerial survey drone starts from a grassy, shrub-covered area and needs to reach a paved, hard-surfaced lane. The drone can fly over open sandy/rocky ground, grassy/shrubby areas, all paved surfaces, cultivated fields with crops, and water bodies. It can also navigate between buildings if necessary, but must avoid flying through dense tree canopies as they pose a collision risk. The drone's primary concern is minimizing operational risk. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, shrub-covered area.","end_land_type":"The destination is 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","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"zanzibar_99.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":366,"start_point":[28,96],"end_point":[743,845],"distance":1035.483461963541},{"start_region_id":5,"end_region_id":366,"start_point":[163,88],"end_point":[743,845],"distance":953.650355214111},{"start_region_id":53,"end_region_id":350,"start_point":[961,895],"end_point":[301,481],"distance":779.0994801692528},{"start_region_id":32,"end_region_id":350,"start_point":[977,513],"end_point":[301,481],"distance":676.7569726275452},{"start_region_id":62,"end_region_id":350,"start_point":[686,996],"end_point":[301,481],"distance":643.0007776045064}],"complexity_score":0.62323013561345}
{"id":17345,"query_id":"Q03469","question":"A quadcopter drone starts from a flat, artificial surface, you need to fly a quadcopter drone to another flat, artificial surface. You can fly over hard surfaces, vehicle lanes, areas with low vegetation, and bodies of water. However, you must avoid flying through areas with tall trees or structures, as they pose collision risks and cause turbulence, making the flight less comfortable. Additionally, you cannot fly over loose, sandy, or rocky terrain, or cultivated fields, as they are restricted. Given these constraints, 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":"another flat, artificial surface","task_description":"What is the most comfortable flight path?","task_type":"Comfort","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":"zanzibar_99.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":329,"end_region_id":72,"start_point":[58,983],"end_point":[935,29],"distance":1295.8568593791522},{"start_region_id":72,"end_region_id":329,"start_point":[935,29],"end_point":[58,983],"distance":1295.8568593791522},{"start_region_id":84,"end_region_id":329,"start_point":[950,168],"end_point":[58,983],"distance":1208.2586643595816},{"start_region_id":329,"end_region_id":84,"start_point":[58,983],"end_point":[950,168],"distance":1208.2586643595816},{"start_region_id":274,"end_region_id":72,"start_point":[94,814],"end_point":[935,29],"distance":1150.4373081572069}],"complexity_score":0.62323013561345}
{"id":16385,"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_24.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":222,"start_point":[720,517],"end_point":[39,997],"distance":833.1632493095216},{"start_region_id":222,"end_region_id":212,"start_point":[39,997],"end_point":[720,517],"distance":833.1632493095216}],"complexity_score":0.6234380814937904}
{"id":9272,"query_id":"Q01855","question":"An off-road SUV is on a paved road surface and needs to reach a grassy field. The vehicle can travel on hard, paved surfaces, compacted dirt tracks, and open grassy areas. It cannot enter areas with dense vegetation, bodies of water, or structures. What is the fastest route?","agent_category":"Car","specific_agent":"an off-road SUV","start_land_type":"paved road surface","end_land_type":"grassy field","task_description":"What is the fastest route for the off-road SUV to travel from the paved road surface to the grassy field?","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":"bielefeld_52.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":228,"end_region_id":1,"start_point":[439,495],"end_point":[46,241],"distance":467.93696156640584},{"start_region_id":228,"end_region_id":66,"start_point":[439,495],"end_point":[887,910],"distance":610.6791301493772},{"start_region_id":228,"end_region_id":10,"start_point":[439,495],"end_point":[947,283],"distance":550.461624457146},{"start_region_id":228,"end_region_id":79,"start_point":[439,495],"end_point":[125,927],"distance":534.0599217316349},{"start_region_id":228,"end_region_id":8,"start_point":[439,495],"end_point":[147,203],"distance":412.95036021294374}],"complexity_score":0.6234485003269494}
{"id":13419,"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":"bielefeld_52.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":1,"start_point":[911,830],"end_point":[46,241],"distance":1046.492235996044},{"start_region_id":101,"end_region_id":66,"start_point":[322,49],"end_point":[887,910],"distance":1029.828141002177},{"start_region_id":104,"end_region_id":79,"start_point":[848,179],"end_point":[125,927],"distance":1040.3042824097188},{"start_region_id":100,"end_region_id":66,"start_point":[180,160],"end_point":[887,910],"distance":1030.7031580430905},{"start_region_id":206,"end_region_id":1,"start_point":[789,918],"end_point":[46,241],"distance":1005.1756065484279}],"complexity_score":0.6234485003269494}
{"id":17962,"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":"bielefeld_52.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":228,"start_point":[46,241],"end_point":[439,495],"distance":467.93696156640584},{"start_region_id":66,"end_region_id":228,"start_point":[887,910],"end_point":[439,495],"distance":610.6791301493772},{"start_region_id":10,"end_region_id":228,"start_point":[947,283],"end_point":[439,495],"distance":550.461624457146},{"start_region_id":79,"end_region_id":228,"start_point":[125,927],"end_point":[439,495],"distance":534.0599217316349},{"start_region_id":8,"end_region_id":228,"start_point":[147,203],"end_point":[439,495],"distance":412.95036021294374}],"complexity_score":0.6234485003269494}
{"id":4070,"query_id":"Q00814","question":"A delivery drone starts from a densely vegetated area with tall, woody plants and needs to reach a cultivated field with planted crops. You are piloting a delivery drone seeking the most comfortable route. The terrain includes loose, sandy or rocky ground without vegetation; open areas with natural grasses and shrubs; hard, artificial surfaces like sidewalks and parking lots; paved lanes used by vehicles; densely wooded areas; and soft, tilled soil used for growing plants. However, you must avoid flying over any liquid surfaces or through any structures. Which path provides the most comfortable journey?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"a densely vegetated area with tall, woody plants","end_land_type":"a cultivated field with planted crops","task_description":"Which path provides the most comfortable journey?","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":"duesseldorf_61.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":430,"end_region_id":474,"start_point":[896,923],"end_point":[129,175],"distance":1071.351016240709},{"start_region_id":406,"end_region_id":476,"start_point":[88,915],"end_point":[742,78],"distance":1062.207606826462},{"start_region_id":430,"end_region_id":475,"start_point":[896,923],"end_point":[424,65],"distance":979.258903457099},{"start_region_id":393,"end_region_id":474,"start_point":[773,817],"end_point":[129,175],"distance":909.3404203047394},{"start_region_id":406,"end_region_id":475,"start_point":[88,915],"end_point":[424,65],"distance":914.0}],"complexity_score":0.6235962241385008}
{"id":12998,"query_id":"Q02600","question":"A quadcopter drone is positioned on a grassy, open field with scattered low shrubs and needs to reach a cultivated crop field with rows of plants. The drone can fly over any terrain except areas with tall, dense vegetation or solid vertical structures, which are blocked. The drone must avoid flying directly over tall, dense vegetation or solid vertical structures due to collision risks. The drone's priority is to maintain high and stable flight speed. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with scattered low shrubs","end_land_type":"a cultivated crop field with rows of plants","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":"duesseldorf_61.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":476,"start_point":[243,808],"end_point":[742,78],"distance":884.2516610105971},{"start_region_id":66,"end_region_id":474,"start_point":[739,675],"end_point":[129,175],"distance":788.7331614684398},{"start_region_id":15,"end_region_id":477,"start_point":[106,440],"end_point":[877,569],"distance":781.7173402195963},{"start_region_id":96,"end_region_id":475,"start_point":[243,808],"end_point":[424,65],"distance":764.7287100665177},{"start_region_id":64,"end_region_id":476,"start_point":[270,676],"end_point":[742,78],"distance":761.8320024782366}],"complexity_score":0.6235962241385008}
{"id":13759,"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_61.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":477,"end_region_id":147,"start_point":[877,569],"end_point":[328,139],"distance":697.3528518619537},{"start_region_id":477,"end_region_id":146,"start_point":[877,569],"end_point":[534,206],"distance":499.41766088115065},{"start_region_id":477,"end_region_id":149,"start_point":[877,569],"end_point":[483,328],"distance":461.8625336612616},{"start_region_id":476,"end_region_id":147,"start_point":[742,78],"end_point":[328,139],"distance":418.4698316485909},{"start_region_id":476,"end_region_id":149,"start_point":[742,78],"end_point":[483,328],"distance":359.97361014385484}],"complexity_score":0.6235962241385008}
{"id":17694,"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_61.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":474,"end_region_id":477,"start_point":[129,175],"end_point":[877,569],"distance":845.4229710624144},{"start_region_id":477,"end_region_id":474,"start_point":[877,569],"end_point":[129,175],"distance":845.4229710624144},{"start_region_id":477,"end_region_id":475,"start_point":[877,569],"end_point":[424,65],"distance":677.661419884591},{"start_region_id":475,"end_region_id":477,"start_point":[424,65],"end_point":[877,569],"distance":677.661419884591},{"start_region_id":474,"end_region_id":476,"start_point":[129,175],"end_point":[742,78],"distance":620.6271022119482}],"complexity_score":0.6235962241385008}
{"id":1004,"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_45.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":32,"start_point":[88,615],"end_point":[498,53],"distance":695.6608369025814},{"start_region_id":32,"end_region_id":52,"start_point":[498,53],"end_point":[88,615],"distance":695.6608369025814},{"start_region_id":44,"end_region_id":32,"start_point":[93,313],"end_point":[498,53],"distance":481.27435003332556},{"start_region_id":32,"end_region_id":44,"start_point":[498,53],"end_point":[93,313],"distance":481.27435003332556},{"start_region_id":52,"end_region_id":36,"start_point":[88,615],"end_point":[70,154],"distance":461.351276144328}],"complexity_score":0.6237089181563948}
{"id":3875,"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_45.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":63,"start_point":[88,615],"end_point":[581,44],"distance":754.3805405761736},{"start_region_id":36,"end_region_id":64,"start_point":[70,154],"end_point":[613,598],"distance":701.4164241019738},{"start_region_id":44,"end_region_id":64,"start_point":[93,313],"end_point":[613,598],"distance":592.9797635670209},{"start_region_id":44,"end_region_id":63,"start_point":[93,313],"end_point":[581,44],"distance":557.2297551279903},{"start_region_id":32,"end_region_id":64,"start_point":[498,53],"end_point":[613,598],"distance":557.0008976653448}],"complexity_score":0.6237089181563948}
{"id":16615,"query_id":"Q03323","question":"An aerial survey drone begins its mission perched on a cluster of tall, leafy vegetation with vertical structures and canopy cover. It needs to reach an open area dominated by low, natural grasses and shrubs to continue its data collection. The drone can fly over most surfaces, but must navigate carefully around dense vertical obstacles like trees. For this mission, the priority is to complete the transit as quickly as possible. The drone can utilize open liquid surfaces, cultivated fields with low, uniform crops, and hard, paved linear surfaces, but passage through or directly above areas with dense vertical vegetation is only possible if there are sufficiently wide gaps in the canopy. Which path allows the drone to reach the destination in the minimum time?","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":"An open area dominated by low, natural grasses and shrubs.","task_description":"Which path allows the drone to reach the destination 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":"pointenoire_8.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":343,"end_region_id":28,"start_point":[21,407],"end_point":[627,167],"distance":651.7944461254637},{"start_region_id":304,"end_region_id":38,"start_point":[618,101],"end_point":[54,361],"distance":621.0442818350396},{"start_region_id":343,"end_region_id":24,"start_point":[21,407],"end_point":[532,134],"distance":579.3530875036397},{"start_region_id":304,"end_region_id":11,"start_point":[618,101],"end_point":[85,129],"distance":533.7349529494953},{"start_region_id":343,"end_region_id":34,"start_point":[21,407],"end_point":[437,233],"distance":450.92349683732385}],"complexity_score":0.6237188567154329}
{"id":1100,"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_65.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":111,"start_point":[69,940],"end_point":[838,22],"distance":1197.532880550676},{"start_region_id":68,"end_region_id":110,"start_point":[69,940],"end_point":[692,29],"distance":1103.653025184999},{"start_region_id":1,"end_region_id":212,"start_point":[123,37],"end_point":[672,982],"distance":1092.8979824301991},{"start_region_id":65,"end_region_id":111,"start_point":[146,852],"end_point":[838,22],"distance":1080.6312969741346},{"start_region_id":68,"end_region_id":133,"start_point":[69,940],"end_point":[940,311],"distance":1074.3751672483872}],"complexity_score":0.6237277894648873}
{"id":10109,"query_id":"Q02022","question":"A quadcopter drone is positioned on grassy, uneven terrain and needs to reach another patch of grassy, uneven terrain as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; it can also traverse areas with low vegetation and bushes. The drone is permitted to cross over hard, flat surfaces like sidewalks and parking lots. Additionally, it can fly over liquid surfaces such as rivers or ponds. However, the drone must avoid flying through dense clusters of tall vegetation or near vertical structures, as these pose navigation hazards and require slower, more cautious movement. What is the fastest path for the drone to take?","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 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":"melbourne_65.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":68,"start_point":[702,176],"end_point":[69,940],"distance":992.1617811627295},{"start_region_id":68,"end_region_id":4,"start_point":[69,940],"end_point":[702,176],"distance":992.1617811627295},{"start_region_id":1,"end_region_id":66,"start_point":[123,37],"end_point":[626,863],"distance":967.1013390539794},{"start_region_id":66,"end_region_id":1,"start_point":[626,863],"end_point":[123,37],"distance":967.1013390539794},{"start_region_id":68,"end_region_id":1,"start_point":[69,940],"end_point":[123,37],"distance":904.6131769988762}],"complexity_score":0.6237277894648873}
{"id":12819,"query_id":"Q02564","question":"A hiker starts from a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes areas with loose soil and natural vegetation, hard paved surfaces, vehicle lanes, and cultivated fields. 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":"grassy, open field","end_land_type":"wooded area with tall vegetation","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_65.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":111,"start_point":[69,940],"end_point":[838,22],"distance":1197.532880550676},{"start_region_id":68,"end_region_id":110,"start_point":[69,940],"end_point":[692,29],"distance":1103.653025184999},{"start_region_id":1,"end_region_id":212,"start_point":[123,37],"end_point":[672,982],"distance":1092.8979824301991},{"start_region_id":65,"end_region_id":111,"start_point":[146,852],"end_point":[838,22],"distance":1080.6312969741346},{"start_region_id":68,"end_region_id":133,"start_point":[69,940],"end_point":[940,311],"distance":1074.3751672483872}],"complexity_score":0.6237277894648873}
{"id":17178,"query_id":"Q03436","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can traverse hard surfaces, grassy or shrub-covered terrain, and liquid surfaces, but must avoid vertical structures and areas with tall vegetation. What is the safest route?","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 route 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":"melbourne_65.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":105,"start_point":[100,505],"end_point":[934,696],"distance":855.5916081869901},{"start_region_id":105,"end_region_id":103,"start_point":[934,696],"end_point":[100,505],"distance":855.5916081869901},{"start_region_id":102,"end_region_id":105,"start_point":[466,533],"end_point":[934,696],"distance":495.57340525899895},{"start_region_id":105,"end_region_id":102,"start_point":[934,696],"end_point":[466,533],"distance":495.57340525899895},{"start_region_id":102,"end_region_id":103,"start_point":[466,533],"end_point":[100,505],"distance":367.06947571270484}],"complexity_score":0.6237277894648873}
{"id":1687,"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_7.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":84,"start_point":[50,916],"end_point":[970,348],"distance":1081.214132353069},{"start_region_id":13,"end_region_id":86,"start_point":[50,916],"end_point":[886,636],"distance":881.6439190512233},{"start_region_id":3,"end_region_id":84,"start_point":[294,625],"end_point":[970,348],"distance":730.5511617949834},{"start_region_id":1,"end_region_id":86,"start_point":[263,293],"end_point":[886,636],"distance":711.1807083997709},{"start_region_id":1,"end_region_id":84,"start_point":[263,293],"end_point":[970,348],"distance":709.1360941314439}],"complexity_score":0.623924034691899}
{"id":6489,"query_id":"Q01298","question":"An aerial surveillance drone starts from a cultivated field and needs to reach a paved lane. The drone can fly over open ground with sparse vegetation, hard artificial surfaces, and liquid bodies, but must avoid vertical structures and dense vegetation. The drone's primary concern is minimizing risk of collision or system failure. What is the safest path?","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 for the aerial surveillance drone to reach the paved lane from the 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":"aachen_7.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":37,"start_point":[970,348],"end_point":[83,869],"distance":1028.693345949122},{"start_region_id":86,"end_region_id":37,"start_point":[886,636],"end_point":[83,869],"distance":836.120804668799},{"start_region_id":86,"end_region_id":33,"start_point":[886,636],"end_point":[286,290],"distance":692.6153333561133},{"start_region_id":84,"end_region_id":33,"start_point":[970,348],"end_point":[286,290],"distance":686.4546598283094},{"start_region_id":86,"end_region_id":34,"start_point":[886,636],"end_point":[316,312],"distance":655.6492964992794}],"complexity_score":0.623924034691899}
{"id":11327,"query_id":"Q02266","question":"A delivery drone takes off from a paved roadway and needs to land on a paved courtyard while ensuring stable flight comfort. The drone can fly over paved surfaces, compacted soil, grassy fields, and agricultural plots, but must avoid areas with tall vertical obstacles and liquid surfaces. What is the most comfortable aerial path from the starting roadway to the destination courtyard?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable aerial path from the starting roadway to the destination courtyard?","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":"aachen_7.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":19,"start_point":[83,869],"end_point":[718,167],"distance":946.5880835928582},{"start_region_id":36,"end_region_id":30,"start_point":[954,504],"end_point":[135,918],"distance":917.6911245075872},{"start_region_id":37,"end_region_id":23,"start_point":[83,869],"end_point":[851,456],"distance":872.0051605351886},{"start_region_id":36,"end_region_id":14,"start_point":[954,504],"end_point":[289,151],"distance":752.8837891733358},{"start_region_id":37,"end_region_id":14,"start_point":[83,869],"end_point":[289,151],"distance":746.9672014218563}],"complexity_score":0.623924034691899}
{"id":7879,"query_id":"Q01576","question":"A person walking starts from a paved road surface and needs to reach a hard, flat paved area. The terrain includes loose, sandy ground; grassy or shrubby areas; and cultivated fields with crops, but these are rough and uneven, making them uncomfortable to walk on. Trees are present, but their roots and uneven ground beneath them cause discomfort. You must avoid any liquid surfaces and vertical structures. 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 hard, flat paved area","task_description":"What is the most comfortable path from the paved road surface to the hard, flat paved 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":"shanghai_59.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":26,"start_point":[501,590],"end_point":[45,181],"distance":612.5495898292644},{"start_region_id":119,"end_region_id":29,"start_point":[501,590],"end_point":[188,161],"distance":531.046137355315},{"start_region_id":119,"end_region_id":27,"start_point":[501,590],"end_point":[379,65],"distance":538.9888681596309},{"start_region_id":119,"end_region_id":56,"start_point":[501,590],"end_point":[130,373],"distance":429.80228012424504},{"start_region_id":119,"end_region_id":66,"start_point":[501,590],"end_point":[98,493],"distance":414.5093485073648}],"complexity_score":0.6239589503706787}
{"id":10392,"query_id":"Q02079","question":"A hiker starts from a paved lane and needs to reach another paved lane. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as soft, uneven ground covered with loose soil and rocks, and areas with natural grass and shrubs. The hiker can traverse all these surfaces, but must avoid water bodies and buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path for the hiker 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":"shanghai_59.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":119,"start_point":[238,240],"end_point":[501,590],"distance":437.80018273180286},{"start_region_id":119,"end_region_id":118,"start_point":[501,590],"end_point":[238,240],"distance":437.80018273180286}],"complexity_score":0.6239589503706787}
{"id":12476,"query_id":"Q02496","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 traverse open areas with low vegetation, firm ground, and hard surfaces. However. The drone must avoid any dense clusters of tall vegetation that would require maneuvering around individual obstacles, as these would slow it down. What is the fastest 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?","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":"shanghai_59.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":70,"start_point":[45,181],"end_point":[404,595],"distance":547.9753644097516},{"start_region_id":70,"end_region_id":26,"start_point":[404,595],"end_point":[45,181],"distance":547.9753644097516},{"start_region_id":27,"end_region_id":70,"start_point":[379,65],"end_point":[404,595],"distance":530.5892950295926},{"start_region_id":70,"end_region_id":27,"start_point":[404,595],"end_point":[379,65],"distance":530.5892950295926},{"start_region_id":27,"end_region_id":66,"start_point":[379,65],"end_point":[98,493],"distance":512.0009765615687}],"complexity_score":0.6239589503706787}
{"id":12466,"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_34.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":124,"start_point":[835,806],"end_point":[50,59],"distance":1083.6207823773038},{"start_region_id":124,"end_region_id":272,"start_point":[50,59],"end_point":[835,806],"distance":1083.6207823773038},{"start_region_id":134,"end_region_id":314,"start_point":[888,212],"end_point":[68,886],"distance":1061.4499517169897},{"start_region_id":314,"end_region_id":134,"start_point":[68,886],"end_point":[888,212],"distance":1061.4499517169897},{"start_region_id":134,"end_region_id":320,"start_point":[888,212],"end_point":[194,947],"distance":1010.8714062629331}],"complexity_score":0.6241578358441248}
{"id":6319,"query_id":"Q01264","question":"A quadcopter drone starts from a patch of wild grass and shrubs and needs to reach a cultivated crop field. The drone can fly over areas of loose sand or rock, other patches of wild vegetation, paved surfaces like sidewalks and parking lots, vehicle lanes, bodies of water, and the crop fields themselves. However, it cannot fly through dense clusters of tall trees or inside buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of wild grass and shrubs","end_land_type":"and needs to reach a cultivated crop field","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":"malopolskie_26.tif","subfolder":"malopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":49,"start_point":[116,836],"end_point":[795,98],"distance":1002.8384715396593},{"start_region_id":5,"end_region_id":49,"start_point":[46,670],"end_point":[795,98],"distance":942.4356741974489},{"start_region_id":2,"end_region_id":51,"start_point":[818,202],"end_point":[268,905],"distance":892.5855701275929},{"start_region_id":9,"end_region_id":48,"start_point":[955,813],"end_point":[217,319],"distance":888.0765732750752},{"start_region_id":5,"end_region_id":52,"start_point":[46,670],"end_point":[825,900],"distance":812.244421341261}],"complexity_score":0.6242225123779238}
{"id":11555,"query_id":"Q02311","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over loose, sandy or rocky ground, grassy or shrub-covered terrain, paved areas, water bodies, and agricultural fields, but must avoid tall, dense vegetation and vertical structures. The drone prioritizes smooth, stable flight to minimize vibrations and ensure stable sensor readings. What is the most comfortable path?","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 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":"malopolskie_26.tif","subfolder":"malopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":2,"start_point":[64,792],"end_point":[818,202],"distance":957.4006475869963},{"start_region_id":18,"end_region_id":9,"start_point":[64,792],"end_point":[955,813],"distance":891.2474403890313},{"start_region_id":18,"end_region_id":1,"start_point":[64,792],"end_point":[468,214],"distance":705.1950084905593},{"start_region_id":18,"end_region_id":3,"start_point":[64,792],"end_point":[605,735],"distance":543.9944852661652},{"start_region_id":18,"end_region_id":8,"start_point":[64,792],"end_point":[390,722],"distance":333.430652460148}],"complexity_score":0.6242225123779238}
{"id":15740,"query_id":"Q03148","question":"An aerial surveillance drone starts from a cultivated field and needs to reach a grassy meadow. The terrain includes open areas with soft ground or vegetation, hard flat surfaces, and patches of tall vegetation that can be flown through if careful. However, you must avoid any liquid surfaces and vertical structures due to safety protocols. What is the safest flight path?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","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":"malopolskie_26.tif","subfolder":"malopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":7,"start_point":[795,98],"end_point":[116,836],"distance":1002.8384715396593},{"start_region_id":49,"end_region_id":5,"start_point":[795,98],"end_point":[46,670],"distance":942.4356741974489},{"start_region_id":51,"end_region_id":2,"start_point":[268,905],"end_point":[818,202],"distance":892.5855701275929},{"start_region_id":48,"end_region_id":9,"start_point":[217,319],"end_point":[955,813],"distance":888.0765732750752},{"start_region_id":52,"end_region_id":5,"start_point":[825,900],"end_point":[46,670],"distance":812.244421341261}],"complexity_score":0.6242225123779238}
{"id":3101,"query_id":"Q00621","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach an open area with loose, granular material and no vegetation. The drone can fly over most surfaces, but areas with dense vertical structures require slower speeds for safe maneuvering. The open granular areas allow for maximum flight speed without obstruction. What is the fastest route to reach the destination?","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 an open area with loose, granular material and no 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":1,"start_point":[852,912],"end_point":[156,54],"distance":1104.7986241845163},{"start_region_id":143,"end_region_id":26,"start_point":[852,912],"end_point":[45,212],"distance":1068.2925629245951},{"start_region_id":143,"end_region_id":19,"start_point":[852,912],"end_point":[102,153],"distance":1067.0431106567344},{"start_region_id":143,"end_region_id":2,"start_point":[852,912],"end_point":[498,43],"distance":938.3373593756139},{"start_region_id":143,"end_region_id":18,"start_point":[852,912],"end_point":[287,240],"distance":877.9572882549584}],"complexity_score":0.6242735346946255}
{"id":3151,"query_id":"Q00631","question":"A hiker starts from a patch of rough, loose ground and needs to reach another patch of similar rough, loose ground. The terrain consists of two types of surfaces: one is loose, sandy or rocky ground with minimal vegetation, and the other is covered with low, natural vegetation like grass and shrubs. The hiker is wearing sturdy boots that provide good traction on both surfaces, but the goal is to minimize physical discomfort during the walk. Which path should the hiker take?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rough, loose ground","end_land_type":"rough, loose ground","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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":34,"start_point":[247,581],"end_point":[501,383],"distance":322.0558957696629},{"start_region_id":34,"end_region_id":63,"start_point":[501,383],"end_point":[247,581],"distance":322.0558957696629}],"complexity_score":0.6242735346946255}
{"id":3677,"query_id":"Q00736","question":"A hiker starts from a cultivated field and needs to reach a sandy or rocky area. You can traverse areas with loose soil and rocks, grassy or shrubby vegetation, paved or compacted surfaces, vehicle lanes, individual trees or wooded patches, and cultivated fields. However, you cannot traverse liquid surfaces or vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"sandy or rocky 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":179,"end_region_id":62,"start_point":[420,981],"end_point":[802,535],"distance":587.2307893835268},{"start_region_id":178,"end_region_id":62,"start_point":[908,805],"end_point":[802,535],"distance":290.06206232459976},{"start_region_id":177,"end_region_id":62,"start_point":[978,721],"end_point":[802,535],"distance":256.0703028466987}],"complexity_score":0.6242735346946255}
{"id":9479,"query_id":"Q01896","question":"An aerial survey drone starts from a cultivated field and needs to reach an area of exposed ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The drone can fly over liquid surfaces but should minimize time over them due to potential signal interference and lack of landing options. The drone can use paved lanes for navigation reference but doesn't require them for flight. The cultivated fields are accessible for low-altitude flight. The exposed ground provides clear, obstacle-free airspace.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed ground","task_description":"What is the safest flight path for the aerial survey drone to reach the exposed ground from the 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":1,"start_point":[908,805],"end_point":[156,54],"distance":1062.7817273551516},{"start_region_id":178,"end_region_id":26,"start_point":[908,805],"end_point":[45,212],"distance":1047.099804221164},{"start_region_id":178,"end_region_id":19,"start_point":[908,805],"end_point":[102,153],"distance":1036.696676950399},{"start_region_id":179,"end_region_id":1,"start_point":[420,981],"end_point":[156,54],"distance":963.8594295850406},{"start_region_id":179,"end_region_id":2,"start_point":[420,981],"end_point":[498,43],"distance":941.2374833165113}],"complexity_score":0.6242735346946255}
{"id":9894,"query_id":"Q01979","question":"An aerial survey drone begins its mission on a cultivated field and needs to reach exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The mission requires prioritizing terrain that minimizes operational risks, avoiding areas with potential signal interference or unstable flight conditions. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed rocky 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":1,"start_point":[908,805],"end_point":[156,54],"distance":1062.7817273551516},{"start_region_id":178,"end_region_id":26,"start_point":[908,805],"end_point":[45,212],"distance":1047.099804221164},{"start_region_id":178,"end_region_id":19,"start_point":[908,805],"end_point":[102,153],"distance":1036.696676950399},{"start_region_id":179,"end_region_id":1,"start_point":[420,981],"end_point":[156,54],"distance":963.8594295850406},{"start_region_id":179,"end_region_id":2,"start_point":[420,981],"end_point":[498,43],"distance":941.2374833165113}],"complexity_score":0.6242735346946255}
{"id":12018,"query_id":"Q02404","question":"A hiker starts from a stretch of loose, sandy ground and needs to reach another stretch of loose, sandy ground. You prefer walking on firm, even surfaces to avoid discomfort from uneven footing. Paved walkways and vehicle lanes are accessible and can be used. However, any areas with water or buildings are completely blocked. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a stretch of loose, sandy ground","end_land_type":"another stretch of loose, sandy ground","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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":34,"start_point":[247,581],"end_point":[501,383],"distance":322.0558957696629},{"start_region_id":34,"end_region_id":63,"start_point":[501,383],"end_point":[247,581],"distance":322.0558957696629}],"complexity_score":0.6242735346946255}
{"id":12126,"query_id":"Q02426","question":"A quadcopter drone is currently positioned over a cultivated field with low, uniform vegetation. It needs to reach an area of exposed, loose soil and rocks. The drone can fly over open ground with sparse vegetation, hard flat surfaces, and tall vertical obstacles, but must avoid liquid surfaces. To minimize travel time, what is the optimal path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"What is the fastest route for the drone to take from the cultivated field to the exposed soil and rock 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":179,"end_region_id":62,"start_point":[420,981],"end_point":[802,535],"distance":587.2307893835268},{"start_region_id":178,"end_region_id":62,"start_point":[908,805],"end_point":[802,535],"distance":290.06206232459976},{"start_region_id":177,"end_region_id":62,"start_point":[978,721],"end_point":[802,535],"distance":256.0703028466987}],"complexity_score":0.6242735346946255}
{"id":13971,"query_id":"Q02795","question":"An off-road rally car starts from loose, sandy ground and needs to reach another patch of loose, sandy ground as quickly as possible. The vehicle can travel across loose, sandy ground, grassy or shrubby areas, hard paved surfaces, and cultivated fields. However, it cannot drive through dense vegetation, bodies of water, or structures. Which path allows the vehicle to reach its destination in the shortest time?","agent_category":"Car","specific_agent":"off-road rally car","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"Which path allows the vehicle to reach its destination 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":34,"start_point":[247,581],"end_point":[501,383],"distance":322.0558957696629},{"start_region_id":34,"end_region_id":63,"start_point":[501,383],"end_point":[247,581],"distance":322.0558957696629}],"complexity_score":0.6242735346946255}
{"id":14011,"query_id":"Q02803","question":"An off-road vehicle starts from a stretch of loose, rocky terrain and needs to reach another section of similar dry, unconsolidated ground. The available surfaces include open areas of bare soil and gravel, grassy fields with low vegetation, flat paved surfaces like parking lots or construction sites, and cultivated fields. You must avoid any trees, water bodies, buildings, and roads. What is the shortest route?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest route from the starting bare terrain to the destination bare terrain?","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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":34,"start_point":[247,581],"end_point":[501,383],"distance":322.0558957696629},{"start_region_id":34,"end_region_id":63,"start_point":[501,383],"end_point":[247,581],"distance":322.0558957696629}],"complexity_score":0.6242735346946255}
{"id":14546,"query_id":"Q02910","question":"A quadcopter drone takes off from a sandy, open area and must fly to a crop field in the shortest time possible. The drone can fly over most surfaces, including paved pathways and agricultural plots, but must avoid colliding with tall vertical obstacles like trees and buildings. Which route enables the drone to achieve the highest speed?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"crop field","task_description":"Which route enables the drone to achieve the highest 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":178,"start_point":[156,54],"end_point":[908,805],"distance":1062.7817273551516},{"start_region_id":26,"end_region_id":178,"start_point":[45,212],"end_point":[908,805],"distance":1047.099804221164},{"start_region_id":19,"end_region_id":178,"start_point":[102,153],"end_point":[908,805],"distance":1036.696676950399},{"start_region_id":1,"end_region_id":179,"start_point":[156,54],"end_point":[420,981],"distance":963.8594295850406},{"start_region_id":2,"end_region_id":179,"start_point":[498,43],"end_point":[420,981],"distance":941.2374833165113}],"complexity_score":0.6242735346946255}
{"id":15186,"query_id":"Q03038","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to reach a cultivated field. An aerial survey drone must maintain stable flight for sensor accuracy. The drone can fly over open water surfaces, but must avoid tall vertical obstacles like trees and structures. It can traverse grassy areas and paved surfaces, but should prioritize smooth, predictable terrain to minimize vibrations. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to reach a cultivated 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":178,"start_point":[156,54],"end_point":[908,805],"distance":1062.7817273551516},{"start_region_id":26,"end_region_id":178,"start_point":[45,212],"end_point":[908,805],"distance":1047.099804221164},{"start_region_id":19,"end_region_id":178,"start_point":[102,153],"end_point":[908,805],"distance":1036.696676950399},{"start_region_id":1,"end_region_id":179,"start_point":[156,54],"end_point":[420,981],"distance":963.8594295850406},{"start_region_id":2,"end_region_id":179,"start_point":[498,43],"end_point":[420,981],"distance":941.2374833165113}],"complexity_score":0.6242735346946255}
{"id":16213,"query_id":"Q03243","question":"A quadcopter drone is launching from a sandy, open area and must fly to a cultivated field. The drone can fly over most surfaces, including grassy areas and hard, paved surfaces, but it must avoid tall vertical obstacles like trees and buildings due to safety regulations. The goal is to achieve the fastest flight to the field.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"cultivated field","task_description":"What is the fastest flight path from the sandy start to the cultivated 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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":178,"start_point":[156,54],"end_point":[908,805],"distance":1062.7817273551516},{"start_region_id":26,"end_region_id":178,"start_point":[45,212],"end_point":[908,805],"distance":1047.099804221164},{"start_region_id":19,"end_region_id":178,"start_point":[102,153],"end_point":[908,805],"distance":1036.696676950399},{"start_region_id":1,"end_region_id":179,"start_point":[156,54],"end_point":[420,981],"distance":963.8594295850406},{"start_region_id":2,"end_region_id":179,"start_point":[498,43],"end_point":[420,981],"distance":941.2374833165113}],"complexity_score":0.6242735346946255}
{"id":16879,"query_id":"Q03376","question":"An agricultural monitoring drone begins its flight from a cultivated field and needs to reach a dry, open ground area. The drone can fly over cultivated areas, dry open ground, and vegetated areas with tall vertical obstacles, but must prioritize smooth flight paths to minimize vibrations and ensure stable sensor readings. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"dry, open ground","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":"pisco_12.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":26,"start_point":[978,721],"end_point":[45,212],"distance":1062.812307042029},{"start_region_id":178,"end_region_id":1,"start_point":[908,805],"end_point":[156,54],"distance":1062.7817273551516},{"start_region_id":177,"end_region_id":1,"start_point":[978,721],"end_point":[156,54],"distance":1058.5712068632888},{"start_region_id":178,"end_region_id":26,"start_point":[908,805],"end_point":[45,212],"distance":1047.099804221164},{"start_region_id":177,"end_region_id":19,"start_point":[978,721],"end_point":[102,153],"distance":1044.030650891055}],"complexity_score":0.6242735346946255}
{"id":10198,"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_47.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":7,"start_point":[890,707],"end_point":[40,192],"distance":993.8435490558863},{"start_region_id":192,"end_region_id":1,"start_point":[890,707],"end_point":[256,54],"distance":910.1455927487646},{"start_region_id":123,"end_region_id":103,"start_point":[859,109],"end_point":[881,966],"distance":857.2823338900669},{"start_region_id":123,"end_region_id":99,"start_point":[859,109],"end_point":[956,928],"distance":824.7241963226252},{"start_region_id":123,"end_region_id":7,"start_point":[859,109],"end_point":[40,192],"distance":823.1949951256993}],"complexity_score":0.6244060469053972}
{"id":12739,"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_47.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":123,"start_point":[992,848],"end_point":[859,109],"distance":750.8728254504887},{"start_region_id":225,"end_region_id":150,"start_point":[992,848],"end_point":[655,417],"distance":547.1105921109552},{"start_region_id":223,"end_region_id":197,"start_point":[206,751],"end_point":[685,765],"distance":479.20454922715413},{"start_region_id":222,"end_region_id":123,"start_point":[762,558],"end_point":[859,109],"distance":459.35824799387245},{"start_region_id":224,"end_region_id":177,"start_point":[496,734],"end_point":[98,594],"distance":421.9052026225797}],"complexity_score":0.6244060469053972}
{"id":14787,"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":"chisinau_47.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":123,"start_point":[146,787],"end_point":[859,109],"distance":983.8968441864218},{"start_region_id":123,"end_region_id":167,"start_point":[859,109],"end_point":[146,787],"distance":983.8968441864218},{"start_region_id":123,"end_region_id":209,"start_point":[859,109],"end_point":[518,951],"distance":908.4299642790302},{"start_region_id":209,"end_region_id":123,"start_point":[518,951],"end_point":[859,109],"distance":908.4299642790302},{"start_region_id":123,"end_region_id":177,"start_point":[859,109],"end_point":[98,594],"distance":902.4112144693238}],"complexity_score":0.6244060469053972}
{"id":17089,"query_id":"Q03418","question":"A quadcopter drone starts from a patch of grassy, uneven ground and needs to reach another area of similar grassy, uneven ground. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as lanes used by vehicles. However, you must avoid flying through any areas with dense vertical obstacles or structures. What is the shortest path to your destination?","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 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":"chisinau_47.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":99,"start_point":[40,192],"end_point":[956,928],"distance":1175.054041310441},{"start_region_id":99,"end_region_id":7,"start_point":[956,928],"end_point":[40,192],"distance":1175.054041310441},{"start_region_id":103,"end_region_id":7,"start_point":[881,966],"end_point":[40,192],"distance":1142.9597543220846},{"start_region_id":7,"end_region_id":103,"start_point":[40,192],"end_point":[881,966],"distance":1142.9597543220846},{"start_region_id":1,"end_region_id":99,"start_point":[256,54],"end_point":[956,928],"distance":1119.766046993746}],"complexity_score":0.6244060469053972}
{"id":1823,"query_id":"Q00365","question":"A quadcopter drone is conducting an aerial survey. It begins on a patch of loose, dry soil and scattered rocks and needs to reach a tall, leafy structure with vertical wooden elements. The drone can fly over open, dry ground; grassy or shrubby areas; flat, hard surfaces; liquid surfaces; and cultivated fields. However, it must slow down significantly when navigating through dense, vertical obstacles like the destination structure. What is the fastest path to the destination?","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 tall, leafy structure with vertical wooden elements","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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":101,"start_point":[350,388],"end_point":[30,319],"distance":327.35454785293575},{"start_region_id":1,"end_region_id":79,"start_point":[350,388],"end_point":[140,146],"distance":320.4122344730301},{"start_region_id":1,"end_region_id":81,"start_point":[350,388],"end_point":[275,175],"distance":225.81851119870575},{"start_region_id":1,"end_region_id":97,"start_point":[350,388],"end_point":[154,317],"distance":208.4634260487916}],"complexity_score":0.6244336865932716}
{"id":3080,"query_id":"Q00616","question":"A quadcopter drone takes off from a paved, hard surface and must land on loose, sandy ground. The drone can fly over paved surfaces and loose, sandy ground, but cannot pass through dense vegetation or structures. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Bareland","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":[1,0,1,1,0,0,0,0],"image_name":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[282,151],"end_point":[350,388],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":6497,"query_id":"Q01300","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to reach a paved lane. The drone's flight path must prioritize smooth, stable surfaces to ensure stable camera footage and minimize vibrations. The drone can fly over open water bodies, but the resulting air turbulence and spray make the flight less comfortable. It can also fly over areas with low vegetation or cultivated fields, but these offer moderate stability. Flying near or through dense vertical obstacles like tall trees or structures is prohibited for safety and comfort reasons, as it requires constant maneuvering and creates turbulence. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground.","end_land_type":"The destination is a paved lane.","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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[350,388],"end_point":[282,151],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":7701,"query_id":"Q01541","question":"An aerial survey drone is positioned on a paved, hard surface and needs to reach a destination located on loose, dry earth with scattered rocks. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and other paved areas, but must avoid areas with tall, dense vertical obstacles. The drone's flight controller prioritizes smooth, stable flight to protect sensitive onboard sensors. 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":"loose, dry earth with scattered rocks","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_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":1,"start_point":[31,228],"end_point":[350,388],"distance":356.87672941787616},{"start_region_id":22,"end_region_id":1,"start_point":[207,75],"end_point":[350,388],"distance":344.11916540640397},{"start_region_id":40,"end_region_id":1,"start_point":[86,251],"end_point":[350,388],"distance":297.4306641891518}],"complexity_score":0.6244336865932716}
{"id":7813,"query_id":"Q01563","question":"A delivery drone starts on a sandy, open area and must reach a hard, paved surface. The drone can fly over most terrains but needs to avoid collisions. It can traverse loose, sandy ground; paved lanes; cultivated fields; and areas with tall, dense vegetation only if it flies above the canopy to prevent entanglement. Vertical structures and liquid bodies are to be avoided due to navigation hazards. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a sandy, open area","end_land_type":"a hard, paved surface","task_description":"What is the fastest route for the delivery drone to travel from the sandy, open area to the hard, 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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[350,388],"end_point":[282,151],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":8938,"query_id":"Q01788","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a hard, paved lane used by vehicles. The drone must maintain stable flight and avoid vibrations. It can fly over open water surfaces, but must avoid areas with tall vegetation or vertical structures. The drone should prioritize surfaces that provide smooth, predictable flight conditions.","agent_category":"Drone","specific_agent":"Aerial survey 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 hard, paved lane 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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[350,388],"end_point":[282,151],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":9715,"query_id":"Q01943","question":"An aerial surveillance drone is currently positioned on loose, sandy ground and needs to reach a paved lane. The drone can fly over open, dry terrain, cultivated fields, and liquid surfaces, but must avoid tall vertical obstacles and solid structures. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, sandy ground","end_land_type":"paved lane","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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[350,388],"end_point":[282,151],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":11208,"query_id":"Q02242","question":"A family SUV is currently parked on a paved, hard-surfaced area. It needs to reach a natural area of loose, dry earth and rocks without vegetation. The vehicle can travel on paved roads and other hard, artificial surfaces, as these provide stable traction. It can also cross cultivated fields with firm soil and grassy or shrub-covered terrain with moderate ground clearance, as these surfaces are dry and solid enough for careful off-road travel. However, the vehicle must avoid all areas with standing or flowing liquid, all vertical structures, and any terrain dominated by dense, tall vegetation that could obstruct movement or damage the vehicle. Given these constraints, what is the safest route for the SUV to take?","agent_category":"Car","specific_agent":"A family SUV","start_land_type":"A paved, hard-surfaced area","end_land_type":"A natural area of loose, dry earth and rocks without vegetation","task_description":"What is the safest route for the SUV 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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":1,"start_point":[31,228],"end_point":[350,388],"distance":356.87672941787616},{"start_region_id":22,"end_region_id":1,"start_point":[207,75],"end_point":[350,388],"distance":344.11916540640397},{"start_region_id":40,"end_region_id":1,"start_point":[86,251],"end_point":[350,388],"distance":297.4306641891518}],"complexity_score":0.6244336865932716}
{"id":11737,"query_id":"Q02348","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks and needs to reach a cluster of tall, leafy vegetation with a distinct vertical structure. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open areas with sparse ground cover, flat paved surfaces, and calm liquid surfaces. However, it must avoid flying directly through dense vertical obstacles, as they pose a collision risk and require careful maneuvering that could destabilize the flight. The destination is located within such a vertical structure. What is the most comfortable path for the drone to take?","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":"The destination is a cluster of tall, leafy vegetation with a distinct vertical structure.","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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":101,"start_point":[350,388],"end_point":[30,319],"distance":327.35454785293575},{"start_region_id":1,"end_region_id":79,"start_point":[350,388],"end_point":[140,146],"distance":320.4122344730301},{"start_region_id":1,"end_region_id":81,"start_point":[350,388],"end_point":[275,175],"distance":225.81851119870575},{"start_region_id":1,"end_region_id":97,"start_point":[350,388],"end_point":[154,317],"distance":208.4634260487916}],"complexity_score":0.6244336865932716}
{"id":12098,"query_id":"Q02420","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dry, sandy area. The drone can fly over liquid surfaces, but must avoid any vertical obstacles like trees or buildings. The paved surface and sandy ground are clear for flight, and the liquid surface is open and unobstructed. What is the fastest path for the drone to take?","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 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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":1,"start_point":[31,228],"end_point":[350,388],"distance":356.87672941787616},{"start_region_id":22,"end_region_id":1,"start_point":[207,75],"end_point":[350,388],"distance":344.11916540640397},{"start_region_id":40,"end_region_id":1,"start_point":[86,251],"end_point":[350,388],"distance":297.4306641891518}],"complexity_score":0.6244336865932716}
{"id":13854,"query_id":"Q02771","question":"An off-road vehicle begins on a rough, sandy surface with loose soil and rocks, aiming to reach a smooth, paved area made of asphalt or concrete. The vehicle can drive over grassy fields and cultivated agricultural plots, but cannot go through wooded areas, water bodies, or buildings. What is the shortest route to the paved area?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the shortest route to the paved 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_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":39,"start_point":[350,388],"end_point":[31,228],"distance":356.87672941787616},{"start_region_id":1,"end_region_id":22,"start_point":[350,388],"end_point":[207,75],"distance":344.11916540640397},{"start_region_id":1,"end_region_id":40,"start_point":[350,388],"end_point":[86,251],"distance":297.4306641891518}],"complexity_score":0.6244336865932716}
{"id":15062,"query_id":"Q03013","question":"A quadcopter starts from a flat, artificial surface and needs to reach an open, sandy area. The drone aims to maximize flight comfort by avoiding turbulent or obstructed airspace. Grassy expanses, paved zones, and cultivated fields are all clear and comfortable to fly over. Water surfaces are passable but may cause discomfort due to spray or reflections. Trees and buildings can be navigated around if necessary, but direct passage through them is avoided to prevent collisions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"flat, artificial surface","end_land_type":"open, sandy 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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":1,"start_point":[31,228],"end_point":[350,388],"distance":356.87672941787616},{"start_region_id":22,"end_region_id":1,"start_point":[207,75],"end_point":[350,388],"distance":344.11916540640397},{"start_region_id":40,"end_region_id":1,"start_point":[86,251],"end_point":[350,388],"distance":297.4306641891518}],"complexity_score":0.6244336865932716}
{"id":16260,"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":"rio_4.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[282,151],"end_point":[350,388],"distance":246.5623653358314}],"complexity_score":0.6244336865932716}
{"id":1397,"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_33.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":243,"start_point":[732,66],"end_point":[294,928],"distance":966.8960647349849},{"start_region_id":243,"end_region_id":146,"start_point":[294,928],"end_point":[732,66],"distance":966.8960647349849},{"start_region_id":165,"end_region_id":243,"start_point":[815,188],"end_point":[294,928],"distance":905.0088397358337},{"start_region_id":243,"end_region_id":165,"start_point":[294,928],"end_point":[815,188],"distance":905.0088397358337},{"start_region_id":146,"end_region_id":229,"start_point":[732,66],"end_point":[249,827],"distance":901.3378944657769}],"complexity_score":0.6245637816065197}
{"id":7866,"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":"austin_33.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":140,"start_point":[476,347],"end_point":[54,977],"distance":758.2769942441878},{"start_region_id":140,"end_region_id":133,"start_point":[54,977],"end_point":[476,347],"distance":758.2769942441878}],"complexity_score":0.6245637816065197}
{"id":15142,"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":"austin_33.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":75,"start_point":[54,977],"end_point":[977,180],"distance":1219.4826772037395},{"start_region_id":140,"end_region_id":64,"start_point":[54,977],"end_point":[556,50],"distance":1054.197799276777},{"start_region_id":140,"end_region_id":111,"start_point":[54,977],"end_point":[835,382],"distance":981.8278871574182},{"start_region_id":140,"end_region_id":68,"start_point":[54,977],"end_point":[290,52],"distance":954.6313424563432},{"start_region_id":140,"end_region_id":63,"start_point":[54,977],"end_point":[482,138],"distance":941.8625165065229}],"complexity_score":0.6245637816065197}
{"id":1007,"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_52.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":24,"start_point":[382,38],"end_point":[82,606],"distance":642.3581555487561},{"start_region_id":24,"end_region_id":1,"start_point":[82,606],"end_point":[382,38],"distance":642.3581555487561},{"start_region_id":2,"end_region_id":24,"start_point":[527,166],"end_point":[82,606],"distance":625.7994886543133},{"start_region_id":24,"end_region_id":2,"start_point":[82,606],"end_point":[527,166],"distance":625.7994886543133},{"start_region_id":14,"end_region_id":3,"start_point":[570,392],"end_point":[95,55],"distance":582.4036400985145}],"complexity_score":0.6246375386083016}
{"id":3868,"query_id":"Q00774","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and wooded areas with individual trees, as these surfaces are dry and stable enough for safe foot travel. However. 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":"a vehicle lane","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":"paris_52.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":68,"start_point":[548,534],"end_point":[335,210],"distance":387.7434718986253},{"start_region_id":56,"end_region_id":68,"start_point":[204,556],"end_point":[335,210],"distance":369.9689176133584},{"start_region_id":31,"end_region_id":68,"start_point":[108,43],"end_point":[335,210],"distance":281.8119940669666},{"start_region_id":28,"end_region_id":68,"start_point":[498,333],"end_point":[335,210],"distance":204.20088148683394}],"complexity_score":0.6246375386083016}
{"id":9993,"query_id":"Q01999","question":"A trail runner starts from a paved lane and needs to reach another paved lane as quickly as possible. You can use surfaces that are firm and flat like paved areas and lanes, as well as grassy and vegetated areas that are dry and stable enough for running. You can also pass through areas with tall vertical obstacles if there are clear gaps between them. However, you cannot cross liquid surfaces or enter solid vertical structures. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a trail runner","start_land_type":"a paved lane","end_land_type":"a paved lane","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":[0,2,5,4,1,0,3,0],"image_name":"paris_52.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":68,"start_point":[545,474],"end_point":[21,26],"distance":689.4055410279207}],"complexity_score":0.6246375386083016}
{"id":12946,"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_52.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":92,"start_point":[335,210],"end_point":[607,444],"distance":358.8035674293108}],"complexity_score":0.6246375386083016}
{"id":677,"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_11.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":28,"start_point":[940,825],"end_point":[485,110],"distance":847.4963126763444},{"start_region_id":76,"end_region_id":28,"start_point":[986,713],"end_point":[485,110],"distance":783.9706627164055},{"start_region_id":80,"end_region_id":31,"start_point":[940,825],"end_point":[784,78],"distance":763.1153254915013},{"start_region_id":80,"end_region_id":34,"start_point":[940,825],"end_point":[868,140],"distance":688.7735476918375},{"start_region_id":76,"end_region_id":31,"start_point":[986,713],"end_point":[784,78],"distance":666.3550104861522}],"complexity_score":0.6247016497857633}
{"id":8787,"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_11.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":31,"start_point":[278,940],"end_point":[784,78],"distance":999.539894151304},{"start_region_id":85,"end_region_id":34,"start_point":[278,940],"end_point":[868,140],"distance":994.0321926376429},{"start_region_id":80,"end_region_id":26,"start_point":[940,825],"end_point":[72,373],"distance":978.6357851621817},{"start_region_id":76,"end_region_id":26,"start_point":[986,713],"end_point":[72,373],"distance":975.1902378510564},{"start_region_id":73,"end_region_id":34,"start_point":[52,652],"end_point":[868,140],"distance":963.3275663033836}],"complexity_score":0.6247016497857633}
{"id":4887,"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":"shanghai_2.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":10,"start_point":[82,305],"end_point":[632,446],"distance":567.7860512552242},{"start_region_id":10,"end_region_id":9,"start_point":[632,446],"end_point":[82,305],"distance":567.7860512552242}],"complexity_score":0.6247368738041307}
{"id":8713,"query_id":"Q01743","question":"A quadcopter drone starts from a grassy, open field and needs to reach a flat, paved area. The drone can fly over any surface except dense tree canopies and solid structures, which are blocked. The water surface is accessible for overflight. 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":"shanghai_2.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":10,"start_point":[30,618],"end_point":[632,446],"distance":626.0894504781246},{"start_region_id":1,"end_region_id":10,"start_point":[112,133],"end_point":[632,446],"distance":606.934098564251},{"start_region_id":7,"end_region_id":10,"start_point":[88,511],"end_point":[632,446],"distance":547.86951001128},{"start_region_id":8,"end_region_id":9,"start_point":[30,618],"end_point":[82,305],"distance":317.29008808974794},{"start_region_id":7,"end_region_id":9,"start_point":[88,511],"end_point":[82,305],"distance":206.08736011701444}],"complexity_score":0.6247368738041307}
{"id":13156,"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":"shanghai_2.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":35,"start_point":[632,446],"end_point":[62,16],"distance":714.0028011149536},{"start_region_id":9,"end_region_id":48,"start_point":[82,305],"end_point":[582,583],"distance":572.0874059092719},{"start_region_id":10,"end_region_id":47,"start_point":[632,446],"end_point":[284,567],"distance":368.4358831601504},{"start_region_id":9,"end_region_id":36,"start_point":[82,305],"end_point":[398,227],"distance":325.48425461149424},{"start_region_id":9,"end_region_id":47,"start_point":[82,305],"end_point":[284,567],"distance":330.82926110004234}],"complexity_score":0.6247368738041307}
{"id":17401,"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":"shanghai_2.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":10,"start_point":[82,305],"end_point":[632,446],"distance":567.7860512552242},{"start_region_id":10,"end_region_id":9,"start_point":[632,446],"end_point":[82,305],"distance":567.7860512552242}],"complexity_score":0.6247368738041307}
{"id":411,"query_id":"Q00083","question":"An agricultural monitoring drone is currently positioned over a cultivated field and needs to return to a different part of the same field. The drone must maintain stable flight and avoid vibrations to protect its sensitive imaging equipment. The area includes loose, dry soil patches; grassy and shrub-covered terrain; open water bodies; and other cultivated fields. The drone can fly over all these surfaces, but flying through dense vegetation or near vertical structures is not allowed due to collision risks. What is the most comfortable path for the drone to take?","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 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":"duesseldorf_8.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":231,"start_point":[677,867],"end_point":[50,306],"distance":841.3382197428095},{"start_region_id":231,"end_region_id":233,"start_point":[50,306],"end_point":[677,867],"distance":841.3382197428095},{"start_region_id":232,"end_region_id":231,"start_point":[538,596],"end_point":[50,306],"distance":567.6653944006099},{"start_region_id":231,"end_region_id":232,"start_point":[50,306],"end_point":[538,596],"distance":567.6653944006099},{"start_region_id":232,"end_region_id":233,"start_point":[538,596],"end_point":[677,867],"distance":304.56854729272357}],"complexity_score":0.6247471980934173}
{"id":234,"query_id":"Q00047","question":"A geologist conducting field research starts from an area of loose, rocky soil and needs to return to another patch of similar barren ground. The geologist wants to minimize physical discomfort during the walk. The geologist can walk across open grassy areas, cultivated fields, and through light wooded areas, but paved surfaces and vehicle lanes are unavailable due to the remote location. Water bodies and structures are completely impassable. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"Geologist conducting field research","start_land_type":"Starting from an area of loose, rocky soil","end_land_type":"and needing to return to another patch of similar barren ground","task_description":"What is the most comfortable path?","task_type":"Comfort","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":16,"start_point":[634,145],"end_point":[302,433],"distance":439.5088167488793},{"start_region_id":16,"end_region_id":6,"start_point":[302,433],"end_point":[634,145],"distance":439.5088167488793},{"start_region_id":4,"end_region_id":16,"start_point":[551,130],"end_point":[302,433],"distance":392.186180276664},{"start_region_id":16,"end_region_id":4,"start_point":[302,433],"end_point":[551,130],"distance":392.186180276664}],"complexity_score":0.6248616737642436}
{"id":6092,"query_id":"Q01219","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an exposed, loose earth and rock terrain. The drone can fly over any solid or liquid surface, including areas with short vegetation, cultivated fields, and artificial hardscapes, but must avoid tall vertical obstacles. 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":"exposed, loose earth and rock terrain","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":7,"start_point":[588,658],"end_point":[145,263],"distance":593.5267475017448},{"start_region_id":71,"end_region_id":20,"start_point":[588,658],"end_point":[39,502],"distance":570.7337382703076},{"start_region_id":71,"end_region_id":13,"start_point":[588,658],"end_point":[102,399],"distance":550.7059106274419},{"start_region_id":71,"end_region_id":4,"start_point":[588,658],"end_point":[551,130],"distance":529.2948138797508},{"start_region_id":71,"end_region_id":6,"start_point":[588,658],"end_point":[634,145],"distance":515.0582491330471}],"complexity_score":0.6248616737642436}
{"id":6772,"query_id":"Q01355","question":"An aerial survey drone is positioned on a paved, hard surface and needs to reach an open, dry area of loose soil and rocks. The drone can fly over areas with herbaceous vegetation or bushes, liquid surfaces, cultivated fields with crops, and individual or groups of tall vertical obstacles, but must maintain a safe distance from these vertical obstacles to avoid collisions. The drone cannot pass through solid vertical structures. What is the fastest route to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"open, dry area of loose soil and rocks","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":7,"start_point":[967,1001],"end_point":[145,263],"distance":1104.6845703638664},{"start_region_id":66,"end_region_id":13,"start_point":[967,1001],"end_point":[102,399],"distance":1053.863843197972},{"start_region_id":66,"end_region_id":20,"start_point":[967,1001],"end_point":[39,502],"distance":1053.6531687419726},{"start_region_id":66,"end_region_id":14,"start_point":[967,1001],"end_point":[130,487],"distance":982.2245160858082},{"start_region_id":66,"end_region_id":4,"start_point":[967,1001],"end_point":[551,130],"distance":965.2445286040216}],"complexity_score":0.6248616737642436}
{"id":8012,"query_id":"Q01603","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a cultivated field with rows of crops. The drone can fly over open liquid surfaces, but must avoid dense vertical obstacles like tall vegetation or structures. Hard, flat surfaces such as paved areas are available for stable flight. The drone should prioritize a smooth and stable flight path to minimize vibrations and ensure steady operation.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with rows of crops","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":193,"start_point":[39,502],"end_point":[981,683],"distance":959.2314632037462},{"start_region_id":6,"end_region_id":194,"start_point":[634,145],"end_point":[101,942],"distance":958.8002920316618},{"start_region_id":4,"end_region_id":194,"start_point":[551,130],"end_point":[101,942],"distance":928.3555353419292},{"start_region_id":7,"end_region_id":193,"start_point":[145,263],"end_point":[981,683],"distance":935.5725519701826},{"start_region_id":13,"end_region_id":193,"start_point":[102,399],"end_point":[981,683],"distance":923.7407645005172}],"complexity_score":0.6248616737642436}
{"id":8558,"query_id":"Q01712","question":"An aerial survey drone is deployed from a grassy, open field and needs to reach a target area of exposed, dry earth. The drone can fly over open ground, grassy areas, paved surfaces, vehicle lanes, and water bodies, but must avoid dense vegetation and structures. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"exposed, dry earth","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":7,"start_point":[986,951],"end_point":[145,263],"distance":1086.5656906050365},{"start_region_id":58,"end_region_id":20,"start_point":[986,951],"end_point":[39,502],"distance":1048.0505712989236},{"start_region_id":58,"end_region_id":13,"start_point":[986,951],"end_point":[102,399],"distance":1042.19000187106},{"start_region_id":58,"end_region_id":14,"start_point":[986,951],"end_point":[130,487],"distance":973.6693483929747},{"start_region_id":58,"end_region_id":3,"start_point":[986,951],"end_point":[372,244],"distance":936.4000213583936}],"complexity_score":0.6248616737642436}
{"id":10139,"query_id":"Q02028","question":"A hiker starts from an area of loose, dry earth and scattered rocks and needs to reach a shaded spot beneath a tall, leafy canopy. The hiker can traverse across loose soil and rocks, as well as grassy and shrub-covered patches. Paved surfaces like sidewalks and parking lots are accessible, but the hiker must avoid any water bodies and cannot enter any structures. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Bareland","end_land_type":"Tree","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":140,"start_point":[551,130],"end_point":[849,702],"distance":644.9713171917027},{"start_region_id":16,"end_region_id":140,"start_point":[302,433],"end_point":[849,702],"distance":609.5654189666602},{"start_region_id":6,"end_region_id":140,"start_point":[634,145],"end_point":[849,702],"distance":597.0544363791295},{"start_region_id":16,"end_region_id":93,"start_point":[302,433],"end_point":[710,110],"distance":520.3777474104749},{"start_region_id":6,"end_region_id":118,"start_point":[634,145],"end_point":[304,463],"distance":458.28375489427947}],"complexity_score":0.6248616737642436}
{"id":10569,"query_id":"Q02114","question":"An off-road vehicle is on a stretch of loose, sandy ground with scattered rocks and needs to reach a paved lane used by vehicles. The terrain includes areas of compacted soil and artificial hard surfaces, as well as grassy and shrub-covered patches. The vehicle must avoid any trees, water bodies, and structures, and can only traverse areas with firm ground or vegetation that provides adequate traction. What is the safest path?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"Starting from a stretch of loose, sandy ground with scattered rocks","end_land_type":"and needs to reach a paved lane used by vehicles","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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":71,"start_point":[634,145],"end_point":[588,658],"distance":515.0582491330471}],"complexity_score":0.6248616737642436}
{"id":14917,"query_id":"Q02984","question":"A quadcopter starts from a sandy, rocky surface and needs to reach a hard, paved surface used by vehicles. The environment includes grassy patches with shrubs, the paved surface, and areas with tall trees. You can fly over all surfaces including the grassy patches, paved surface, and around trees, but you must avoid flying through dense tree canopies or close to structures. What is the shortest path to the hard, paved surface?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Road","task_description":"What is the shortest path to the hard, 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":"viru_47.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":71,"start_point":[145,263],"end_point":[588,658],"distance":593.5267475017448},{"start_region_id":20,"end_region_id":71,"start_point":[39,502],"end_point":[588,658],"distance":570.7337382703076},{"start_region_id":13,"end_region_id":71,"start_point":[102,399],"end_point":[588,658],"distance":550.7059106274419},{"start_region_id":4,"end_region_id":71,"start_point":[551,130],"end_point":[588,658],"distance":529.2948138797508},{"start_region_id":6,"end_region_id":71,"start_point":[634,145],"end_point":[588,658],"distance":515.0582491330471}],"complexity_score":0.6248616737642436}
{"id":1884,"query_id":"Q00377","question":"An aerial survey drone starts from a flat, cultivated field with rows of crops and needs to reach another flat, cultivated field with rows of crops as quickly as possible. The drone can fly over areas with loose, dry soil and rocks; grassy and shrub-covered terrain; individual or clustered tall vertical obstacles with branches and leaves; bodies of liquid; and cultivated vegetation. However, the drone must avoid any built structures and paved surfaces, as these areas are restricted for this mission. The drone's priority is to maintain maximum flight speed while navigating these allowed terrains.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, cultivated field with rows of crops","end_land_type":"Another flat, cultivated field with rows of crops","task_description":"What is the fastest path for the aerial survey drone to reach the destination field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,0,1,1,1,0],"cost_vector":[2,2,0,0,1,2,2,0],"image_name":"gorakhpur_35.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":547,"end_region_id":561,"start_point":[371,206],"end_point":[958,910],"distance":916.6160592090889},{"start_region_id":561,"end_region_id":547,"start_point":[958,910],"end_point":[371,206],"distance":916.6160592090889},{"start_region_id":557,"end_region_id":561,"start_point":[135,551],"end_point":[958,910],"distance":897.8919756852714},{"start_region_id":561,"end_region_id":557,"start_point":[958,910],"end_point":[135,551],"distance":897.8919756852714},{"start_region_id":559,"end_region_id":561,"start_point":[102,662],"end_point":[958,910],"distance":891.2014362645518}],"complexity_score":0.6249633246634603}
{"id":6368,"query_id":"Q01274","question":"An aerial survey drone is deployed from a flat, hard, artificial surface and needs to reach a long, paved lane designated for vehicle traffic to begin its monitoring route. The drone can fly over areas of loose, dry soil or rock without vegetation; overgrown fields of wild grasses and shrubs; other flat, hard artificial surfaces like parking lots or sports courts; the paved lane itself; bodies of liquid such as rivers or lakes; and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical objects like trees or through solid, enclosed vertical structures like buildings. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A long, paved lane designated for vehicle traffic","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":"gorakhpur_35.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":299,"end_region_id":367,"start_point":[255,608],"end_point":[881,96],"distance":808.715030155864},{"start_region_id":299,"end_region_id":370,"start_point":[255,608],"end_point":[721,443],"distance":494.34906695572914},{"start_region_id":299,"end_region_id":380,"start_point":[255,608],"end_point":[632,765],"distance":408.38462262920723},{"start_region_id":299,"end_region_id":368,"start_point":[255,608],"end_point":[165,354],"distance":269.47356085523495}],"complexity_score":0.6249633246634603}
{"id":9165,"query_id":"Q01833","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, hard-surfaced area as quickly as possible. The drone can fly over loose, sandy ground; grassy or shrub-covered terrain; cultivated fields; the initial paved lane; the destination hard surface; and any bodies of water. The drone cannot fly through dense tree stands or enter any structures. Which aerial path minimizes flight time to the flat, hard-surfaced area?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which aerial path minimizes flight time to the flat, hard-surfaced 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":"rio_23.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":17,"start_point":[118,185],"end_point":[235,346],"distance":199.0226117806718}],"complexity_score":0.6250200272261512}
{"id":13529,"query_id":"Q02706","question":"An aerial surveillance drone is positioned on a paved, hard surface and needs to return to another paved, hard surface location. The drone can fly over loose, dry soil and open liquid areas, but must avoid any vertical obstacles or 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 for the drone to return from the initial paved surface to the destination paved surface?","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":"rio_23.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":17,"start_point":[22,324],"end_point":[235,346],"distance":214.13313615599057},{"start_region_id":17,"end_region_id":16,"start_point":[235,346],"end_point":[22,324],"distance":214.13313615599057}],"complexity_score":0.6250200272261512}
{"id":2446,"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_63.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":213,"start_point":[946,74],"end_point":[38,724],"distance":1116.675422851242}],"complexity_score":0.625079257350752}
{"id":12093,"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_63.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":98,"start_point":[883,55],"end_point":[90,875],"distance":1140.723016336569},{"start_region_id":173,"end_region_id":5,"start_point":[157,762],"end_point":[998,62],"distance":1094.2033631825484},{"start_region_id":124,"end_region_id":96,"start_point":[883,55],"end_point":[260,951],"distance":1091.3042655465065},{"start_region_id":173,"end_region_id":23,"start_point":[157,762],"end_point":[980,153],"distance":1023.8212734652469},{"start_region_id":162,"end_region_id":5,"start_point":[109,557],"end_point":[998,62],"distance":1017.5195329820455}],"complexity_score":0.625079257350752}
{"id":15678,"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_63.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":337,"start_point":[883,55],"end_point":[156,940],"distance":1145.3182963700528},{"start_region_id":124,"end_region_id":346,"start_point":[883,55],"end_point":[380,955],"distance":1031.0232781077254},{"start_region_id":124,"end_region_id":342,"start_point":[883,55],"end_point":[507,971],"distance":990.1676625703346},{"start_region_id":167,"end_region_id":337,"start_point":[984,458],"end_point":[156,940],"distance":958.075153628357},{"start_region_id":122,"end_region_id":337,"start_point":[684,170],"end_point":[156,940],"distance":933.6401876526096}],"complexity_score":0.625079257350752}
{"id":16177,"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_63.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":213,"start_point":[998,62],"end_point":[438,528],"distance":728.5300268348587},{"start_region_id":100,"end_region_id":213,"start_point":[883,896],"end_point":[438,528],"distance":577.4504307730664},{"start_region_id":98,"end_region_id":213,"start_point":[90,875],"end_point":[438,528],"distance":491.43972163430175},{"start_region_id":23,"end_region_id":213,"start_point":[980,153],"end_point":[438,528],"distance":659.0819372430108},{"start_region_id":96,"end_region_id":213,"start_point":[260,951],"end_point":[438,528],"distance":458.9259199478713}],"complexity_score":0.625079257350752}
{"id":1234,"query_id":"Q00247","question":"A quadcopter starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes soft grassy areas, loose cultivated soil, and paved lanes. You can traverse all these surfaces by flying over them, but avoid vertical structures like trees and buildings. What is the fastest path to the grassy meadow?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path to the grassy meadow?","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":"chincha_33.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":119,"end_region_id":24,"start_point":[632,97],"end_point":[130,877],"distance":927.5796461760036},{"start_region_id":120,"end_region_id":24,"start_point":[860,350],"end_point":[130,877],"distance":900.3493766310943},{"start_region_id":118,"end_region_id":24,"start_point":[330,154],"end_point":[130,877],"distance":750.1526511317546},{"start_region_id":121,"end_region_id":24,"start_point":[709,690],"end_point":[130,877],"distance":608.4488474802134},{"start_region_id":120,"end_region_id":7,"start_point":[860,350],"end_point":[359,432],"distance":507.66622893393253}],"complexity_score":0.6250933049916404}
{"id":15157,"query_id":"Q03032","question":"An aerial survey drone starts from a grassy, open area with low vegetation and scattered shrubs and needs to reach a cultivated field with rows of crops and tilled soil. The drone's flight must prioritize smooth, stable travel to protect sensitive onboard equipment and ensure clear data capture. You can fly over hard, flat surfaces like paved areas and roads, as well as open sandy or rocky ground, grassy or shrub-covered terrain, cultivated fields, and water bodies. However, you must avoid flying through dense tree canopies or close to vertical structures like buildings, as these pose collision risks and turbulence. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A grassy, open area with low vegetation and scattered shrubs.","end_land_type":"A cultivated field with rows of crops and tilled soil.","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":"chincha_33.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":119,"start_point":[130,877],"end_point":[632,97],"distance":927.5796461760036},{"start_region_id":24,"end_region_id":120,"start_point":[130,877],"end_point":[860,350],"distance":900.3493766310943},{"start_region_id":24,"end_region_id":118,"start_point":[130,877],"end_point":[330,154],"distance":750.1526511317546},{"start_region_id":24,"end_region_id":121,"start_point":[130,877],"end_point":[709,690],"distance":608.4488474802134},{"start_region_id":7,"end_region_id":120,"start_point":[359,432],"end_point":[860,350],"distance":507.66622893393253}],"complexity_score":0.6250933049916404}
{"id":2518,"query_id":"Q00504","question":"A quadcopter drone starts from an exposed, loose soil area and needs to reach another similar area of uncovered ground. The drone can fly over most surfaces, but must avoid areas with tall, dense vegetation that could entangle its rotors. It can freely traverse open ground, paved surfaces, cultivated fields, and even water surfaces if necessary. However, vertical structures like buildings should be avoided as they pose collision risks. The drone prioritizes routes that allow maximum speed and stability.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"exposed, loose soil area","end_land_type":"exposed, loose soil area","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","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_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":1,"start_point":[1003,841],"end_point":[149,87],"distance":1139.2242974936937},{"start_region_id":1,"end_region_id":5,"start_point":[149,87],"end_point":[1003,841],"distance":1139.2242974936937},{"start_region_id":3,"end_region_id":1,"start_point":[789,554],"end_point":[149,87],"distance":792.2682626484542},{"start_region_id":1,"end_region_id":3,"start_point":[149,87],"end_point":[789,554],"distance":792.2682626484542},{"start_region_id":3,"end_region_id":5,"start_point":[789,554],"end_point":[1003,841],"distance":358.00139664532037}],"complexity_score":0.6252169375769507}
{"id":5404,"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":"san_tome_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":5,"start_point":[56,392],"end_point":[1003,841],"distance":1048.0505712989236},{"start_region_id":106,"end_region_id":1,"start_point":[572,801],"end_point":[149,87],"distance":829.8945716173832},{"start_region_id":94,"end_region_id":3,"start_point":[56,392],"end_point":[789,554],"distance":750.6883507821339},{"start_region_id":95,"end_region_id":1,"start_point":[278,802],"end_point":[149,87],"distance":726.543873417153},{"start_region_id":95,"end_region_id":5,"start_point":[278,802],"end_point":[1003,841],"distance":726.048207765848}],"complexity_score":0.6252169375769507}
{"id":7365,"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":"san_tome_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":94,"start_point":[1003,841],"end_point":[56,392],"distance":1048.0505712989236},{"start_region_id":1,"end_region_id":106,"start_point":[149,87],"end_point":[572,801],"distance":829.8945716173832},{"start_region_id":3,"end_region_id":94,"start_point":[789,554],"end_point":[56,392],"distance":750.6883507821339},{"start_region_id":1,"end_region_id":95,"start_point":[149,87],"end_point":[278,802],"distance":726.543873417153},{"start_region_id":5,"end_region_id":95,"start_point":[1003,841],"end_point":[278,802],"distance":726.048207765848}],"complexity_score":0.6252169375769507}
{"id":8459,"query_id":"Q01692","question":"An aerial surveillance drone starts from a dry, sandy area with loose soil and scattered rocks and needs to reach another similar patch of dry, sandy terrain with loose soil and scattered rocks. The drone can fly over areas with hard, paved surfaces like sidewalks and parking lots, as well as over lanes and streets used by vehicles. It can also traverse over grassy and shrub-covered ground, and cross over liquid bodies like rivers or lakes. However, it cannot pass through dense clusters of tall vegetation with significant height and shadow, nor can it fly through solid vertical structures like houses or commercial buildings. What is the most direct route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks","end_land_type":"needing to reach another similar patch of dry, sandy terrain with loose soil and scattered rocks","task_description":"What is the most direct route for the drone to take?","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":"san_tome_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":1,"start_point":[1003,841],"end_point":[149,87],"distance":1139.2242974936937},{"start_region_id":1,"end_region_id":5,"start_point":[149,87],"end_point":[1003,841],"distance":1139.2242974936937},{"start_region_id":3,"end_region_id":1,"start_point":[789,554],"end_point":[149,87],"distance":792.2682626484542},{"start_region_id":1,"end_region_id":3,"start_point":[149,87],"end_point":[789,554],"distance":792.2682626484542},{"start_region_id":3,"end_region_id":5,"start_point":[789,554],"end_point":[1003,841],"distance":358.00139664532037}],"complexity_score":0.6252169375769507}
{"id":10185,"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":"san_tome_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":5,"start_point":[56,392],"end_point":[1003,841],"distance":1048.0505712989236},{"start_region_id":106,"end_region_id":1,"start_point":[572,801],"end_point":[149,87],"distance":829.8945716173832},{"start_region_id":94,"end_region_id":3,"start_point":[56,392],"end_point":[789,554],"distance":750.6883507821339},{"start_region_id":95,"end_region_id":1,"start_point":[278,802],"end_point":[149,87],"distance":726.543873417153},{"start_region_id":95,"end_region_id":5,"start_point":[278,802],"end_point":[1003,841],"distance":726.048207765848}],"complexity_score":0.6252169375769507}
{"id":10490,"query_id":"Q02098","question":"A delivery drone takes off from a flat paved area and must land on sandy, rocky ground. The drone can fly over various surfaces but prefers stable, open areas for a smooth flight, avoiding dense vegetation and vertical obstacles. Which flight path should it follow to ensure the most comfortable journey?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat paved area","end_land_type":"sandy, rocky ground","task_description":"Which flight path should it follow to ensure the most comfortable journey?","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_2.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":5,"start_point":[25,423],"end_point":[1003,841],"distance":1063.5826249050895},{"start_region_id":62,"end_region_id":1,"start_point":[932,745],"end_point":[149,87],"distance":1022.767324468278},{"start_region_id":61,"end_region_id":5,"start_point":[61,582],"end_point":[1003,841],"distance":976.9570103131458},{"start_region_id":87,"end_region_id":5,"start_point":[44,972],"end_point":[1003,841],"distance":967.9059871702417},{"start_region_id":71,"end_region_id":1,"start_point":[714,842],"end_point":[149,87],"distance":943.0005302225445}],"complexity_score":0.6252169375769507}
{"id":14473,"query_id":"Q02895","question":"An off-road vehicle starts from a patch of rough, loose ground and needs to reach another area of similar rough, loose ground. The vehicle can traverse paved lanes and cultivated fields, but must avoid all other terrain types. The vehicle's suspension is optimized for smooth travel, so it should prioritize surfaces that minimize vibration and jolts.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, loose ground","end_land_type":"rough, loose ground","task_description":"What is the most comfortable path for the off-road vehicle to take?","task_type":"Comfort","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,3,0,0,2,0],"image_name":"rosario_8.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[71,546],"end_point":[275,345],"distance":286.38610301479366}],"complexity_score":0.6252674065589028}
{"id":17892,"query_id":"Q03579","question":"A hiker starts from a paved surface and needs to reach an exposed, loose soil area. The hiker can traverse grassy or shrub-covered ground, cultivated fields, and wooded areas with trees. 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":"exposed, loose soil area","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":"rosario_8.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":1,"start_point":[762,876],"end_point":[123,425],"distance":782.1265882195797},{"start_region_id":146,"end_region_id":1,"start_point":[841,447],"end_point":[123,425],"distance":718.3369682815998},{"start_region_id":145,"end_region_id":1,"start_point":[560,500],"end_point":[123,425],"distance":443.3892195351619}],"complexity_score":0.6252674065589028}
{"id":5198,"query_id":"Q01040","question":"An aerial surveillance drone starts from a flat, cultivated field with loose soil and crop rows and needs to reach a hard, paved surface like a parking lot or runway. The drone can fly over open areas with loose or soft ground, liquid surfaces, and hard, flat surfaces, but must avoid tall, dense vegetation that could entangle its rotors and vertical structures that pose collision risks. The goal is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, cultivated field with loose soil and crop rows.","end_land_type":"A hard, paved surface like a parking lot or runway.","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":"viru_11.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":436,"end_region_id":90,"start_point":[1008,626],"end_point":[82,55],"distance":1087.8956751453698},{"start_region_id":435,"end_region_id":197,"start_point":[911,79],"end_point":[38,689],"distance":1065.0018779326167},{"start_region_id":439,"end_region_id":95,"start_point":[37,967],"end_point":[490,15],"distance":1054.2831687929008},{"start_region_id":439,"end_region_id":99,"start_point":[37,967],"end_point":[796,251],"distance":1043.4256082730574},{"start_region_id":439,"end_region_id":96,"start_point":[37,967],"end_point":[601,96],"distance":1037.6593853476197}],"complexity_score":0.6252886305975768}
{"id":9519,"query_id":"Q01904","question":"A quadcopter starts from a grassy, open field with scattered shrubs and needs to reach a cultivated crop field. The terrain includes areas of loose, sandy soil or rocky ground without vegetation; grassy or shrubby areas that are not maintained; hard, paved surfaces like sidewalks, parking lots, or artificial turf; vehicle lanes made of asphalt or concrete; and cultivated fields used for growing crops. You must avoid flying through dense tree canopies or close to solid, vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, open field with scattered shrubs","end_land_type":"cultivated crop field","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":"viru_11.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":435,"start_point":[133,770],"end_point":[911,79],"distance":1040.5599454140065},{"start_region_id":10,"end_region_id":439,"start_point":[536,132],"end_point":[37,967],"distance":972.7414867270749},{"start_region_id":54,"end_region_id":439,"start_point":[880,561],"end_point":[37,967],"distance":935.673554184364},{"start_region_id":21,"end_region_id":436,"start_point":[181,267],"end_point":[1008,626],"distance":901.5597595278973},{"start_region_id":71,"end_region_id":436,"start_point":[133,770],"end_point":[1008,626],"distance":886.7699814495302}],"complexity_score":0.6252886305975768}
{"id":9078,"query_id":"Q01816","question":"A trail runner starts on a grassy, uneven field and needs to reach another grassy, uneven field as quickly as possible. The runner can use hard, paved surfaces like sidewalks and roads, as well as traverse loose, unpaved ground like dirt paths and cultivated fields. However, the runner cannot enter areas with liquid surfaces or vertical structures. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a trail runner","start_land_type":"a grassy, uneven field","end_land_type":"another grassy, uneven field","task_description":"What is the fastest route for the trail runner to travel from the starting grassy field to the destination grassy 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":[1,2,5,4,0,0,3,0],"image_name":"bielefeld_43.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":121,"start_point":[491,84],"end_point":[193,972],"distance":936.6685646481363},{"start_region_id":121,"end_region_id":1,"start_point":[193,972],"end_point":[491,84],"distance":936.6685646481363},{"start_region_id":1,"end_region_id":109,"start_point":[491,84],"end_point":[82,903],"distance":915.4463392247521},{"start_region_id":109,"end_region_id":1,"start_point":[82,903],"end_point":[491,84],"distance":915.4463392247521},{"start_region_id":35,"end_region_id":109,"start_point":[938,554],"end_point":[82,903],"distance":924.4117048155546}],"complexity_score":0.6252891725688625}
{"id":9085,"query_id":"Q01817","question":"A quadcopter drone starts above a grassy, uneven field and needs to reach another grassy, uneven field as quickly as possible. The drone can fly over hard, paved surfaces, loose, unpaved ground, cultivated fields, and liquid surfaces, but it must avoid areas with dense vertical obstacles like trees or buildings. What is the fastest route?","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 fastest route for the quadcopter drone to travel from the starting grassy field to the destination 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_43.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":121,"start_point":[491,84],"end_point":[193,972],"distance":936.6685646481363},{"start_region_id":121,"end_region_id":1,"start_point":[193,972],"end_point":[491,84],"distance":936.6685646481363},{"start_region_id":1,"end_region_id":109,"start_point":[491,84],"end_point":[82,903],"distance":915.4463392247521},{"start_region_id":109,"end_region_id":1,"start_point":[82,903],"end_point":[491,84],"distance":915.4463392247521},{"start_region_id":35,"end_region_id":109,"start_point":[938,554],"end_point":[82,903],"distance":924.4117048155546}],"complexity_score":0.6252891725688625}
{"id":17919,"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_43.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":1,"start_point":[488,633],"end_point":[491,84],"distance":549.0081966601227},{"start_region_id":218,"end_region_id":3,"start_point":[488,633],"end_point":[240,208],"distance":492.0660524766975},{"start_region_id":218,"end_region_id":109,"start_point":[488,633],"end_point":[82,903],"distance":487.58178801099615},{"start_region_id":218,"end_region_id":2,"start_point":[488,633],"end_point":[719,310],"distance":397.10200200955927},{"start_region_id":218,"end_region_id":35,"start_point":[488,633],"end_point":[938,554],"distance":456.8818227944727}],"complexity_score":0.6252891725688625}
{"id":4325,"query_id":"Q00865","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall vegetation. The drone can fly over most surfaces, but tall vegetation poses a risk of entanglement and collision, so it must be approached with caution. The drone should avoid any liquid areas and solid vertical structures entirely. What is the safest path for the drone to take?","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 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":"mexico_city_52.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":141,"start_point":[983,146],"end_point":[142,958],"distance":1169.0273735032897},{"start_region_id":23,"end_region_id":141,"start_point":[948,183],"end_point":[142,958],"distance":1118.150705406029},{"start_region_id":37,"end_region_id":108,"start_point":[907,887],"end_point":[143,109],"distance":1090.4035950050788},{"start_region_id":74,"end_region_id":108,"start_point":[745,986],"end_point":[143,109],"distance":1063.7353994297641},{"start_region_id":22,"end_region_id":119,"start_point":[983,146],"end_point":[73,603],"distance":1018.3069281901209}],"complexity_score":0.6252908142300149}
{"id":4754,"query_id":"Q00951","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 like roads and parking lots, as well as cultivated fields, but must avoid flying through dense tree canopies or inside buildings. The drone must find a path that minimizes the total distance traveled.","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 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_52.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":102,"start_point":[383,38],"end_point":[232,809],"distance":785.6475036554243},{"start_region_id":102,"end_region_id":92,"start_point":[232,809],"end_point":[383,38],"distance":785.6475036554243},{"start_region_id":91,"end_region_id":100,"start_point":[41,291],"end_point":[621,718],"distance":720.2284359840286},{"start_region_id":100,"end_region_id":91,"start_point":[621,718],"end_point":[41,291],"distance":720.2284359840286},{"start_region_id":100,"end_region_id":92,"start_point":[621,718],"end_point":[383,38],"distance":720.4470834141811}],"complexity_score":0.6252908142300149}
{"id":12687,"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":"accra_6.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":203,"start_point":[176,143],"end_point":[966,1005],"distance":1169.2493318364566},{"start_region_id":75,"end_region_id":203,"start_point":[81,255],"end_point":[966,1005],"distance":1160.0538780591185},{"start_region_id":51,"end_region_id":203,"start_point":[372,151],"end_point":[966,1005],"distance":1040.2653507639288},{"start_region_id":101,"end_region_id":203,"start_point":[91,510],"end_point":[966,1005],"distance":1005.3108971855423},{"start_region_id":79,"end_region_id":203,"start_point":[309,268],"end_point":[966,1005],"distance":987.3287193230024}],"complexity_score":0.6253151563937052}
{"id":3653,"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_24.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":198,"start_point":[950,920],"end_point":[172,45],"distance":1170.858232238216},{"start_region_id":254,"end_region_id":205,"start_point":[950,920],"end_point":[166,204],"distance":1061.7494996466917},{"start_region_id":254,"end_region_id":211,"start_point":[950,920],"end_point":[163,372],"distance":958.9958289794591},{"start_region_id":254,"end_region_id":234,"start_point":[950,920],"end_point":[102,845],"distance":851.3101667430033},{"start_region_id":254,"end_region_id":197,"start_point":[950,920],"end_point":[587,197],"distance":809.0105067302896}],"complexity_score":0.6253521745482927}
{"id":5509,"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_24.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":342,"end_region_id":166,"start_point":[586,864],"end_point":[895,902],"distance":311.3278015211619},{"start_region_id":355,"end_region_id":166,"start_point":[614,949],"end_point":[895,902],"distance":284.9034924320866}],"complexity_score":0.6253521745482927}
{"id":8180,"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":"kitsap_24.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":252,"end_region_id":254,"start_point":[440,517],"end_point":[950,920],"distance":650.006923040055},{"start_region_id":254,"end_region_id":252,"start_point":[950,920],"end_point":[440,517],"distance":650.006923040055}],"complexity_score":0.6253521745482927}
{"id":14874,"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_24.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":252,"end_region_id":254,"start_point":[440,517],"end_point":[950,920],"distance":650.006923040055},{"start_region_id":254,"end_region_id":252,"start_point":[950,920],"end_point":[440,517],"distance":650.006923040055}],"complexity_score":0.6253521745482927}
{"id":2307,"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":"mahe_25.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":13,"start_point":[110,771],"end_point":[661,424],"distance":651.160502487674},{"start_region_id":101,"end_region_id":13,"start_point":[915,989],"end_point":[661,424],"distance":619.468320416791},{"start_region_id":99,"end_region_id":13,"start_point":[219,854],"end_point":[661,424],"distance":616.6554953943084},{"start_region_id":94,"end_region_id":13,"start_point":[120,644],"end_point":[661,424],"distance":584.0214037173638},{"start_region_id":75,"end_region_id":13,"start_point":[293,114],"end_point":[661,424],"distance":481.1694088364305}],"complexity_score":0.6255745248679416}
{"id":10156,"query_id":"Q02032","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, hard, paved surface. The drone can fly over open, dry terrain with sparse vegetation, as well as liquid surfaces, but must avoid any areas with tall, dense vertical obstacles or permanent structures. The priority is to minimize risk of collision, signal interference, or unstable flight conditions.","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":"needing to reach a flat, hard, 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":"mahe_25.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":92,"start_point":[661,424],"end_point":[110,771],"distance":651.160502487674},{"start_region_id":13,"end_region_id":101,"start_point":[661,424],"end_point":[915,989],"distance":619.468320416791},{"start_region_id":13,"end_region_id":99,"start_point":[661,424],"end_point":[219,854],"distance":616.6554953943084},{"start_region_id":13,"end_region_id":94,"start_point":[661,424],"end_point":[120,644],"distance":584.0214037173638},{"start_region_id":13,"end_region_id":75,"start_point":[661,424],"end_point":[293,114],"distance":481.1694088364305}],"complexity_score":0.6255745248679416}
{"id":14499,"query_id":"Q02900","question":"A delivery drone starts from a flat, paved area and needs to reach a target location on open, sandy terrain. The drone can fly over cultivated fields with low vegetation, but must maintain altitude to avoid collisions with tall obstacles. The drone prioritizes airspace that allows direct, unobstructed flight at consistent speed.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat, paved area","end_land_type":"open, sandy terrain","task_description":"What is the fastest path for the delivery drone to reach the target location?","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_25.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":13,"start_point":[245,565],"end_point":[661,424],"distance":439.24594477354026}],"complexity_score":0.6255745248679416}
{"id":15264,"query_id":"Q03053","question":"An aerial survey drone starts from a dry, rocky area with loose soil and no vegetation, an aerial survey drone must travel to a paved, hard-surfaced lane. The drone can fly over areas with soft ground covered by grass and shrubs, as well as cultivated fields with crops, but must avoid flying too close to tall vertical obstacles that could cause collisions. It can also cross over liquid surfaces, though these may affect stability. The drone's priority is to maintain maximum speed throughout the journey.","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"Starting from a dry, rocky area with loose soil and no vegetation","end_land_type":"and needing to reach a 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_25.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":105,"start_point":[661,424],"end_point":[245,565],"distance":439.24594477354026}],"complexity_score":0.6255745248679416}
{"id":16128,"query_id":"Q03226","question":"A quadcopter drone is positioned on a patch of loose, sandy soil with scattered rocks and needs to reach a paved, hard-surfaced lane as quickly as possible. The drone can fly over areas with sparse, low vegetation and open liquid surfaces, but must avoid dense, tall vertical obstacles and solid structures. Which path allows the drone to travel fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy soil with scattered rocks","end_land_type":"a paved, hard-surfaced lane","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":"mahe_25.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":105,"start_point":[661,424],"end_point":[245,565],"distance":439.24594477354026}],"complexity_score":0.6255745248679416}
{"id":14,"query_id":"Q00003","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open area of loose, dry ground. The drone can fly over all surfaces except for dense vertical obstacles and solid structures. The mission requires minimizing risk, so the drone should avoid areas with unpredictable air currents, potential for signal interference, or collision hazards. What is the safest path?","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 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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":1,"start_point":[410,579],"end_point":[625,225],"distance":414.1750837508215},{"start_region_id":41,"end_region_id":2,"start_point":[410,579],"end_point":[651,549],"distance":242.86004199950224},{"start_region_id":40,"end_region_id":1,"start_point":[484,455],"end_point":[625,225],"distance":269.77953962448674}],"complexity_score":0.625659849079993}
{"id":3027,"query_id":"Q00606","question":"A family SUV is parked on a patch of loose, sandy ground. The driver needs to reach a paved parking area while prioritizing safety. The vehicle can only travel on surfaces that are either paved with asphalt or concrete, or on loose, sandy ground, or on cultivated fields with soft soil. The driver must avoid any areas with standing water, dense vegetation, or vertical structures. What is the safest path to reach the paved parking area?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved parking area","task_description":"What is the safest path to reach the paved parking area?","task_type":"Safest","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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":31,"start_point":[651,549],"end_point":[63,426],"distance":600.7270594870852},{"start_region_id":1,"end_region_id":31,"start_point":[625,225],"end_point":[63,426],"distance":596.8626307618864},{"start_region_id":2,"end_region_id":28,"start_point":[651,549],"end_point":[299,255],"distance":458.62838987572496},{"start_region_id":2,"end_region_id":30,"start_point":[651,549],"end_point":[274,366],"distance":419.068013572976},{"start_region_id":1,"end_region_id":30,"start_point":[625,225],"end_point":[274,366],"distance":378.2618140917743}],"complexity_score":0.625659849079993}
{"id":3032,"query_id":"Q00607","question":"A hiker is standing on a sandy, rocky area and needs to reach a concrete sidewalk while prioritizing safety. The hiker can walk on paved surfaces like sidewalks and roads, and is also permitted to cross loose, sandy ground and cultivated fields with soft soil. The hiker must avoid any areas with standing water or vertical structures. What is the safest path to reach the concrete sidewalk?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a sandy, rocky area","end_land_type":"a concrete sidewalk","task_description":"What is the safest path to reach the concrete sidewalk?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,4,3,0,0,2,0],"image_name":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":31,"start_point":[651,549],"end_point":[63,426],"distance":600.7270594870852},{"start_region_id":1,"end_region_id":31,"start_point":[625,225],"end_point":[63,426],"distance":596.8626307618864},{"start_region_id":2,"end_region_id":28,"start_point":[651,549],"end_point":[299,255],"distance":458.62838987572496},{"start_region_id":2,"end_region_id":30,"start_point":[651,549],"end_point":[274,366],"distance":419.068013572976},{"start_region_id":1,"end_region_id":30,"start_point":[625,225],"end_point":[274,366],"distance":378.2618140917743}],"complexity_score":0.625659849079993}
{"id":7777,"query_id":"Q01556","question":"A quadcopter drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with rows of crops and soft, tilled earth. The quadcopter drone must avoid any areas with dense, tall vegetation or vertical structures that could obstruct its flight path, and it cannot fly over liquid surfaces due to safety protocols. It can traverse open, flat surfaces like paved areas and vehicle lanes, as well as the bare ground and agricultural fields, but must prioritize terrains that allow maximum speed and minimal navigation delays. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation","end_land_type":"and needing to reach a cultivated field with rows of crops and soft, tilled earth","task_description":"What is the fastest path for the drone to take?","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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":85,"start_point":[625,225],"end_point":[743,783],"distance":570.3402493249096},{"start_region_id":2,"end_region_id":85,"start_point":[651,549],"end_point":[743,783],"distance":251.4358765172544}],"complexity_score":0.625659849079993}
{"id":8767,"query_id":"Q01754","question":"A quadcopter drone needs to travel from a patch of loose, sandy ground with scattered rocks and no vegetation to a paved lane with a hard, smooth surface designed for vehicle traffic. The drone can fly over open water bodies, grassy or shrub-covered areas, and artificial flat surfaces like parking lots or sports fields. However, it cannot fly through dense tree canopies or inside buildings. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter 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 paved lane with a hard, smooth surface designed for vehicle traffic.","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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[625,225],"end_point":[410,579],"distance":414.1750837508215},{"start_region_id":2,"end_region_id":41,"start_point":[651,549],"end_point":[410,579],"distance":242.86004199950224},{"start_region_id":1,"end_region_id":40,"start_point":[625,225],"end_point":[484,455],"distance":269.77953962448674}],"complexity_score":0.625659849079993}
{"id":10853,"query_id":"Q02171","question":"An aerial drone starts from a dry, sandy area and needs to navigate to another dry, sandy area. The drone can fly over loose soil, vegetated fields, and liquid surfaces, but must avoid any vertical structures or dense vegetation that could pose collision risks. The objective is to minimize risk during the flight.","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"Starting from a dry, sandy area","end_land_type":"and aiming to return to another dry, 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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[625,225],"end_point":[651,549],"distance":325.0415358073488},{"start_region_id":2,"end_region_id":1,"start_point":[651,549],"end_point":[625,225],"distance":325.0415358073488}],"complexity_score":0.625659849079993}
{"id":10885,"query_id":"Q02177","question":"A hiker starts from rocky, sandy terrain and needs to reach a grassy, shrubby area. The hiker can walk on natural ground surfaces, but the route should prioritize smooth, stable footing to minimize fatigue and discomfort. Dense tree-covered areas with uneven root systems and loose soil should be avoided as they are rough and unstable. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"rocky, sandy terrain","end_land_type":"grassy, shrubby area","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":[1,2,5,4,0,0,3,0],"image_name":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":24,"start_point":[625,225],"end_point":[257,877],"distance":748.6841790768655},{"start_region_id":1,"end_region_id":6,"start_point":[625,225],"end_point":[73,515],"distance":623.5414982180416},{"start_region_id":1,"end_region_id":8,"start_point":[625,225],"end_point":[854,779],"distance":599.4639271882838},{"start_region_id":2,"end_region_id":6,"start_point":[651,549],"end_point":[73,515],"distance":578.9991364414976},{"start_region_id":2,"end_region_id":24,"start_point":[651,549],"end_point":[257,877],"distance":512.659731205797}],"complexity_score":0.625659849079993}
{"id":13580,"query_id":"Q02716","question":"A quadcopter drone starts from a cultivated field with low vegetation and needs to reach a rocky, sandy area. The drone can fly over most surfaces but must avoid areas with tall, dense vertical obstacles and liquid surfaces to ensure stable flight and comfort. The cultivated field and rocky, sandy area are clear for flight. Paved areas with hard, flat surfaces are allowed and preferred for comfort. ","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"rocky, sandy area","task_description":"What is the most comfortable path to reach the destination?","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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":1,"start_point":[140,812],"end_point":[625,225],"distance":761.4420529495334},{"start_region_id":84,"end_region_id":1,"start_point":[489,870],"end_point":[625,225],"distance":659.1820689308835},{"start_region_id":83,"end_region_id":2,"start_point":[140,812],"end_point":[651,549],"distance":574.708621825008},{"start_region_id":85,"end_region_id":1,"start_point":[743,783],"end_point":[625,225],"distance":570.3402493249096},{"start_region_id":82,"end_region_id":1,"start_point":[173,537],"end_point":[625,225],"distance":549.224908393638}],"complexity_score":0.625659849079993}
{"id":16769,"query_id":"Q03354","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a cultivated field with soft, tilled soil. The drone can fly over open terrain, grassy areas, hard surfaces, vehicle lanes, and cultivated soil. However, vertical obstacles like trees and structures may be avoided unless explicitly permitted, and liquid surfaces are accessible but less preferred for safety. To minimize risk, what is the safest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with soft, tilled soil","task_description":"What is the safest flight 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":"pisco_37.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":83,"start_point":[625,225],"end_point":[140,812],"distance":761.4420529495334},{"start_region_id":1,"end_region_id":84,"start_point":[625,225],"end_point":[489,870],"distance":659.1820689308835},{"start_region_id":2,"end_region_id":83,"start_point":[651,549],"end_point":[140,812],"distance":574.708621825008},{"start_region_id":1,"end_region_id":85,"start_point":[625,225],"end_point":[743,783],"distance":570.3402493249096},{"start_region_id":1,"end_region_id":82,"start_point":[625,225],"end_point":[173,537],"distance":549.224908393638}],"complexity_score":0.625659849079993}
{"id":1543,"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_48.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":11,"start_point":[24,535],"end_point":[999,88],"distance":1072.5828639317338},{"start_region_id":11,"end_region_id":84,"start_point":[999,88],"end_point":[24,535],"distance":1072.5828639317338},{"start_region_id":121,"end_region_id":20,"start_point":[832,876],"end_point":[42,163],"distance":1064.1752675194064},{"start_region_id":20,"end_region_id":121,"start_point":[42,163],"end_point":[832,876],"distance":1064.1752675194064},{"start_region_id":133,"end_region_id":20,"start_point":[732,956],"end_point":[42,163],"distance":1051.165543575321}],"complexity_score":0.6256949422661585}
{"id":7378,"query_id":"Q01476","question":"A surveillance drone starts from a concrete surface and needs to reach another concrete surface. The terrain includes loose, sandy ground; hard, flat surfaces; tall, dense vegetation; and cultivated fields. You must avoid any water bodies, as they pose a risk, and buildings and trees are passable only if you fly at a safe altitude to avoid collisions. The vegetation is sparse enough to navigate through safely, and the buildings have open spaces allowing flight. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a concrete surface","end_land_type":"a concrete surface","task_description":"What is the safest path from the starting concrete surface to the destination concrete surface?","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":"joplin_48.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":235,"end_region_id":138,"start_point":[466,953],"end_point":[252,33],"distance":944.5612738197559},{"start_region_id":138,"end_region_id":235,"start_point":[252,33],"end_point":[466,953],"distance":944.5612738197559},{"start_region_id":233,"end_region_id":138,"start_point":[782,779],"end_point":[252,33],"distance":915.1043656326856},{"start_region_id":138,"end_region_id":233,"start_point":[252,33],"end_point":[782,779],"distance":915.1043656326856},{"start_region_id":138,"end_region_id":232,"start_point":[252,33],"end_point":[390,799],"distance":778.3315488916019}],"complexity_score":0.6256949422661585}
{"id":15372,"query_id":"Q03075","question":"A quadcopter drone starts from a paved roadway and needs to reach a hard, artificial surface such as a paved area. The drone can fly over grassy or shrub-covered terrain, cultivated fields, wooded areas, and liquid surfaces, but must avoid vertical structures. The drone seeks the most comfortable flight, prioritizing areas that are open and stable, and avoiding turbulent zones above liquid or dense vegetation.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a hard, artificial surface such as a paved area","task_description":"What is the most comfortable flight 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":"joplin_48.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":258,"end_region_id":138,"start_point":[975,948],"end_point":[252,33],"distance":1166.1706564649962},{"start_region_id":259,"end_region_id":138,"start_point":[183,990],"end_point":[252,33],"distance":959.4842364520639},{"start_region_id":258,"end_region_id":206,"start_point":[975,948],"end_point":[207,631],"distance":830.8507687906415},{"start_region_id":258,"end_region_id":230,"start_point":[975,948],"end_point":[176,805],"distance":811.6957558100203},{"start_region_id":259,"end_region_id":202,"start_point":[183,990],"end_point":[804,574],"distance":747.4603668422828}],"complexity_score":0.6256949422661585}
{"id":16776,"query_id":"Q03356","question":"A delivery drone is hovering above a cultivated field with soft, tilled soil and needs to reach a paved street. The drone can fly over loose, sandy terrain, grassy plains, and the cultivated field, but it should avoid dense vegetation and structures that could obstruct flight. The goal is to find a path that maximizes comfort by prioritizing open, stable airspaces.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a cultivated field with soft, tilled soil","end_land_type":"a paved street","task_description":"What is the most comfortable path for the drone to take from the cultivated field to the paved street?","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_46.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":394,"end_region_id":233,"start_point":[204,127],"end_point":[572,630],"distance":623.2439329829052}],"complexity_score":0.6257392113081776}
{"id":947,"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_32.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":99,"start_point":[961,973],"end_point":[122,650],"distance":899.0272520897239},{"start_region_id":99,"end_region_id":100,"start_point":[122,650],"end_point":[961,973],"distance":899.0272520897239},{"start_region_id":99,"end_region_id":101,"start_point":[122,650],"end_point":[833,929],"distance":763.7813823339765},{"start_region_id":101,"end_region_id":99,"start_point":[833,929],"end_point":[122,650],"distance":763.7813823339765},{"start_region_id":97,"end_region_id":100,"start_point":[613,470],"end_point":[961,973],"distance":611.6477744584705}],"complexity_score":0.6257470346744702}
{"id":8617,"query_id":"Q01724","question":"A delivery drone starts from a paved, hard surface and needs to reach another paved, hard surface destination while prioritizing safety. The drone can only fly over surfaces that minimize risk: it may fly above the original paved, hard surface, or above compacted, dry earth, or above open grassy areas. All other surfaces—including areas with standing liquid, vertical structures, loose vegetation, or cultivated fields—are explicitly prohibited due to safety concerns, as they could pose collision hazards or unstable conditions. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"paved, hard surface","end_land_type":"paved, 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"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"dhaka_32.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":99,"start_point":[961,973],"end_point":[122,650],"distance":899.0272520897239},{"start_region_id":99,"end_region_id":100,"start_point":[122,650],"end_point":[961,973],"distance":899.0272520897239},{"start_region_id":99,"end_region_id":101,"start_point":[122,650],"end_point":[833,929],"distance":763.7813823339765},{"start_region_id":101,"end_region_id":99,"start_point":[833,929],"end_point":[122,650],"distance":763.7813823339765},{"start_region_id":97,"end_region_id":100,"start_point":[613,470],"end_point":[961,973],"distance":611.6477744584705}],"complexity_score":0.6257470346744702}
{"id":3520,"query_id":"Q00704","question":"A delivery drone starts above a grassy, uneven field and needs to reach a paved, hard surface. The drone can fly over loose soil, rocky terrain, cultivated fields, and liquid areas, but must avoid dense vegetation clusters and cannot pass through vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved, hard surface","task_description":"What is the fastest route for the delivery drone to travel from above the grassy, uneven field to 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":"monrovia_32.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":214,"start_point":[989,54],"end_point":[63,894],"distance":1250.230378770249},{"start_region_id":8,"end_region_id":206,"start_point":[989,54],"end_point":[60,789],"distance":1184.5952895398495},{"start_region_id":120,"end_region_id":141,"start_point":[64,962],"end_point":[915,148],"distance":1177.6234542501265},{"start_region_id":8,"end_region_id":221,"start_point":[989,54],"end_point":[331,991],"distance":1144.9598246226808},{"start_region_id":8,"end_region_id":213,"start_point":[989,54],"end_point":[250,919],"distance":1137.6932802825197}],"complexity_score":0.625854931159906}
{"id":8099,"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_32.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":239,"start_point":[937,258],"end_point":[202,815],"distance":922.211472494243},{"start_region_id":239,"end_region_id":232,"start_point":[202,815],"end_point":[937,258],"distance":922.211472494243},{"start_region_id":238,"end_region_id":239,"start_point":[948,833],"end_point":[202,815],"distance":746.2171265791211},{"start_region_id":239,"end_region_id":238,"start_point":[202,815],"end_point":[948,833],"distance":746.2171265791211},{"start_region_id":234,"end_region_id":232,"start_point":[504,767],"end_point":[937,258],"distance":668.258931852018}],"complexity_score":0.625854931159906}
{"id":15000,"query_id":"Q03000","question":"A quadcopter starts from a densely vegetated area with tall, woody plants and uneven ground and needs to reach a smooth, hard, paved surface. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with low, natural grasses and shrubs; and surfaces composed of compacted soil, stones, or bricks that are relatively flat. The tall, woody vegetated areas are passable only if you can fly between the branches without collision. You must avoid any liquid surfaces and vertical structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a densely vegetated area with tall, woody plants and uneven ground","end_land_type":"a smooth, hard, paved surface","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":[2,2,2,2,1,0,2,0],"image_name":"monrovia_32.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":238,"start_point":[85,64],"end_point":[948,833],"distance":1155.9108962199466},{"start_region_id":250,"end_region_id":239,"start_point":[831,27],"end_point":[202,815],"distance":1008.2583994195139},{"start_region_id":248,"end_region_id":238,"start_point":[573,16],"end_point":[948,833],"distance":898.9516116009804},{"start_region_id":248,"end_region_id":239,"start_point":[573,16],"end_point":[202,815],"distance":880.9324605212365},{"start_region_id":260,"end_region_id":238,"start_point":[518,76],"end_point":[948,833],"distance":870.6026648247753}],"complexity_score":0.625854931159906}
{"id":16948,"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":"monrovia_32.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":245,"start_point":[796,161],"end_point":[85,64],"distance":717.5862317519756},{"start_region_id":1,"end_region_id":299,"start_point":[263,175],"end_point":[898,314],"distance":650.0353836523055},{"start_region_id":1,"end_region_id":351,"start_point":[263,175],"end_point":[698,622],"distance":623.7259013380798},{"start_region_id":1,"end_region_id":326,"start_point":[263,175],"end_point":[791,488],"distance":613.8020853662848},{"start_region_id":5,"end_region_id":351,"start_point":[796,161],"end_point":[698,622],"distance":471.3013897709193}],"complexity_score":0.625854931159906}
{"id":11037,"query_id":"Q02208","question":"Starting above a patch of wild grass and shrubs, a delivery drone needs to reach another similar patch of wild vegetation. The drone must prioritize flying over open, unobstructed areas to minimize collision risk. It can fly over sandy expanses, grassy fields, paved surfaces like parking lots and streets, cultivated crop areas, and even shallow water surfaces if necessary, but should avoid flying directly through dense tree canopies or between tall buildings, as these pose higher risks of impact or signal interference. The goal is to find the path that minimizes the risk of crashing or losing control.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting above a patch of wild grass and shrubs.","end_land_type":"The destination is above another similar patch of wild vegetation.","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":"vienna_32.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":19,"start_point":[203,160],"end_point":[282,807],"distance":651.8051856191388},{"start_region_id":19,"end_region_id":3,"start_point":[282,807],"end_point":[203,160],"distance":651.8051856191388},{"start_region_id":3,"end_region_id":17,"start_point":[203,160],"end_point":[425,705],"distance":588.4802460575886},{"start_region_id":17,"end_region_id":3,"start_point":[425,705],"end_point":[203,160],"distance":588.4802460575886}],"complexity_score":0.6258823844604656}
{"id":769,"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_35.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":91,"start_point":[439,863],"end_point":[957,45],"distance":968.2189834949529},{"start_region_id":91,"end_region_id":196,"start_point":[957,45],"end_point":[439,863],"distance":968.2189834949529},{"start_region_id":196,"end_region_id":94,"start_point":[439,863],"end_point":[738,95],"distance":824.1510783830838},{"start_region_id":94,"end_region_id":196,"start_point":[738,95],"end_point":[439,863],"distance":824.1510783830838},{"start_region_id":196,"end_region_id":110,"start_point":[439,863],"end_point":[514,308],"distance":560.0446410778341}],"complexity_score":0.6259413979081794}
{"id":4094,"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_35.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":13,"start_point":[957,45],"end_point":[847,908],"distance":869.9821837256209},{"start_region_id":196,"end_region_id":4,"start_point":[439,863],"end_point":[963,169],"distance":869.6045078080035},{"start_region_id":94,"end_region_id":13,"start_point":[738,95],"end_point":[847,908],"distance":820.2743443507178},{"start_region_id":91,"end_region_id":3,"start_point":[957,45],"end_point":[235,186],"distance":735.6391778582758},{"start_region_id":196,"end_region_id":3,"start_point":[439,863],"end_point":[235,186],"distance":707.0678892440244}],"complexity_score":0.6259413979081794}
{"id":13152,"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_35.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":91,"start_point":[145,797],"end_point":[957,45],"distance":1106.7285123281138},{"start_region_id":63,"end_region_id":91,"start_point":[313,914],"end_point":[957,45],"distance":1081.6177698244421},{"start_region_id":40,"end_region_id":91,"start_point":[20,458],"end_point":[957,45],"distance":1023.9814451443932},{"start_region_id":45,"end_region_id":91,"start_point":[88,547],"end_point":[957,45],"distance":1003.57610573389},{"start_region_id":74,"end_region_id":91,"start_point":[641,1000],"end_point":[957,45],"distance":1005.9229592767033}],"complexity_score":0.6259413979081794}
{"id":17395,"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":"santiago_35.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":196,"start_point":[628,179],"end_point":[439,863],"distance":709.6315945615725},{"start_region_id":76,"end_region_id":91,"start_point":[471,561],"end_point":[957,45],"distance":708.8384865397759},{"start_region_id":76,"end_region_id":94,"start_point":[471,561],"end_point":[738,95],"distance":537.0707588390937},{"start_region_id":81,"end_region_id":91,"start_point":[628,179],"end_point":[957,45],"distance":355.24217092006404},{"start_region_id":76,"end_region_id":196,"start_point":[471,561],"end_point":[439,863],"distance":303.6906320583498}],"complexity_score":0.6259413979081794}
{"id":613,"query_id":"Q00123","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 areas with loose soil used for crop growth, bodies of liquid, and clusters of tall vertical obstacles, but must avoid rough or unstable terrain that could cause vibrations. The drone prefers smooth, stable surfaces for a comfortable flight, and should minimize exposure to windy or turbulent conditions near tall obstacles or over liquid surfaces. 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 parking lot or sidewalk","task_description":"What is the most comfortable path for the quadcopter drone to take from the paved lane to the hard, flat surface?","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":"daressalaam_100.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":82,"start_point":[527,822],"end_point":[634,97],"distance":732.8533277539237},{"start_region_id":123,"end_region_id":83,"start_point":[527,822],"end_point":[863,165],"distance":737.9329237810168},{"start_region_id":121,"end_region_id":109,"start_point":[515,312],"end_point":[872,934],"distance":717.1701332319967},{"start_region_id":123,"end_region_id":92,"start_point":[527,822],"end_point":[969,359],"distance":640.1038978165966},{"start_region_id":123,"end_region_id":87,"start_point":[527,822],"end_point":[527,201],"distance":621.0}],"complexity_score":0.6260054814210726}
{"id":4312,"query_id":"Q00863","question":"A quadcopter drone starts from a grassy, open area with low vegetation and needs to reach another grassy, open area with low vegetation. The drone can fly over water bodies, but must avoid trees and buildings to ensure stable flight. The drone can also traverse cultivated fields with crops, but these may have uneven growth. The objective is to find a path that maximizes ride comfort by prioritizing smooth, predictable surfaces and avoiding turbulence or obstacles that could cause vibrations.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open area with low vegetation","end_land_type":"another grassy, open area with low 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":"daressalaam_100.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":3,"start_point":[164,855],"end_point":[734,65],"distance":974.1663102366043},{"start_region_id":3,"end_region_id":70,"start_point":[734,65],"end_point":[164,855],"distance":974.1663102366043},{"start_region_id":3,"end_region_id":81,"start_point":[734,65],"end_point":[394,952],"distance":949.9310501294291},{"start_region_id":81,"end_region_id":3,"start_point":[394,952],"end_point":[734,65],"distance":949.9310501294291},{"start_region_id":70,"end_region_id":42,"start_point":[164,855],"end_point":[992,461],"distance":916.9623765455157}],"complexity_score":0.6260054814210726}
{"id":4772,"query_id":"Q00955","question":"An aerial survey drone starts from a paved lane and needs to reach a paved area while ensuring smooth, stable flight. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical obstacles like trees and structures. The flight path should prioritize surfaces that minimize vibration and turbulence.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved 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":"daressalaam_100.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":82,"start_point":[527,822],"end_point":[634,97],"distance":732.8533277539237},{"start_region_id":123,"end_region_id":83,"start_point":[527,822],"end_point":[863,165],"distance":737.9329237810168},{"start_region_id":121,"end_region_id":109,"start_point":[515,312],"end_point":[872,934],"distance":717.1701332319967},{"start_region_id":123,"end_region_id":92,"start_point":[527,822],"end_point":[969,359],"distance":640.1038978165966},{"start_region_id":123,"end_region_id":87,"start_point":[527,822],"end_point":[527,201],"distance":621.0}],"complexity_score":0.6260054814210726}
{"id":1141,"query_id":"Q00229","question":"An aerial photography drone starts from a paved, hard surface and needs to reach an area with tall, vertical vegetation. The drone's flight path must prioritize smooth, stable travel to protect its camera gimbal from vibrations. While the drone can fly over most surfaces, areas with tall vegetation require careful navigation to avoid collisions. Liquid surfaces are traversable but may cause turbulence that affects stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"area with tall, vertical vegetation","task_description":"What is the most comfortable path from the paved starting point to the destination with tall vegetation?","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":"al_qurnah_68.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":286,"end_region_id":353,"start_point":[901,882],"end_point":[124,208],"distance":1028.593700155703},{"start_region_id":302,"end_region_id":353,"start_point":[826,982],"end_point":[124,208],"distance":1044.9306197063995},{"start_region_id":261,"end_region_id":398,"start_point":[24,683],"end_point":[976,462],"distance":977.3151999227271},{"start_region_id":270,"end_region_id":353,"start_point":[930,770],"end_point":[124,208],"distance":982.5884184133253},{"start_region_id":274,"end_region_id":377,"start_point":[124,852],"end_point":[934,368],"distance":943.5867739641119}],"complexity_score":0.6260733383417902}
{"id":3717,"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":"al_qurnah_68.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":286,"end_region_id":353,"start_point":[901,882],"end_point":[124,208],"distance":1028.593700155703},{"start_region_id":302,"end_region_id":353,"start_point":[826,982],"end_point":[124,208],"distance":1044.9306197063995},{"start_region_id":261,"end_region_id":398,"start_point":[24,683],"end_point":[976,462],"distance":977.3151999227271},{"start_region_id":270,"end_region_id":353,"start_point":[930,770],"end_point":[124,208],"distance":982.5884184133253},{"start_region_id":274,"end_region_id":377,"start_point":[124,852],"end_point":[934,368],"distance":943.5867739641119}],"complexity_score":0.6260733383417902}
{"id":5511,"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":"al_qurnah_68.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":321,"end_region_id":321,"start_point":[948,929],"end_point":[6,229],"distance":1173.6115200525257}],"complexity_score":0.6260733383417902}
{"id":8172,"query_id":"Q01635","question":"A delivery van starts from a paved road and needs to reach another paved road. The van can travel on paved surfaces and also on cultivated fields if necessary, but it must avoid all other terrain types such as water bodies, buildings, and wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"a paved road","end_land_type":"a paved road","task_description":"What is the shortest path for the delivery van to travel 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":"al_qurnah_68.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":321,"end_region_id":321,"start_point":[24,104],"end_point":[940,938],"distance":1238.794575383667}],"complexity_score":0.6260733383417902}
{"id":14944,"query_id":"Q02989","question":"A hiker is starting from a patch of forested ground and needs to reach another wooded area. The terrain includes loose, sandy or rocky surfaces without vegetation; open areas covered with grass and shrubs; hard, paved surfaces like sidewalks and parking lots; and cultivated fields with crops. The hiker must avoid any liquid surfaces and cannot enter any structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a patch of forested ground","end_land_type":"another wooded 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":[2,3,6,5,1,0,4,0],"image_name":"al_qurnah_68.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":398,"end_region_id":353,"start_point":[976,462],"end_point":[124,208],"distance":889.0556787963283},{"start_region_id":353,"end_region_id":398,"start_point":[124,208],"end_point":[976,462],"distance":889.0556787963283},{"start_region_id":377,"end_region_id":353,"start_point":[934,368],"end_point":[124,208],"distance":825.6512580987205},{"start_region_id":353,"end_region_id":377,"start_point":[124,208],"end_point":[934,368],"distance":825.6512580987205},{"start_region_id":398,"end_region_id":362,"start_point":[976,462],"end_point":[229,267],"distance":772.0323827405169}],"complexity_score":0.6260733383417902}
{"id":10782,"query_id":"Q02157","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 open grassy fields, hard surfaces like sidewalks and parking lots, vehicle lanes, areas with tall vertical obstacles, and liquid bodies, but must avoid any built structures. What is the fastest 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 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":"lambayeque_16.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":130,"start_point":[966,1001],"end_point":[139,34],"distance":1272.4063816249902},{"start_region_id":130,"end_region_id":173,"start_point":[139,34],"end_point":[966,1001],"distance":1272.4063816249902},{"start_region_id":171,"end_region_id":130,"start_point":[906,905],"end_point":[139,34],"distance":1160.5731342746135},{"start_region_id":130,"end_region_id":171,"start_point":[139,34],"end_point":[906,905],"distance":1160.5731342746135},{"start_region_id":137,"end_region_id":174,"start_point":[858,143],"end_point":[121,1011],"distance":1138.6803765763245}],"complexity_score":0.6260747042136833}
{"id":12219,"query_id":"Q02444","question":"A delivery drone carrying fragile packages starts from a flat, hard-surfaced landing pad and needs to reach another flat, hard-surfaced landing pad while prioritizing ride comfort. The drone can fly over areas with loose, sandy or rocky ground, and can navigate around tall, vertical obstacles that may cause turbulence, but must avoid any liquid surfaces due to splash risk and cannot fly through solid vertical structures. The hard surfaces offer the most stable takeoff and landing. The loose ground is traversable but may cause slight vibration from updrafts. The tall vertical obstacles are passable with careful maneuvering but can create unpredictable air currents that affect comfort. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone carrying fragile packages","start_land_type":"a flat, hard-surfaced landing pad","end_land_type":"another flat, hard-surfaced landing pad","task_description":"What is the most comfortable path?","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":"lambayeque_16.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":130,"start_point":[966,1001],"end_point":[139,34],"distance":1272.4063816249902},{"start_region_id":130,"end_region_id":173,"start_point":[139,34],"end_point":[966,1001],"distance":1272.4063816249902},{"start_region_id":171,"end_region_id":130,"start_point":[906,905],"end_point":[139,34],"distance":1160.5731342746135},{"start_region_id":130,"end_region_id":171,"start_point":[139,34],"end_point":[906,905],"distance":1160.5731342746135},{"start_region_id":137,"end_region_id":174,"start_point":[858,143],"end_point":[121,1011],"distance":1138.6803765763245}],"complexity_score":0.6260747042136833}
{"id":16309,"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":"lambayeque_16.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":1,"start_point":[543,578],"end_point":[58,254],"distance":583.2675200969106},{"start_region_id":177,"end_region_id":6,"start_point":[543,578],"end_point":[472,25],"distance":557.5392362874562},{"start_region_id":177,"end_region_id":5,"start_point":[543,578],"end_point":[379,66],"distance":537.6244042079935},{"start_region_id":177,"end_region_id":10,"start_point":[543,578],"end_point":[671,105],"distance":490.0132651265678},{"start_region_id":177,"end_region_id":60,"start_point":[543,578],"end_point":[84,647],"distance":464.157300922866}],"complexity_score":0.6260747042136833}
{"id":9525,"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_37.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":155,"start_point":[105,142],"end_point":[866,778],"distance":991.7746719895604},{"start_region_id":6,"end_region_id":156,"start_point":[877,45],"end_point":[160,722],"distance":986.1125696389839},{"start_region_id":6,"end_region_id":157,"start_point":[877,45],"end_point":[386,810],"distance":909.0137512711235},{"start_region_id":12,"end_region_id":155,"start_point":[372,111],"end_point":[866,778],"distance":830.0150601043333},{"start_region_id":6,"end_region_id":68,"start_point":[877,45],"end_point":[97,182],"distance":791.9400229815386}],"complexity_score":0.6260893529165552}
{"id":13322,"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_37.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":195,"start_point":[107,603],"end_point":[544,69],"distance":690.0181157042183},{"start_region_id":195,"end_region_id":250,"start_point":[544,69],"end_point":[107,603],"distance":690.0181157042183},{"start_region_id":195,"end_region_id":251,"start_point":[544,69],"end_point":[361,540],"distance":505.30188996282214},{"start_region_id":251,"end_region_id":195,"start_point":[361,540],"end_point":[544,69],"distance":505.30188996282214},{"start_region_id":195,"end_region_id":247,"start_point":[544,69],"end_point":[225,336],"distance":415.99278839902985}],"complexity_score":0.6260893529165552}
{"id":16435,"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_24.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":202,"start_point":[934,241],"end_point":[54,639],"distance":965.8177881981674},{"start_region_id":93,"end_region_id":201,"start_point":[208,846],"end_point":[997,401],"distance":905.8399417115587},{"start_region_id":86,"end_region_id":201,"start_point":[146,207],"end_point":[997,401],"distance":872.8327445736669},{"start_region_id":86,"end_region_id":204,"start_point":[146,207],"end_point":[692,866],"distance":855.8019630732334},{"start_region_id":88,"end_region_id":198,"start_point":[934,241],"end_point":[137,79],"distance":813.2976085050293}],"complexity_score":0.6261095352945653}
{"id":1702,"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_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":5,"start_point":[332,287],"end_point":[184,608],"distance":353.47560028946833},{"start_region_id":12,"end_region_id":3,"start_point":[332,287],"end_point":[540,32],"distance":329.07294024273705},{"start_region_id":12,"end_region_id":1,"start_point":[332,287],"end_point":[73,169],"distance":284.6137733842127},{"start_region_id":12,"end_region_id":4,"start_point":[332,287],"end_point":[189,440],"distance":209.42301688209918}],"complexity_score":0.6261597022024776}
{"id":1709,"query_id":"Q00342","question":"A quadcopter drone starts from a paved surface and needs to reach an exposed, loose earth and rock surface. The drone can fly over areas with short vegetation or crops, as well as liquid surfaces, but must avoid tall vertical obstacles and solid structures. Which path should the drone take to reach the destination using the shortest possible route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved surface","end_land_type":"exposed, loose earth and rock surface","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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":5,"start_point":[332,287],"end_point":[184,608],"distance":353.47560028946833},{"start_region_id":12,"end_region_id":3,"start_point":[332,287],"end_point":[540,32],"distance":329.07294024273705},{"start_region_id":12,"end_region_id":1,"start_point":[332,287],"end_point":[73,169],"distance":284.6137733842127},{"start_region_id":12,"end_region_id":4,"start_point":[332,287],"end_point":[189,440],"distance":209.42301688209918}],"complexity_score":0.6261597022024776}
{"id":3029,"query_id":"Q00606","question":"A family SUV is parked on a patch of loose, sandy ground. The driver needs to reach a paved parking area while prioritizing safety. The vehicle can only travel on surfaces that are either paved with asphalt or concrete, or on loose, sandy ground, or on cultivated fields with soft soil. The driver must avoid any areas with standing water, dense vegetation, or vertical structures. What is the safest path to reach the paved parking area?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved parking area","task_description":"What is the safest path to reach the paved parking area?","task_type":"Safest","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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":7,"start_point":[184,608],"end_point":[471,49],"distance":628.3709095749102},{"start_region_id":3,"end_region_id":6,"start_point":[540,32],"end_point":[87,409],"distance":589.3538835029426},{"start_region_id":4,"end_region_id":7,"start_point":[189,440],"end_point":[471,49],"distance":482.0840175737005},{"start_region_id":1,"end_region_id":7,"start_point":[73,169],"end_point":[471,49],"distance":415.69700504093123},{"start_region_id":1,"end_region_id":8,"start_point":[73,169],"end_point":[428,332],"distance":390.6328199217265}],"complexity_score":0.6261597022024776}
{"id":3034,"query_id":"Q00607","question":"A hiker is standing on a sandy, rocky area and needs to reach a concrete sidewalk while prioritizing safety. The hiker can walk on paved surfaces like sidewalks and roads, and is also permitted to cross loose, sandy ground and cultivated fields with soft soil. The hiker must avoid any areas with standing water or vertical structures. What is the safest path to reach the concrete sidewalk?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a sandy, rocky area","end_land_type":"a concrete sidewalk","task_description":"What is the safest path to reach the concrete sidewalk?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,4,3,0,0,2,0],"image_name":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":7,"start_point":[184,608],"end_point":[471,49],"distance":628.3709095749102},{"start_region_id":3,"end_region_id":6,"start_point":[540,32],"end_point":[87,409],"distance":589.3538835029426},{"start_region_id":4,"end_region_id":7,"start_point":[189,440],"end_point":[471,49],"distance":482.0840175737005},{"start_region_id":1,"end_region_id":7,"start_point":[73,169],"end_point":[471,49],"distance":415.69700504093123},{"start_region_id":1,"end_region_id":8,"start_point":[73,169],"end_point":[428,332],"distance":390.6328199217265}],"complexity_score":0.6261597022024776}
{"id":7805,"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_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[540,32],"end_point":[184,608],"distance":677.135141607641},{"start_region_id":5,"end_region_id":3,"start_point":[184,608],"end_point":[540,32],"distance":677.135141607641},{"start_region_id":4,"end_region_id":3,"start_point":[189,440],"end_point":[540,32],"distance":538.2053511439663},{"start_region_id":3,"end_region_id":4,"start_point":[540,32],"end_point":[189,440],"distance":538.2053511439663},{"start_region_id":2,"end_region_id":5,"start_point":[291,133],"end_point":[184,608],"distance":486.90245429654595}],"complexity_score":0.6261597022024776}
{"id":10025,"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_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":5,"start_point":[471,49],"end_point":[184,608],"distance":628.3709095749102},{"start_region_id":6,"end_region_id":3,"start_point":[87,409],"end_point":[540,32],"distance":589.3538835029426},{"start_region_id":7,"end_region_id":4,"start_point":[471,49],"end_point":[189,440],"distance":482.0840175737005},{"start_region_id":7,"end_region_id":1,"start_point":[471,49],"end_point":[73,169],"distance":415.69700504093123},{"start_region_id":8,"end_region_id":1,"start_point":[428,332],"end_point":[73,169],"distance":390.6328199217265}],"complexity_score":0.6261597022024776}
{"id":10717,"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_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":5,"start_point":[471,49],"end_point":[184,608],"distance":628.3709095749102},{"start_region_id":6,"end_region_id":3,"start_point":[87,409],"end_point":[540,32],"distance":589.3538835029426},{"start_region_id":7,"end_region_id":4,"start_point":[471,49],"end_point":[189,440],"distance":482.0840175737005},{"start_region_id":7,"end_region_id":1,"start_point":[471,49],"end_point":[73,169],"distance":415.69700504093123},{"start_region_id":8,"end_region_id":1,"start_point":[428,332],"end_point":[73,169],"distance":390.6328199217265}],"complexity_score":0.6261597022024776}
{"id":11072,"query_id":"Q02215","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks, an aerial survey drone must navigate to another area of similar loose, dry soil and scattered rocks. The drone can fly over areas with low, sparse vegetation and over cultivated fields with planted crops, but must avoid flying through dense tree canopies or near vertical structures. The drone's priority is to minimize risk of collision or loss of control.","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 another area of similar loose, dry soil and scattered rocks.","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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[540,32],"end_point":[184,608],"distance":677.135141607641},{"start_region_id":5,"end_region_id":3,"start_point":[184,608],"end_point":[540,32],"distance":677.135141607641},{"start_region_id":4,"end_region_id":3,"start_point":[189,440],"end_point":[540,32],"distance":538.2053511439663},{"start_region_id":3,"end_region_id":4,"start_point":[540,32],"end_point":[189,440],"distance":538.2053511439663},{"start_region_id":2,"end_region_id":5,"start_point":[291,133],"end_point":[184,608],"distance":486.90245429654595}],"complexity_score":0.6261597022024776}
{"id":13972,"query_id":"Q02795","question":"An off-road rally car starts from loose, sandy ground and needs to reach another patch of loose, sandy ground as quickly as possible. The vehicle can travel across loose, sandy ground, grassy or shrubby areas, hard paved surfaces, and cultivated fields. However, it cannot drive through dense vegetation, bodies of water, or structures. Which path allows the vehicle to reach its destination in the shortest time?","agent_category":"Car","specific_agent":"off-road rally car","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"Which path allows the vehicle to reach its destination 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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[540,32],"end_point":[184,608],"distance":677.135141607641},{"start_region_id":5,"end_region_id":3,"start_point":[184,608],"end_point":[540,32],"distance":677.135141607641},{"start_region_id":4,"end_region_id":3,"start_point":[189,440],"end_point":[540,32],"distance":538.2053511439663},{"start_region_id":3,"end_region_id":4,"start_point":[540,32],"end_point":[189,440],"distance":538.2053511439663},{"start_region_id":2,"end_region_id":5,"start_point":[291,133],"end_point":[184,608],"distance":486.90245429654595}],"complexity_score":0.6261597022024776}
{"id":14012,"query_id":"Q02803","question":"An off-road vehicle starts from a stretch of loose, rocky terrain and needs to reach another section of similar dry, unconsolidated ground. The available surfaces include open areas of bare soil and gravel, grassy fields with low vegetation, flat paved surfaces like parking lots or construction sites, and cultivated fields. You must avoid any trees, water bodies, buildings, and roads. What is the shortest route?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest route from the starting bare terrain to the destination bare terrain?","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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[540,32],"end_point":[184,608],"distance":677.135141607641},{"start_region_id":5,"end_region_id":3,"start_point":[184,608],"end_point":[540,32],"distance":677.135141607641},{"start_region_id":4,"end_region_id":3,"start_point":[189,440],"end_point":[540,32],"distance":538.2053511439663},{"start_region_id":3,"end_region_id":4,"start_point":[540,32],"end_point":[189,440],"distance":538.2053511439663},{"start_region_id":2,"end_region_id":5,"start_point":[291,133],"end_point":[184,608],"distance":486.90245429654595}],"complexity_score":0.6261597022024776}
{"id":14806,"query_id":"Q02962","question":"An aerial survey drone starts from a paved hard surface and needs to reach exposed sandy or rocky ground as quickly as possible. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid areas with tall trees or vertical structures. Which path allows the drone to reach its destination in the shortest time?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved hard surface","end_land_type":"exposed sandy or rocky ground","task_description":"Which path allows the drone to reach its 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":"khartoum_21.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":5,"start_point":[471,49],"end_point":[184,608],"distance":628.3709095749102},{"start_region_id":6,"end_region_id":3,"start_point":[87,409],"end_point":[540,32],"distance":589.3538835029426},{"start_region_id":7,"end_region_id":4,"start_point":[471,49],"end_point":[189,440],"distance":482.0840175737005},{"start_region_id":7,"end_region_id":1,"start_point":[471,49],"end_point":[73,169],"distance":415.69700504093123},{"start_region_id":8,"end_region_id":1,"start_point":[428,332],"end_point":[73,169],"distance":390.6328199217265}],"complexity_score":0.6261597022024776}
{"id":6670,"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_16.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":333,"end_region_id":219,"start_point":[961,965],"end_point":[177,106],"distance":1162.9862423949821},{"start_region_id":219,"end_region_id":333,"start_point":[177,106],"end_point":[961,965],"distance":1162.9862423949821},{"start_region_id":333,"end_region_id":227,"start_point":[961,965],"end_point":[124,212],"distance":1125.8676654029994},{"start_region_id":227,"end_region_id":333,"start_point":[124,212],"end_point":[961,965],"distance":1125.8676654029994},{"start_region_id":333,"end_region_id":208,"start_point":[961,965],"end_point":[396,24],"distance":1097.5909985053631}],"complexity_score":0.6262954043496107}
{"id":9948,"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_45.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":74,"start_point":[940,877],"end_point":[77,242],"distance":1071.4448189244279},{"start_region_id":40,"end_region_id":51,"start_point":[940,877],"end_point":[206,115],"distance":1058.0170130957251},{"start_region_id":32,"end_region_id":49,"start_point":[153,754],"end_point":[887,56],"distance":1012.8968358130062},{"start_region_id":40,"end_region_id":99,"start_point":[940,877],"end_point":[46,454],"distance":989.0222444414484},{"start_region_id":3,"end_region_id":99,"start_point":[967,173],"end_point":[46,454],"distance":962.9132878925287}],"complexity_score":0.6263014014305711}
{"id":14375,"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_45.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":74,"start_point":[940,877],"end_point":[77,242],"distance":1071.4448189244279},{"start_region_id":40,"end_region_id":51,"start_point":[940,877],"end_point":[206,115],"distance":1058.0170130957251},{"start_region_id":32,"end_region_id":49,"start_point":[153,754],"end_point":[887,56],"distance":1012.8968358130062},{"start_region_id":40,"end_region_id":99,"start_point":[940,877],"end_point":[46,454],"distance":989.0222444414484},{"start_region_id":3,"end_region_id":99,"start_point":[967,173],"end_point":[46,454],"distance":962.9132878925287}],"complexity_score":0.6263014014305711}
{"id":2924,"query_id":"Q00585","question":"A farm vehicle starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field across the area. The terrain consists entirely of soft, tilled earth used for crop production. The vehicle must stay on these cultivated surfaces and cannot use any paved surfaces, natural vegetation areas, rocky ground, water bodies, trees, or structures. What is the fastest path to the destination field?","agent_category":"Car","specific_agent":"farm vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path to the destination field?","task_type":"Fastest","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"dortmund_27.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":419,"end_region_id":419,"start_point":[328,916],"end_point":[909,829],"distance":587.4776591496906}],"complexity_score":0.6263132695326612}
{"id":5691,"query_id":"Q01139","question":"An aerial drone starts from a paved surface and needs to reach an area with tall vertical obstacles. The 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":"Aerial drone","start_land_type":"paved surface","end_land_type":"area with tall vertical obstacles","task_description":"What is the fastest path for the aerial drone to reach the area with tall vertical obstacles from the 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":"dortmund_27.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":371,"start_point":[222,121],"end_point":[917,547],"distance":815.1693075674525},{"start_region_id":233,"end_region_id":366,"start_point":[222,121],"end_point":[704,730],"distance":776.6627324649999},{"start_region_id":233,"end_region_id":347,"start_point":[222,121],"end_point":[942,387],"distance":767.5649809625241},{"start_region_id":237,"end_region_id":260,"start_point":[520,656],"end_point":[50,75],"distance":747.302482265381},{"start_region_id":233,"end_region_id":411,"start_point":[222,121],"end_point":[182,852],"distance":732.0935732541299}],"complexity_score":0.6263132695326612}
{"id":10596,"query_id":"Q02120","question":"An aerial surveillance drone starts from a cultivated field with rows of crops and needs to reach a cluster of tall, leafy vegetation. The drone can fly over open sandy or rocky ground, paved lanes, liquid surfaces, and cultivated areas without restriction. However, passing through dense vertical obstacles like tall, leafy vegetation is only possible if there are gaps wide enough for the drone to navigate safely. The drone must avoid any built structures or vertical obstacles that are too dense to pass through. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"A cluster of tall, leafy vegetation","task_description":"What is the fastest path for the aerial surveillance drone to reach the cluster of tall, leafy vegetation from 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":"dortmund_27.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":419,"end_region_id":260,"start_point":[569,881],"end_point":[50,75],"distance":958.6433121865505},{"start_region_id":419,"end_region_id":261,"start_point":[569,881],"end_point":[157,45],"distance":932.0085836514597},{"start_region_id":419,"end_region_id":277,"start_point":[569,881],"end_point":[463,157],"distance":731.7185251174116},{"start_region_id":419,"end_region_id":325,"start_point":[569,881],"end_point":[173,284],"distance":716.3972361755732},{"start_region_id":419,"end_region_id":347,"start_point":[569,881],"end_point":[942,387],"distance":619.0032310093382}],"complexity_score":0.6263132695326612}
{"id":1207,"query_id":"Q00242","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures that provide overhead cover. It needs to reach a cultivated field with low, uniform vegetation arranged in rows as quickly as possible. The drone can fly over open grassy expanses with scattered shrubs, but must navigate carefully through areas with dense overhead foliage that could entangle its rotors. The cultivated field is accessible, but the tall vegetated structures require cautious maneuvering to avoid collisions. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures that provide overhead cover","end_land_type":"a cultivated field with low, uniform vegetation arranged in rows","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":"accra_58.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":100,"start_point":[798,973],"end_point":[161,221],"distance":985.5318361169262},{"start_region_id":91,"end_region_id":102,"start_point":[798,973],"end_point":[37,361],"distance":976.5577299883505},{"start_region_id":79,"end_region_id":109,"start_point":[78,572],"end_point":[982,703],"distance":913.4423900827024},{"start_region_id":79,"end_region_id":114,"start_point":[78,572],"end_point":[869,976],"distance":888.1987390218475},{"start_region_id":91,"end_region_id":99,"start_point":[798,973],"end_point":[407,199],"distance":867.1545421665045}],"complexity_score":0.6264286463818357}
{"id":3047,"query_id":"Q00610","question":"A family sedan starts from a paved road surface and needs to reach a cultivated crop field. The vehicle requires a hard, stable surface for safe travel, but the crop field is accessible because the soil is firm and dry, allowing careful entry. Other surfaces like loose sand or rocky ground are not allowed due to instability risks, and vertical structures or water bodies are strictly impassable. What is the safest path?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"paved road surface","end_land_type":"cultivated crop field","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":"accra_58.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":104,"start_point":[247,92],"end_point":[163,539],"distance":454.82414183945866},{"start_region_id":61,"end_region_id":110,"start_point":[448,858],"end_point":[856,792],"distance":413.30376238306854},{"start_region_id":59,"end_region_id":102,"start_point":[247,92],"end_point":[37,361],"distance":341.2638275586793},{"start_region_id":61,"end_region_id":111,"start_point":[448,858],"end_point":[154,789],"distance":301.9884103736433}],"complexity_score":0.6264286463818357}
{"id":5368,"query_id":"Q01074","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while minimizing operational risk. The drone can fly over open water surfaces and navigate around individual trees, but must avoid any contact with vertical structures. The drone's primary concern is maintaining stable flight and avoiding collisions. What is the safest path to the cultivated field?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest path to the 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":"accra_58.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":114,"start_point":[247,92],"end_point":[869,976],"distance":1080.8977750000229},{"start_region_id":59,"end_region_id":109,"start_point":[247,92],"end_point":[982,703],"distance":955.7960033396248},{"start_region_id":60,"end_region_id":108,"start_point":[793,190],"end_point":[24,724],"distance":936.2248661512896},{"start_region_id":59,"end_region_id":110,"start_point":[247,92],"end_point":[856,792],"distance":927.8367313272308},{"start_region_id":59,"end_region_id":112,"start_point":[247,92],"end_point":[556,934],"distance":896.9085795107549}],"complexity_score":0.6264286463818357}
{"id":274,"query_id":"Q00055","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with soft, uneven soil. The drone must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. Additionally, it should minimize travel over liquid surfaces to reduce turbulence and maintain stable flight. The drone is permitted to traverse over loose, sandy ground; grassy, shrub-covered areas; liquid surfaces; and cultivated fields with rows of crops. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey 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 grassy, shrub-covered area with soft, uneven soil.","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_28.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":60,"start_point":[849,985],"end_point":[668,592],"distance":432.67770915544054}],"complexity_score":0.6264614550429874}
{"id":2308,"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":"mahe_28.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":5,"start_point":[696,28],"end_point":[849,985],"distance":969.1532386573343},{"start_region_id":156,"end_region_id":5,"start_point":[198,764],"end_point":[849,985],"distance":687.4896362855225},{"start_region_id":144,"end_region_id":5,"start_point":[331,546],"end_point":[849,985],"distance":679.0029455017113},{"start_region_id":131,"end_region_id":5,"start_point":[640,380],"end_point":[849,985],"distance":640.0828071429509},{"start_region_id":173,"end_region_id":5,"start_point":[306,942],"end_point":[849,985],"distance":544.6999173857106}],"complexity_score":0.6264614550429874}
{"id":3187,"query_id":"Q00638","question":"A survey drone is launched from a low-vegetation area and must fly to a destination over exposed, rocky terrain. The drone must avoid flying close to trees or structures, and should prioritize open areas that minimize the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"Survey drone","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the safest flight path for the drone from the low-vegetation area to the rocky terrain?","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_28.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":5,"start_point":[568,119],"end_point":[849,985],"distance":910.4487904324988},{"start_region_id":31,"end_region_id":5,"start_point":[283,277],"end_point":[849,985],"distance":906.4325678173749},{"start_region_id":27,"end_region_id":5,"start_point":[541,244],"end_point":[849,985],"distance":802.4618370988118},{"start_region_id":81,"end_region_id":5,"start_point":[130,878],"end_point":[849,985],"distance":726.9181522014703},{"start_region_id":33,"end_region_id":5,"start_point":[473,388],"end_point":[849,985],"distance":705.5388012008979}],"complexity_score":0.6264614550429874}
{"id":8569,"query_id":"Q01714","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy, shrub-covered area. The hiker can traverse the sandy ground, grassy areas, and wooded patches, but must avoid any paved surfaces, roads, water bodies, or buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy, shrub-covered area","task_description":"What is the shortest path from the loose, sandy ground to the grassy, shrub-covered area?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Tree"],"traverse_vector":[1,1,0,0,1,0,0,0],"cost_vector":[1,1,0,0,1,0,0,0],"image_name":"mahe_28.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":13,"start_point":[849,985],"end_point":[568,119],"distance":910.4487904324988},{"start_region_id":5,"end_region_id":27,"start_point":[849,985],"end_point":[541,244],"distance":802.4618370988118},{"start_region_id":5,"end_region_id":33,"start_point":[849,985],"end_point":[473,388],"distance":705.5388012008979},{"start_region_id":5,"end_region_id":60,"start_point":[849,985],"end_point":[668,592],"distance":432.67770915544054},{"start_region_id":5,"end_region_id":88,"start_point":[849,985],"end_point":[430,883],"distance":431.2365939945264}],"complexity_score":0.6264614550429874}
{"id":10639,"query_id":"Q02128","question":"A quadcopter drone needs to travel from a patch of exposed, dry earth with no vegetation to a tall, leafy structure with a distinct vertical profile. The drone can fly over open ground, paved lanes, cultivated fields, and liquid surfaces. However, it must avoid colliding with the tall, leafy structures themselves, so it can only pass through the spaces between them or fly above their canopy. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of exposed, dry earth with no vegetation.","end_land_type":"The destination is a tall, leafy structure with a distinct vertical profile.","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":"mahe_28.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":196,"start_point":[849,985],"end_point":[152,186],"distance":1060.287696806862},{"start_region_id":5,"end_region_id":202,"start_point":[849,985],"end_point":[339,203],"distance":933.6080548067267},{"start_region_id":5,"end_region_id":197,"start_point":[849,985],"end_point":[478,152],"distance":911.8826678909958},{"start_region_id":5,"end_region_id":240,"start_point":[849,985],"end_point":[25,604],"distance":907.8199160626517},{"start_region_id":5,"end_region_id":208,"start_point":[849,985],"end_point":[365,335],"distance":810.404837103037}],"complexity_score":0.6264614550429874}
{"id":12550,"query_id":"Q02510","question":"An off-road vehicle starts from cultivated fields with soft soil and planted crops and needs to reach open grassy areas with scattered shrubs. The terrain includes paved lanes used by vehicles and hard, flat surfaces like parking lots. However, sandy or rocky ground without vegetation is too rough and lacks traction for stable driving, and areas with dense trees are blocked by trunks and low branches. Bodies of water are completely impassable, and buildings are solid obstacles that cannot be driven through. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"cultivated fields with soft soil and planted crops","end_land_type":"open grassy areas 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":"al_qurnah_38.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":33,"start_point":[317,563],"end_point":[934,945],"distance":725.6810594193568},{"start_region_id":163,"end_region_id":19,"start_point":[656,954],"end_point":[51,560],"distance":721.984071846464},{"start_region_id":163,"end_region_id":18,"start_point":[656,954],"end_point":[167,575],"distance":618.6776220294379},{"start_region_id":162,"end_region_id":30,"start_point":[317,563],"end_point":[887,782],"distance":610.6234518915892},{"start_region_id":163,"end_region_id":25,"start_point":[656,954],"end_point":[105,851],"distance":560.5443782609901}],"complexity_score":0.6264678874324741}
{"id":16895,"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_31.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":125,"start_point":[860,89],"end_point":[173,866],"distance":1037.1586185343108},{"start_region_id":125,"end_region_id":81,"start_point":[173,866],"end_point":[860,89],"distance":1037.1586185343108},{"start_region_id":81,"end_region_id":133,"start_point":[860,89],"end_point":[223,894],"distance":1026.5446897237352},{"start_region_id":133,"end_region_id":81,"start_point":[223,894],"end_point":[860,89],"distance":1026.5446897237352},{"start_region_id":125,"end_region_id":89,"start_point":[173,866],"end_point":[982,251],"distance":1016.2214325628051}],"complexity_score":0.6264916204023362}
{"id":2575,"query_id":"Q00515","question":"An aerial surveillance drone starts from a patch of loose, dry earth and scattered rocks and needs to reach a grassy area with low, dense vegetation. The drone must avoid any areas with tall vertical obstacles or structures that could pose collision risks, and should also avoid flying over liquid surfaces to minimize the chance of damage in case of a malfunction. The priority is to select a route that minimizes operational risks.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, dry earth and scattered rocks.","end_land_type":"The destination is a grassy area with low, dense vegetation.","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":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[730,997],"end_point":[63,230],"distance":1016.4536388837417},{"start_region_id":1,"end_region_id":19,"start_point":[730,997],"end_point":[361,71],"distance":996.8134228630752},{"start_region_id":1,"end_region_id":18,"start_point":[730,997],"end_point":[947,84],"distance":938.4338016077639},{"start_region_id":1,"end_region_id":24,"start_point":[730,997],"end_point":[234,220],"distance":921.8161421888857},{"start_region_id":1,"end_region_id":34,"start_point":[730,997],"end_point":[912,191],"distance":826.2929262676765}],"complexity_score":0.6265993876194316}
{"id":3463,"query_id":"Q00693","question":"A 4x4 off-road vehicle starts from a paved surface and needs to reach an unpaved, loose ground area. The paved surface provides stable traction, but the unpaved ground is composed of loose earth and rocks that can shift unpredictably. You must avoid any areas with standing liquid, vertical structures, or dense vegetation that could obstruct movement or cause loss of control. What is the safest path to reach the destination?","agent_category":"Car","specific_agent":"a 4x4 off-road vehicle","start_land_type":"paved surface","end_land_type":"unpaved, loose ground","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":[1,2,4,5,0,0,3,0],"image_name":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":1,"start_point":[885,61],"end_point":[730,997],"distance":948.74706850667},{"start_region_id":261,"end_region_id":1,"start_point":[551,173],"end_point":[730,997],"distance":843.2182398406713},{"start_region_id":264,"end_region_id":1,"start_point":[519,408],"end_point":[730,997],"distance":625.6532586025586}],"complexity_score":0.6265993876194316}
{"id":7105,"query_id":"Q01421","question":"A quadcopter drone 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. The tall vertical obstacles are sparse enough to fly between, and solid vertical structures are accessible for low-altitude flight. What is the shortest path to the sidewalk?","agent_category":"Drone","specific_agent":"a quadcopter drone","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","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":159,"start_point":[730,997],"end_point":[89,123],"distance":1083.8620760964006},{"start_region_id":1,"end_region_id":151,"start_point":[730,997],"end_point":[536,77],"distance":940.231886291887},{"start_region_id":1,"end_region_id":153,"start_point":[730,997],"end_point":[697,83],"distance":914.595539022578},{"start_region_id":1,"end_region_id":171,"start_point":[730,997],"end_point":[425,212],"distance":842.1698166047036},{"start_region_id":1,"end_region_id":164,"start_point":[730,997],"end_point":[878,212],"distance":798.8297690997751}],"complexity_score":0.6265993876194316}
{"id":9218,"query_id":"Q01844","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach a paved lane as quickly as possible. The drone can fly over liquid surfaces and cultivated fields, but must avoid areas with tall, dense vegetation and solid vertical structures. Which path allows the drone to travel fastest?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved lane","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":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":262,"start_point":[730,997],"end_point":[885,61],"distance":948.74706850667},{"start_region_id":1,"end_region_id":261,"start_point":[730,997],"end_point":[551,173],"distance":843.2182398406713},{"start_region_id":1,"end_region_id":264,"start_point":[730,997],"end_point":[519,408],"distance":625.6532586025586}],"complexity_score":0.6265993876194316}
{"id":13114,"query_id":"Q02623","question":"A surveillance drone starts from a concrete pad and needs to reach a sandy, rocky expanse. The drone can fly over hard surfaces, soft ground, vegetated areas, and water bodies, but must avoid dense tree canopies and buildings due to obstacle avoidance protocols. What is the shortest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a concrete pad","end_land_type":"a sandy, rocky expanse","task_description":"What is the shortest path for the surveillance 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_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":1,"start_point":[89,123],"end_point":[730,997],"distance":1083.8620760964006},{"start_region_id":151,"end_region_id":1,"start_point":[536,77],"end_point":[730,997],"distance":940.231886291887},{"start_region_id":153,"end_region_id":1,"start_point":[697,83],"end_point":[730,997],"distance":914.595539022578},{"start_region_id":171,"end_region_id":1,"start_point":[425,212],"end_point":[730,997],"distance":842.1698166047036},{"start_region_id":164,"end_region_id":1,"start_point":[878,212],"end_point":[730,997],"distance":798.8297690997751}],"complexity_score":0.6265993876194316}
{"id":13564,"query_id":"Q02713","question":"A quadcopter drone starts on sandy, rocky terrain and needs to reach an open grassy area as quickly as possible. The drone can fly over sandy, rocky terrain, open grassy areas, paved surfaces, and cultivated fields. However, the drone must avoid flying through dense vegetation or near vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky terrain","end_land_type":"open grassy area","task_description":"What is the fastest path for the quadcopter drone to travel from the sandy, rocky terrain to the open grassy area?","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":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[730,997],"end_point":[63,230],"distance":1016.4536388837417},{"start_region_id":1,"end_region_id":19,"start_point":[730,997],"end_point":[361,71],"distance":996.8134228630752},{"start_region_id":1,"end_region_id":18,"start_point":[730,997],"end_point":[947,84],"distance":938.4338016077639},{"start_region_id":1,"end_region_id":24,"start_point":[730,997],"end_point":[234,220],"distance":921.8161421888857},{"start_region_id":1,"end_region_id":34,"start_point":[730,997],"end_point":[912,191],"distance":826.2929262676765}],"complexity_score":0.6265993876194316}
{"id":14437,"query_id":"Q02888","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open, dry area of loose earth and rocks. The drone can fly over areas with low vegetation and bushes, and can also pass between individual tall vertical obstacles if necessary. However, the mission requires prioritizing the safest possible route to minimize risk of collision or instability. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"open, dry area of loose earth and rocks","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":"san_tome_11.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":1,"start_point":[885,61],"end_point":[730,997],"distance":948.74706850667},{"start_region_id":261,"end_region_id":1,"start_point":[551,173],"end_point":[730,997],"distance":843.2182398406713},{"start_region_id":264,"end_region_id":1,"start_point":[519,408],"end_point":[730,997],"distance":625.6532586025586}],"complexity_score":0.6265993876194316}
{"id":2519,"query_id":"Q00504","question":"A quadcopter drone starts from an exposed, loose soil area and needs to reach another similar area of uncovered ground. The drone can fly over most surfaces, but must avoid areas with tall, dense vegetation that could entangle its rotors. It can freely traverse open ground, paved surfaces, cultivated fields, and even water surfaces if necessary. However, vertical structures like buildings should be avoided as they pose collision risks. The drone prioritizes routes that allow maximum speed and stability.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"exposed, loose soil area","end_land_type":"exposed, loose soil area","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","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_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":1,"start_point":[803,789],"end_point":[741,349],"distance":444.34671147652256},{"start_region_id":1,"end_region_id":6,"start_point":[741,349],"end_point":[803,789],"distance":444.34671147652256},{"start_region_id":3,"end_region_id":6,"start_point":[671,557],"end_point":[803,789],"distance":266.92320993124594},{"start_region_id":6,"end_region_id":3,"start_point":[803,789],"end_point":[671,557],"distance":266.92320993124594},{"start_region_id":3,"end_region_id":1,"start_point":[671,557],"end_point":[741,349],"distance":219.46298093300382}],"complexity_score":0.6266947247461546}
{"id":2588,"query_id":"Q00518","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a rough, loose soil area as quickly as possible. The drone can fly over paved areas, compacted gravel surfaces, firm cultivated fields, and loose soil regions, but must avoid areas with tall vegetation or vertical obstacles. Which route allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"rough, loose soil area","task_description":"Which route allows the drone to reach the destination in the shortest time?","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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":1,"start_point":[197,252],"end_point":[741,349],"distance":552.5803109051209}],"complexity_score":0.6266947247461546}
{"id":5405,"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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":6,"start_point":[217,508],"end_point":[803,789],"distance":649.8899906907322},{"start_region_id":124,"end_region_id":6,"start_point":[946,165],"end_point":[803,789],"distance":640.1757571167468},{"start_region_id":123,"end_region_id":1,"start_point":[217,508],"end_point":[741,349],"distance":547.592001402504},{"start_region_id":124,"end_region_id":3,"start_point":[946,165],"end_point":[671,557],"distance":478.84130983030275},{"start_region_id":123,"end_region_id":3,"start_point":[217,508],"end_point":[671,557],"distance":456.6366170162003}],"complexity_score":0.6266947247461546}
{"id":7172,"query_id":"Q01435","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a dry, loose soil area without vegetation. The drone can fly over liquid surfaces and cultivated fields with low vegetation, but cannot pass through dense vertical obstacles or solid structures. It must avoid any terrain with tall, dense vegetation or solid vertical barriers. 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":"dry, loose soil without vegetation","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_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":78,"end_region_id":6,"start_point":[197,252],"end_point":[803,789],"distance":809.6943867904729},{"start_region_id":78,"end_region_id":3,"start_point":[197,252],"end_point":[671,557],"distance":563.649713918139},{"start_region_id":78,"end_region_id":1,"start_point":[197,252],"end_point":[741,349],"distance":552.5803109051209},{"start_region_id":103,"end_region_id":6,"start_point":[557,350],"end_point":[803,789],"distance":503.2265891226337},{"start_region_id":79,"end_region_id":6,"start_point":[660,321],"end_point":[803,789],"distance":489.3597858426865}],"complexity_score":0.6266947247461546}
{"id":9227,"query_id":"Q01846","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a grassy area with scattered shrubs. You can only traverse surfaces that are either hard and paved, or natural ground surfaces that are firm enough to support foot traffic. The hard paved surfaces include sidewalks, parking lots, and similar constructed areas. Natural ground surfaces include loose sandy areas, grassy areas with shrubs, and cultivated fields with crops. You cannot cross any water bodies or enter any buildings. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy area with scattered shrubs","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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":53,"start_point":[741,349],"end_point":[97,762],"distance":765.0522857948991},{"start_region_id":1,"end_region_id":24,"start_point":[741,349],"end_point":[103,439],"distance":644.316692318304},{"start_region_id":3,"end_region_id":53,"start_point":[671,557],"end_point":[97,762],"distance":609.5088186400587},{"start_region_id":3,"end_region_id":24,"start_point":[671,557],"end_point":[103,439],"distance":580.127572177017},{"start_region_id":3,"end_region_id":26,"start_point":[671,557],"end_point":[333,231],"distance":469.5955706775778}],"complexity_score":0.6266947247461546}
{"id":11381,"query_id":"Q02277","question":"A quadcopter drone is hovering above loose, sandy ground and needs to fly to a grassy field. The environment consists of loose sandy areas, grassy fields, and cultivated crop fields. The drone can fly over these terrains but must avoid any tall vertical structures and liquid surfaces. What is the shortest flight path to the grassy field?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"grassy field","task_description":"What is the shortest flight path to the grassy field?","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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":37,"start_point":[671,557],"end_point":[407,395],"distance":309.7418279793674},{"start_region_id":3,"end_region_id":56,"start_point":[671,557],"end_point":[513,749],"distance":248.65236777477105}],"complexity_score":0.6266947247461546}
{"id":11407,"query_id":"Q02282","question":"A SUV starts from a grassy, uneven field with scattered shrubs and needs to reach a destination on a flat, hard-packed surface of loose earth and rocks. The vehicle requires a smooth, stable ride with minimal vibration. While paved surfaces like asphalt or concrete are available, they are currently blocked due to construction barriers. Similarly, cultivated fields with crops are fenced off and inaccessible. You must find a route that prioritizes ride comfort.","agent_category":"Car","specific_agent":"SUV","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the most comfortable path to reach the destination?","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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":3,"start_point":[407,395],"end_point":[671,557],"distance":309.7418279793674},{"start_region_id":56,"end_region_id":3,"start_point":[513,749],"end_point":[671,557],"distance":248.65236777477105}],"complexity_score":0.6266947247461546}
{"id":17747,"query_id":"Q03550","question":"An aerial survey drone begins its mission on loose, sandy ground and needs to reach a paved lane. The drone can fly over open, vegetation-free terrain, grassy or shrub-covered areas, hard artificial surfaces, and cultivated fields. However, it must avoid flying directly through dense tree canopies or near vertical structures to minimize collision risk. 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":"paved 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":"san_tome_47.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":123,"start_point":[741,349],"end_point":[217,508],"distance":547.592001402504},{"start_region_id":3,"end_region_id":124,"start_point":[671,557],"end_point":[946,165],"distance":478.84130983030275},{"start_region_id":3,"end_region_id":123,"start_point":[671,557],"end_point":[217,508],"distance":456.6366170162003},{"start_region_id":1,"end_region_id":124,"start_point":[741,349],"end_point":[946,165],"distance":275.4650613054222}],"complexity_score":0.6266947247461546}
{"id":12181,"query_id":"Q02437","question":"An aerial photography drone starts from a paved, hard surface and needs to reach another paved, hard surface used by vehicles. The drone can fly over soft ground covered with grass and shrubs, other paved areas like sidewalks and parking lots, and bodies of water. However. The drone must avoid flying through dense vegetation that could cause turbulence and vibration, and it cannot fly through solid vertical structures. The drone's priority is to maintain a smooth, stable flight to ensure clear photography.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"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":"ica_48.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":217,"start_point":[394,1001],"end_point":[25,39],"distance":1030.3421761725567},{"start_region_id":102,"end_region_id":217,"start_point":[976,290],"end_point":[25,39],"distance":983.5659611840987},{"start_region_id":133,"end_region_id":217,"start_point":[920,411],"end_point":[25,39],"distance":969.2311385835682},{"start_region_id":202,"end_region_id":217,"start_point":[82,987],"end_point":[25,39],"distance":949.7120616271018},{"start_region_id":118,"end_region_id":217,"start_point":[635,735],"end_point":[25,39],"distance":925.4814963034107}],"complexity_score":0.6267055367158263}
{"id":15592,"query_id":"Q03119","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an open grassy area as quickly as possible. The drone can fly over most terrain types, including loose sandy or rocky ground, grassy or shrubby areas, paved surfaces, vehicle lanes, cultivated fields, and water bodies. However, it must avoid densely packed vertical obstacles that could interfere with its flight path. 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":"open grassy 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":"ica_48.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":206,"end_region_id":7,"start_point":[394,1001],"end_point":[172,115],"distance":913.3892926895958},{"start_region_id":202,"end_region_id":7,"start_point":[82,987],"end_point":[172,115],"distance":876.6321919710683},{"start_region_id":102,"end_region_id":7,"start_point":[976,290],"end_point":[172,115],"distance":822.8250117734633},{"start_region_id":133,"end_region_id":7,"start_point":[920,411],"end_point":[172,115],"distance":804.4376918071405},{"start_region_id":118,"end_region_id":7,"start_point":[635,735],"end_point":[172,115],"distance":773.8016541724371}],"complexity_score":0.6267055367158263}
{"id":2699,"query_id":"Q00540","question":"A delivery van starts from a paved surface and needs to reach a cultivated field as quickly as possible. The vehicle can only travel on hard, compact surfaces like asphalt or concrete, loose sandy or rocky ground, and cultivated soil. It cannot travel through water, buildings, or areas with trees. What is the fastest route?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved surface","end_land_type":"cultivated field","task_description":"What is the fastest route for the delivery van to reach the cultivated field?","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":"kagera_10.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":340,"start_point":[779,95],"end_point":[709,736],"distance":644.8108249711694}],"complexity_score":0.6267905107029176}
{"id":10924,"query_id":"Q02185","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 loose, sandy ground; grassy, uneven fields; compacted, stable surfaces; vehicle lanes; and planted crop areas. You cannot travel through dense vegetation clusters, liquid bodies, or vertical structures. What is the shortest route to your destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"paved 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":"kagera_10.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":133,"start_point":[222,61],"end_point":[582,887],"distance":901.0416194604998},{"start_region_id":340,"end_region_id":94,"start_point":[709,736],"end_point":[453,69],"distance":714.4403404063911},{"start_region_id":340,"end_region_id":95,"start_point":[709,736],"end_point":[779,95],"distance":644.8108249711694},{"start_region_id":339,"end_region_id":95,"start_point":[222,61],"end_point":[779,95],"distance":558.0367371419197},{"start_region_id":339,"end_region_id":94,"start_point":[222,61],"end_point":[453,69],"distance":231.1384866265244}],"complexity_score":0.6267905107029176}
{"id":15230,"query_id":"Q03046","question":"An agricultural monitoring drone starts from a cultivated field and needs to reach another cultivated field while maintaining stable flight. The drone can fly over loose, dry soil areas; grassy or shrub-covered terrain; paved or compacted surfaces; liquid surfaces; and other cultivated fields. However. The drone must avoid flying through dense vegetation that could cause turbulence and should minimize flight over liquid surfaces where wind gusts could create instability. 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 reach 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":"kagera_10.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":340,"start_point":[222,61],"end_point":[709,736],"distance":832.3424775896037},{"start_region_id":340,"end_region_id":339,"start_point":[709,736],"end_point":[222,61],"distance":832.3424775896037}],"complexity_score":0.6267905107029176}
{"id":5042,"query_id":"Q01009","question":"A hiker starts from a paved sidewalk and needs to reach another paved sidewalk. The area includes hard, flat surfaces like sidewalks and roads, as well as cultivated fields with soft, uneven soil. For safety, you must avoid any loose, sandy ground or rocky terrain, and you cannot cross any water bodies or enter buildings. Which path should you take to reach the destination with minimal risk?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a paved sidewalk","task_description":"Which path should you take to reach the destination with minimal risk?","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":"dhaka_3.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":58,"start_point":[679,955],"end_point":[152,62],"distance":1036.907903335682},{"start_region_id":58,"end_region_id":174,"start_point":[152,62],"end_point":[679,955],"distance":1036.907903335682},{"start_region_id":174,"end_region_id":53,"start_point":[679,955],"end_point":[312,30],"distance":995.1452155338939},{"start_region_id":53,"end_region_id":174,"start_point":[312,30],"end_point":[679,955],"distance":995.1452155338939},{"start_region_id":174,"end_region_id":83,"start_point":[679,955],"end_point":[51,194],"distance":986.6635698149598}],"complexity_score":0.6269823508864409}
{"id":8631,"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":"dhaka_3.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":299,"start_point":[867,816],"end_point":[83,870],"distance":785.8574934426724},{"start_region_id":26,"end_region_id":321,"start_point":[422,477],"end_point":[855,937],"distance":631.7349127600912},{"start_region_id":26,"end_region_id":300,"start_point":[422,477],"end_point":[913,830],"distance":604.7230771187751},{"start_region_id":38,"end_region_id":288,"start_point":[867,816],"end_point":[283,757],"distance":586.9727421269237},{"start_region_id":43,"end_region_id":227,"start_point":[344,931],"end_point":[550,389],"distance":579.827560572969}],"complexity_score":0.6269823508864409}
{"id":14341,"query_id":"Q02869","question":"A sedan 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 smooth and stable surfaces to minimize vibration and discomfort during travel.","agent_category":"Car","specific_agent":"a sedan","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":[1,2,4,5,0,0,3,0],"image_name":"dhaka_3.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":58,"start_point":[679,955],"end_point":[152,62],"distance":1036.907903335682},{"start_region_id":58,"end_region_id":174,"start_point":[152,62],"end_point":[679,955],"distance":1036.907903335682},{"start_region_id":174,"end_region_id":53,"start_point":[679,955],"end_point":[312,30],"distance":995.1452155338939},{"start_region_id":53,"end_region_id":174,"start_point":[312,30],"end_point":[679,955],"distance":995.1452155338939},{"start_region_id":174,"end_region_id":83,"start_point":[679,955],"end_point":[51,194],"distance":986.6635698149598}],"complexity_score":0.6269823508864409}
{"id":1454,"query_id":"Q00291","question":"A hiker begins on a grassy meadow with scattered shrubs and aims to reach a cultivated field with crop rows. The person needs to avoid areas with hard, paved surfaces due to safety concerns about vehicle traffic. Only natural, vegetated ground is considered safe for walking. What is the safest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy meadow with scattered shrubs","end_land_type":"cultivated field with crop rows","task_description":"What is the safest route to the destination?","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":"pedrogao_grande_67.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":438,"start_point":[53,247],"end_point":[491,705],"distance":633.7254926227916},{"start_region_id":2,"end_region_id":433,"start_point":[420,361],"end_point":[85,112],"distance":417.40388115109806},{"start_region_id":2,"end_region_id":438,"start_point":[420,361],"end_point":[491,705],"distance":351.2506227752486},{"start_region_id":10,"end_region_id":436,"start_point":[951,278],"end_point":[731,545],"distance":345.9609804587795},{"start_region_id":5,"end_region_id":436,"start_point":[705,231],"end_point":[731,545],"distance":315.0745943423557}],"complexity_score":0.6269937143838245}
{"id":5904,"query_id":"Q01181","question":"An off-road vehicle starts from a grassy, uneven area with scattered shrubs and needs to reach a cultivated field with soft, tilled soil. The terrain consists only of natural, unpaved surfaces that are passable by vehicle, with no roads or paved areas available. What is the safest path to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated field with soft, tilled soil","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":[1,2,0,0,0,0,3,0],"image_name":"pedrogao_grande_67.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":438,"start_point":[53,247],"end_point":[491,705],"distance":633.7254926227916},{"start_region_id":2,"end_region_id":433,"start_point":[420,361],"end_point":[85,112],"distance":417.40388115109806},{"start_region_id":2,"end_region_id":438,"start_point":[420,361],"end_point":[491,705],"distance":351.2506227752486},{"start_region_id":10,"end_region_id":436,"start_point":[951,278],"end_point":[731,545],"distance":345.9609804587795},{"start_region_id":5,"end_region_id":436,"start_point":[705,231],"end_point":[731,545],"distance":315.0745943423557}],"complexity_score":0.6269937143838245}
{"id":5888,"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_38.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":181,"start_point":[30,932],"end_point":[729,204],"distance":1009.2497213276802},{"start_region_id":43,"end_region_id":185,"start_point":[30,932],"end_point":[944,587],"distance":976.944727198013},{"start_region_id":30,"end_region_id":185,"start_point":[116,455],"end_point":[944,587],"distance":838.4557233390443},{"start_region_id":13,"end_region_id":182,"start_point":[824,266],"end_point":[138,703],"distance":813.3664610739737},{"start_region_id":43,"end_region_id":188,"start_point":[30,932],"end_point":[830,792],"distance":812.1576201698781}],"complexity_score":0.6271204340153288}
{"id":11971,"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":"pedrogao_grande_38.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":89,"start_point":[447,226],"end_point":[675,97],"distance":261.9637379485947}],"complexity_score":0.6271204340153288}
{"id":5414,"query_id":"Q01083","question":"A quadcopter starts from a paved lane and needs to reach a grassy field. The drone can fly over paved lanes and grassy fields, but must avoid trees and buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"Quadcopter","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Road"],"traverse_vector":[0,1,0,1,0,0,0,0],"cost_vector":[0,1,0,1,0,0,0,0],"image_name":"mahe_46.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":275,"end_region_id":31,"start_point":[879,408],"end_point":[245,426],"distance":634.2554690343632},{"start_region_id":277,"end_region_id":84,"start_point":[590,477],"end_point":[868,701],"distance":357.0154058300566},{"start_region_id":277,"end_region_id":31,"start_point":[590,477],"end_point":[245,426],"distance":348.7491935474547},{"start_region_id":275,"end_region_id":15,"start_point":[879,408],"end_point":[416,308],"distance":473.67604963730224},{"start_region_id":275,"end_region_id":84,"start_point":[879,408],"end_point":[868,701],"distance":293.20641193534635}],"complexity_score":0.627207552301743}
{"id":17126,"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":"mahe_46.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":274,"start_point":[958,928],"end_point":[75,236],"distance":1121.8524858465128},{"start_region_id":22,"end_region_id":279,"start_point":[980,229],"end_point":[286,923],"distance":981.4642122869279},{"start_region_id":9,"end_region_id":279,"start_point":[741,80],"end_point":[286,923],"distance":957.9530259882266},{"start_region_id":84,"end_region_id":274,"start_point":[868,701],"end_point":[75,236],"distance":919.2790653550205},{"start_region_id":22,"end_region_id":274,"start_point":[980,229],"end_point":[75,236],"distance":905.0270714183084}],"complexity_score":0.627207552301743}
{"id":4220,"query_id":"Q00844","question":"An agricultural monitoring drone is positioned on a grassy, open field with low vegetation. It needs to reach a cultivated crop field to begin its survey mission. The drone can fly over water bodies, but must avoid flying through dense tree canopies or near buildings due to collision risks. The drone's rotors can handle moisture from water surfaces, but flying directly through water is not required. What is the fastest path to reach the crop field?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop field","task_description":"What is the fastest path to reach the crop 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":"les_cayes_65.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":172,"start_point":[896,52],"end_point":[219,1005],"distance":1168.9901624906859},{"start_region_id":13,"end_region_id":172,"start_point":[985,197],"end_point":[219,1005],"distance":1113.3822344549963},{"start_region_id":17,"end_region_id":172,"start_point":[962,273],"end_point":[219,1005],"distance":1043.011505209794},{"start_region_id":7,"end_region_id":172,"start_point":[733,144],"end_point":[219,1005],"distance":1002.7547057979833},{"start_region_id":6,"end_region_id":170,"start_point":[896,52],"end_point":[402,879],"distance":963.3093999333755}],"complexity_score":0.6274047272677828}
{"id":13596,"query_id":"Q02720","question":"An off-road vehicle is positioned in a cultivated field with soft, plowed soil. It must reach a paved parking lot with a hard, flat surface. The permitted terrain consists of loose, dry earth without vegetation; cultivated fields with soft, uneven soil; and paved areas with hard, smooth surfaces. All other terrain types are obstructed or inaccessible. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved parking lot","task_description":"What is the shortest route to the destination?","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":"les_cayes_65.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":74,"start_point":[845,631],"end_point":[817,296],"distance":336.1681127055331}],"complexity_score":0.6274047272677828}
{"id":322,"query_id":"Q00065","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, liquid bodies, cultivated fields, and vertical obstacles, but it must avoid dense overhead vegetation that could entangle its rotors. What is the shortest path?","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?","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":"khartoum_27.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":51,"start_point":[51,60],"end_point":[577,597],"distance":751.6947518773827}],"complexity_score":0.627445795222066}
{"id":4420,"query_id":"Q00884","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface such as a sidewalk or paved area as quickly as possible. The drone can fly over paved lanes, hard flat surfaces, and areas with tall vertical obstacles that can be flown around or above, but cannot land on liquid bodies. Which path allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane","end_land_type":"a hard, flat surface such as a sidewalk or paved area","task_description":"Which path allows the drone to reach the destination in the shortest time?","task_type":"Fastest","input_classes":["Developed space","Road","Tree","Building"],"traverse_vector":[0,0,1,1,1,0,0,1],"cost_vector":[0,0,2,2,1,0,0,2],"image_name":"khartoum_27.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[338,303],"end_point":[21,78],"distance":388.7338421079389},{"start_region_id":51,"end_region_id":34,"start_point":[338,303],"end_point":[606,517],"distance":342.9577233421052},{"start_region_id":51,"end_region_id":2,"start_point":[338,303],"end_point":[271,66],"distance":246.28844877500853},{"start_region_id":51,"end_region_id":37,"start_point":[338,303],"end_point":[399,509],"distance":214.84180226389836},{"start_region_id":51,"end_region_id":12,"start_point":[338,303],"end_point":[161,200],"distance":204.78769494283586}],"complexity_score":0.627445795222066}
{"id":4604,"query_id":"Q00921","question":"A hiker starts from a paved walkway and needs to reach a vehicle lane. The hiker can only travel on hard, stable surfaces that provide good traction and predictable footing. Vegetated areas with tall vertical obstacles are not allowed due to potential tripping hazards and poor visibility. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved walkway","end_land_type":"vehicle lane","task_description":"What is the safest path to reach the 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":"khartoum_27.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":51,"start_point":[21,78],"end_point":[338,303],"distance":388.7338421079389},{"start_region_id":34,"end_region_id":51,"start_point":[606,517],"end_point":[338,303],"distance":342.9577233421052},{"start_region_id":2,"end_region_id":51,"start_point":[271,66],"end_point":[338,303],"distance":246.28844877500853},{"start_region_id":37,"end_region_id":51,"start_point":[399,509],"end_point":[338,303],"distance":214.84180226389836},{"start_region_id":12,"end_region_id":51,"start_point":[161,200],"end_point":[338,303],"distance":204.78769494283586}],"complexity_score":0.627445795222066}
{"id":9474,"query_id":"Q01895","question":"A surveillance drone starts from a paved landing pad and needs to reach another paved landing pad. The drone can fly over liquid surfaces, loose soil areas, and cultivated fields, but must avoid vertical obstacles like trees and structures. The drone cannot pass through dense vegetation or man-made vertical structures. What is the safest path for the surveillance drone to take?","agent_category":"Drone","specific_agent":"A surveillance drone","start_land_type":"paved surface","end_land_type":"paved surface","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":"khartoum_27.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":51,"start_point":[638,37],"end_point":[85,526],"distance":738.1937415069299}],"complexity_score":0.627445795222066}
{"id":13383,"query_id":"Q02677","question":"An aerial photography drone starts from a paved lane and needs to reach a flat artificial surface while maintaining stable flight. The drone can fly over open grassy areas, hard paved surfaces, liquid bodies, and cultivated fields, but must avoid areas with tall vertical obstacles. The drone prioritizes smooth, predictable flight paths to prevent camera shake and ensure stable footage.","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved lane","end_land_type":"flat artificial 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":"khartoum_27.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":1,"start_point":[338,303],"end_point":[21,78],"distance":388.7338421079389},{"start_region_id":51,"end_region_id":34,"start_point":[338,303],"end_point":[606,517],"distance":342.9577233421052},{"start_region_id":51,"end_region_id":2,"start_point":[338,303],"end_point":[271,66],"distance":246.28844877500853},{"start_region_id":51,"end_region_id":37,"start_point":[338,303],"end_point":[399,509],"distance":214.84180226389836},{"start_region_id":51,"end_region_id":12,"start_point":[338,303],"end_point":[161,200],"distance":204.78769494283586}],"complexity_score":0.627445795222066}
{"id":2059,"query_id":"Q00412","question":"An agricultural monitoring drone starts from a cultivated field and needs to survey a distant cultivated field. The drone can fly over hard paved surfaces, vehicle lanes, liquid bodies, and other cultivated areas, but cannot pass through dense vertical obstacles like tall vegetation or structures. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","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":"coxsbazar_64.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":231,"start_point":[186,461],"end_point":[887,309],"distance":717.2900389661075},{"start_region_id":231,"end_region_id":232,"start_point":[887,309],"end_point":[186,461],"distance":717.2900389661075},{"start_region_id":233,"end_region_id":232,"start_point":[805,604],"end_point":[186,461],"distance":635.3030772788685},{"start_region_id":232,"end_region_id":233,"start_point":[186,461],"end_point":[805,604],"distance":635.3030772788685},{"start_region_id":223,"end_region_id":237,"start_point":[696,106],"end_point":[574,753],"distance":658.4018529743063}],"complexity_score":0.6274729459878562}
{"id":6240,"query_id":"Q01248","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 natural terrain including loose soil, grassy areas, and wooded patches. However, the hiker cannot cross any liquid bodies or enter any structures. What is the shortest path to the destination?","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 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":"coxsbazar_64.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":160,"start_point":[470,450],"end_point":[296,831],"distance":418.8520025020771},{"start_region_id":160,"end_region_id":158,"start_point":[296,831],"end_point":[470,450],"distance":418.8520025020771}],"complexity_score":0.6274729459878562}
{"id":6460,"query_id":"Q01292","question":"A hiker starts from a paved lane and needs to reach a wooded area. The hiker can traverse hard, stable surfaces like sidewalks and roads without restriction. The hiker can also traverse open, dry ground with loose soil or rocks, as well as areas with low vegetation like grass and shrubs, since the terrain is dry and stable. The hiker can traverse cultivated fields with crops, as the fields are currently fallow and accessible. The hiker can traverse areas with individual trees or tree groups, as there are clear paths between them. However, the hiker cannot traverse any liquid surfaces or enter any structures. What is the shortest path to the wooded area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"wooded area","task_description":"What is the shortest path 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":"coxsbazar_64.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":167,"start_point":[296,831],"end_point":[828,196],"distance":828.4014727171844},{"start_region_id":160,"end_region_id":181,"start_point":[296,831],"end_point":[981,424],"distance":796.789809171779},{"start_region_id":160,"end_region_id":166,"start_point":[296,831],"end_point":[266,131],"distance":700.6425622241344},{"start_region_id":160,"end_region_id":185,"start_point":[296,831],"end_point":[920,687],"distance":640.399875078064},{"start_region_id":158,"end_region_id":193,"start_point":[470,450],"end_point":[156,946],"distance":587.0366257738949}],"complexity_score":0.6274729459878562}
{"id":15644,"query_id":"Q03129","question":"A quadcopter drone needs to travel from a cultivated field with rows of crops to a flat, paved surface like a parking lot or tennis court as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, all paved areas including roads and sidewalks, bodies of water like rivers or lakes, and cultivated fields. It can also fly near or around buildings and vertical structures like trees, but must navigate them carefully which slows it down. 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 flat, paved surface like a parking lot or tennis court","task_description":"What is the fastest path for the drone?","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":"coxsbazar_64.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":226,"end_region_id":121,"start_point":[1000,84],"end_point":[205,769],"distance":1049.4045930907678},{"start_region_id":225,"end_region_id":121,"start_point":[936,64],"end_point":[205,769],"distance":1015.5717601430241},{"start_region_id":226,"end_region_id":142,"start_point":[1000,84],"end_point":[543,970],"distance":996.917749867059},{"start_region_id":225,"end_region_id":142,"start_point":[936,64],"end_point":[543,970],"distance":987.565187721803},{"start_region_id":227,"end_region_id":121,"start_point":[884,125],"end_point":[205,769],"distance":935.8295785024109}],"complexity_score":0.6274729459878562}
{"id":11838,"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":"tokyo_10.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":291,"start_point":[30,52],"end_point":[929,993],"distance":1301.4153833423054},{"start_region_id":291,"end_region_id":39,"start_point":[929,993],"end_point":[30,52],"distance":1301.4153833423054},{"start_region_id":290,"end_region_id":39,"start_point":[804,991],"end_point":[30,52],"distance":1216.8800269541775},{"start_region_id":39,"end_region_id":290,"start_point":[30,52],"end_point":[804,991],"distance":1216.8800269541775},{"start_region_id":291,"end_region_id":62,"start_point":[929,993],"end_point":[58,158],"distance":1206.5927233329396}],"complexity_score":0.6274817134663444}
{"id":15464,"query_id":"Q03093","question":"An agricultural monitoring 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 patterns. The area contains patches of grassy vegetation, paved hard surfaces, and water bodies. The drone can fly over grassy areas, paved surfaces, and water, but must avoid tall vertical obstacles like trees and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Agricultural monitoring 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","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_10.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":397,"end_region_id":378,"start_point":[77,700],"end_point":[969,29],"distance":1116.2011467473055},{"start_region_id":378,"end_region_id":397,"start_point":[969,29],"end_point":[77,700],"distance":1116.2011467473055},{"start_region_id":399,"end_region_id":378,"start_point":[317,793],"end_point":[969,29],"distance":1004.3903623591775},{"start_region_id":378,"end_region_id":399,"start_point":[969,29],"end_point":[317,793],"distance":1004.3903623591775},{"start_region_id":385,"end_region_id":378,"start_point":[26,314],"end_point":[969,29],"distance":985.1263878305159}],"complexity_score":0.6274817134663444}
{"id":16393,"query_id":"Q03279","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 most surfaces including loose sandy areas, grassy patches, paved areas, hard lanes, liquid bodies, and cultivated fields. However, it must avoid flying through dense vegetation clusters that could entangle its rotors. Vertical structures are also impassable obstacles. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","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":"tokyo_10.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":378,"end_region_id":302,"start_point":[969,29],"end_point":[524,522],"distance":664.134022618929},{"start_region_id":385,"end_region_id":302,"start_point":[26,314],"end_point":[524,522],"distance":539.6925050433812},{"start_region_id":397,"end_region_id":302,"start_point":[77,700],"end_point":[524,522],"distance":481.1371945713613},{"start_region_id":381,"end_region_id":302,"start_point":[95,206],"end_point":[524,522],"distance":532.8198569873311},{"start_region_id":376,"end_region_id":302,"start_point":[488,23],"end_point":[524,522],"distance":500.2969118433573}],"complexity_score":0.6274817134663444}
{"id":9302,"query_id":"Q01861","question":"An aerial survey drone starts from a flat, cultivated field with loose soil and crop stubble and needs to reach a tall, leafy canopy with dense branches and foliage. The drone can fly over open, dry ground with loose earth and rocks, as well as paved lanes used by vehicles, but must avoid liquid surfaces and vertical structures. The drone's flight path should prioritize smooth, stable airspace to minimize vibrations and ensure steady sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Tree","task_description":"What is the most comfortable path 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":"kyoto_7.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":582,"end_region_id":447,"start_point":[875,983],"end_point":[660,380],"distance":640.18278639776},{"start_region_id":576,"end_region_id":447,"start_point":[114,636],"end_point":[660,380],"distance":603.0356540039735},{"start_region_id":564,"end_region_id":447,"start_point":[166,57],"end_point":[660,380],"distance":590.2245335463446},{"start_region_id":573,"end_region_id":447,"start_point":[92,447],"end_point":[660,380],"distance":571.9379336956065},{"start_region_id":581,"end_region_id":447,"start_point":[526,889],"end_point":[660,380],"distance":526.3430440311718}],"complexity_score":0.627522326486965}
{"id":17124,"query_id":"Q03425","question":"An agricultural monitoring drone is currently positioned over a cultivated field. It needs to reach another cultivated field area to continue its survey. The drone can fly over loose, dry soil surfaces without vegetation, as well as over open water bodies. However, it cannot pass through dense vegetation or built structures. What is the shortest path?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Water","Agriculture land"],"traverse_vector":[1,0,0,0,0,1,1,0],"cost_vector":[1,0,0,0,0,1,1,0],"image_name":"kyoto_7.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":570,"end_region_id":574,"start_point":[169,236],"end_point":[322,488],"distance":294.8101083748656},{"start_region_id":574,"end_region_id":570,"start_point":[322,488],"end_point":[169,236],"distance":294.8101083748656},{"start_region_id":574,"end_region_id":569,"start_point":[322,488],"end_point":[399,213],"distance":285.57660968643773},{"start_region_id":569,"end_region_id":574,"start_point":[399,213],"end_point":[322,488],"distance":285.57660968643773},{"start_region_id":571,"end_region_id":569,"start_point":[259,407],"end_point":[399,213],"distance":239.240464804765}],"complexity_score":0.627522326486965}
{"id":1340,"query_id":"Q00268","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and soft soil, needing to reach an open grassy area with scattered shrubs as quickly as possible. The drone can fly over bare, rocky ground; grassy or shrub-covered terrain; paved lanes; liquid surfaces; and cultivated fields, but must avoid tall, dense vegetation and vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops and soft soil","end_land_type":"An open grassy area with scattered shrubs","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":"kagera_41.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":1,"start_point":[997,737],"end_point":[154,71],"distance":1074.3393318686606},{"start_region_id":220,"end_region_id":39,"start_point":[997,737],"end_point":[36,641],"distance":965.7831019437025},{"start_region_id":215,"end_region_id":47,"start_point":[912,317],"end_point":[165,885],"distance":938.420481447416},{"start_region_id":220,"end_region_id":8,"start_point":[997,737],"end_point":[322,79],"distance":942.6499880655598},{"start_region_id":215,"end_region_id":39,"start_point":[912,317],"end_point":[36,641],"distance":933.9978586699223}],"complexity_score":0.6276823285591832}
{"id":15356,"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":"kagera_41.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":55,"start_point":[94,572],"end_point":[652,74],"distance":747.9090853840459},{"start_region_id":220,"end_region_id":55,"start_point":[997,737],"end_point":[652,74],"distance":747.3914636922207},{"start_region_id":216,"end_region_id":55,"start_point":[380,736],"end_point":[652,74],"distance":715.7010549104982},{"start_region_id":219,"end_region_id":55,"start_point":[872,637],"end_point":[652,74],"distance":604.457608108294},{"start_region_id":214,"end_region_id":55,"start_point":[221,286],"end_point":[652,74],"distance":480.3176032585106}],"complexity_score":0.6276823285591832}
{"id":16504,"query_id":"Q03301","question":"A quadcopter drone is positioned in 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 grassy areas, paved lanes, bodies of liquid, and cultivated fields without restriction. It can also fly over vertical structures, but must navigate carefully around them, which slows it down. The drone cannot land on or pass through solid vertical obstacles. 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","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_41.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":220,"start_point":[94,572],"end_point":[997,737],"distance":917.9509790833059},{"start_region_id":220,"end_region_id":218,"start_point":[997,737],"end_point":[94,572],"distance":917.9509790833059},{"start_region_id":210,"end_region_id":220,"start_point":[288,179],"end_point":[997,737],"distance":902.2444236458323},{"start_region_id":220,"end_region_id":210,"start_point":[997,737],"end_point":[288,179],"distance":902.2444236458323},{"start_region_id":220,"end_region_id":214,"start_point":[997,737],"end_point":[221,286],"distance":897.5394141763358}],"complexity_score":0.6276823285591832}
{"id":5822,"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":"pedrogao_grande_10.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":20,"start_point":[903,682],"end_point":[610,365],"distance":431.6688545633099},{"start_region_id":20,"end_region_id":26,"start_point":[610,365],"end_point":[903,682],"distance":431.6688545633099}],"complexity_score":0.6277363195508108}
{"id":6692,"query_id":"Q01339","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field while maintaining stable flight for sensor calibration. The drone can fly over open sandy or rocky expanses, grassy or shrubby areas, paved surfaces like parking lots or tennis courts, vehicle lanes including streets and runways, bodies of water such as rivers or lakes, and other cultivated fields. However, it must avoid flying through dense tree canopies or close to building structures to prevent turbulence and ensure a smooth, vibration-free flight path. What is the most comfortable route?","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 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":"pedrogao_grande_10.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":209,"start_point":[854,336],"end_point":[97,952],"distance":975.963626371393},{"start_region_id":209,"end_region_id":172,"start_point":[97,952],"end_point":[854,336],"distance":975.963626371393},{"start_region_id":205,"end_region_id":177,"start_point":[882,868],"end_point":[145,404],"distance":870.8989608444828},{"start_region_id":177,"end_region_id":205,"start_point":[145,404],"end_point":[882,868],"distance":870.8989608444828},{"start_region_id":205,"end_region_id":171,"start_point":[882,868],"end_point":[296,250],"distance":851.657208036191}],"complexity_score":0.6277363195508108}
{"id":10968,"query_id":"Q02194","question":"A quadcopter starts from an agricultural plot with cultivated soil and needs to reach a grassy field 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 areas with trees and vertical structures. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"agricultural plot","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":"pedrogao_grande_10.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":209,"end_region_id":15,"start_point":[97,952],"end_point":[899,163],"distance":1125.0444435665643},{"start_region_id":209,"end_region_id":18,"start_point":[97,952],"end_point":[913,249],"distance":1077.0631364966493},{"start_region_id":209,"end_region_id":3,"start_point":[97,952],"end_point":[601,129],"distance":965.0621741628878},{"start_region_id":206,"end_region_id":15,"start_point":[294,883],"end_point":[899,163],"distance":940.4387274033328},{"start_region_id":172,"end_region_id":27,"start_point":[854,336],"end_point":[56,773],"distance":909.8203119297788}],"complexity_score":0.6277363195508108}
{"id":10374,"query_id":"Q02075","question":"A quadcopter is hovering above a vegetated field and needs to fly to a paved lane. The area includes open ground with loose material, grassy patches, and hard, flat surfaces. The drone can fly over all these terrain types, but must avoid colliding with tall vertical obstacles like trees and buildings. What is the shortest flight path to the target?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"vegetated field","end_land_type":"paved lane","task_description":"What is the shortest flight path to the target?","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_43.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":164,"start_point":[114,933],"end_point":[983,133],"distance":1181.169335870179},{"start_region_id":54,"end_region_id":164,"start_point":[45,735],"end_point":[983,133],"distance":1114.561797299728},{"start_region_id":33,"end_region_id":164,"start_point":[71,519],"end_point":[983,133],"distance":990.3231795732139},{"start_region_id":57,"end_region_id":164,"start_point":[405,825],"end_point":[983,133],"distance":901.6362903077937},{"start_region_id":28,"end_region_id":164,"start_point":[127,350],"end_point":[983,133],"distance":883.0770068346249}],"complexity_score":0.6278318036495589}
{"id":15113,"query_id":"Q03023","question":"A quadcopter drone is positioned on a grassy, open field with scattered low vegetation and needs to reach a flat, hard, paved area. The drone can fly over grassy areas, paved surfaces, and water bodies, but must avoid tall vertical obstacles like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a flat, hard, paved area","task_description":"What is the shortest path for the drone to reach the flat, hard, paved area from the grassy, open field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"austin_43.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":157,"start_point":[943,68],"end_point":[238,974],"distance":1147.9812716242368},{"start_region_id":3,"end_region_id":135,"start_point":[943,68],"end_point":[66,800],"distance":1142.345394353214},{"start_region_id":9,"end_region_id":158,"start_point":[250,96],"end_point":[912,985],"distance":1108.4065138747605},{"start_region_id":5,"end_region_id":158,"start_point":[350,47],"end_point":[912,985],"distance":1093.4751940487722},{"start_region_id":9,"end_region_id":146,"start_point":[250,96],"end_point":[960,892],"distance":1066.637707940236}],"complexity_score":0.6278318036495589}
{"id":16836,"query_id":"Q03368","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, but must avoid areas with tall, dense vertical obstacles. What is the shortest possible route?","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 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":"austin_43.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":3,"start_point":[238,974],"end_point":[943,68],"distance":1147.9812716242368},{"start_region_id":135,"end_region_id":3,"start_point":[66,800],"end_point":[943,68],"distance":1142.345394353214},{"start_region_id":158,"end_region_id":9,"start_point":[912,985],"end_point":[250,96],"distance":1108.4065138747605},{"start_region_id":158,"end_region_id":5,"start_point":[912,985],"end_point":[350,47],"distance":1093.4751940487722},{"start_region_id":146,"end_region_id":9,"start_point":[960,892],"end_point":[250,96],"distance":1066.637707940236}],"complexity_score":0.6278318036495589}
{"id":99,"query_id":"Q00020","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with orderly rows of crops. The drone's flight must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over open liquid surfaces, but must avoid areas with tall, dense vertical obstacles that could cause turbulence or collisions. The drone cannot fly through solid vertical structures. The drone's path must prioritize surfaces that provide the smoothest and most stable flight to ensure clear data collection.","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 cultivated field with orderly rows of crops.","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":124,"start_point":[919,50],"end_point":[451,932],"distance":998.4728338818237},{"start_region_id":1,"end_region_id":127,"start_point":[740,63],"end_point":[963,976],"distance":939.8393479738971},{"start_region_id":2,"end_region_id":127,"start_point":[919,50],"end_point":[963,976],"distance":927.0447669880889},{"start_region_id":2,"end_region_id":126,"start_point":[919,50],"end_point":[732,956],"distance":925.0972921806657},{"start_region_id":1,"end_region_id":124,"start_point":[740,63],"end_point":[451,932],"distance":915.7958287740778}],"complexity_score":0.6279425970676998}
{"id":3683,"query_id":"Q00737","question":"A quadcopter starts from a cultivated field and needs to reach a sandy or rocky area. You can traverse areas with loose soil and rocks, grassy or shrubby vegetation, paved or compacted surfaces, vehicle lanes, cultivated fields, and liquid surfaces. However, you cannot traverse areas with dense vertical obstacles or vertical structures. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"sandy or rocky 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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":2,"start_point":[451,932],"end_point":[919,50],"distance":998.4728338818237},{"start_region_id":127,"end_region_id":1,"start_point":[963,976],"end_point":[740,63],"distance":939.8393479738971},{"start_region_id":127,"end_region_id":2,"start_point":[963,976],"end_point":[919,50],"distance":927.0447669880889},{"start_region_id":126,"end_region_id":2,"start_point":[732,956],"end_point":[919,50],"distance":925.0972921806657},{"start_region_id":124,"end_region_id":1,"start_point":[451,932],"end_point":[740,63],"distance":915.7958287740778}],"complexity_score":0.6279425970676998}
{"id":5320,"query_id":"Q01064","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a nearby area of sandy, rocky ground. The terrain between includes only these two types of surfaces: soft, tilled soil and loose, sandy or rocky ground without vegetation. You must avoid any hard paved surfaces, roads, trees, water bodies, and buildings. What is the shortest path to the sandy, rocky ground?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"cultivated field","end_land_type":"sandy, rocky ground","task_description":"What is the shortest path to the sandy, rocky ground?","task_type":"Shortest","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,1,0],"image_name":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":4,"start_point":[801,403],"end_point":[730,176],"distance":237.84448700779257}],"complexity_score":0.6279425970676998}
{"id":8804,"query_id":"Q01761","question":"An off-road vehicle is positioned on grassy, uneven terrain with scattered shrubs and needs to reach an exposed area of loose soil and rocky ground. The vehicle can only travel on surfaces that provide sufficient traction and stability for its wheels. It cannot enter areas with dense vertical obstacles, liquid surfaces, or solid structures. The vehicle must reach the destination as quickly as possible.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"exposed, loose soil and rocky ground","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":2,"start_point":[220,651],"end_point":[919,50],"distance":921.8470588986006},{"start_region_id":9,"end_region_id":3,"start_point":[220,651],"end_point":[923,184],"distance":843.9774878514237},{"start_region_id":21,"end_region_id":1,"start_point":[994,829],"end_point":[740,63],"distance":807.0142501839729},{"start_region_id":18,"end_region_id":2,"start_point":[768,846],"end_point":[919,50],"distance":810.1956553820811},{"start_region_id":9,"end_region_id":1,"start_point":[220,651],"end_point":[740,63],"distance":784.948405947805}],"complexity_score":0.6279425970676998}
{"id":8810,"query_id":"Q01762","question":"A quadcopter drone is hovering above grassy, uneven terrain with scattered shrubs and needs to reach a position above exposed, loose soil and rocky ground. The drone can fly over most surfaces but must avoid areas with dense vertical obstacles that could obstruct its flight path. To minimize travel time, the drone should prioritize open airspace with minimal obstructions.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"exposed, loose soil and rocky ground","task_description":"What is the fastest flight 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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":2,"start_point":[220,651],"end_point":[919,50],"distance":921.8470588986006},{"start_region_id":9,"end_region_id":3,"start_point":[220,651],"end_point":[923,184],"distance":843.9774878514237},{"start_region_id":21,"end_region_id":1,"start_point":[994,829],"end_point":[740,63],"distance":807.0142501839729},{"start_region_id":18,"end_region_id":2,"start_point":[768,846],"end_point":[919,50],"distance":810.1956553820811},{"start_region_id":9,"end_region_id":1,"start_point":[220,651],"end_point":[740,63],"distance":784.948405947805}],"complexity_score":0.6279425970676998}
{"id":9834,"query_id":"Q01967","question":"An aerial survey drone is positioned on loose, sandy, or rocky ground without vegetation and needs to reach a grassy or shrub-covered terrain. The drone can fly over hard, paved surfaces, water bodies, and cultivated fields, but must avoid vertical obstacles like trees and structures. The drone's priority is to minimize risk of collision or instability during flight. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"loose, sandy, or rocky ground without vegetation","end_land_type":"grassy or shrub-covered terrain","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":9,"start_point":[919,50],"end_point":[220,651],"distance":921.8470588986006},{"start_region_id":3,"end_region_id":9,"start_point":[923,184],"end_point":[220,651],"distance":843.9774878514237},{"start_region_id":1,"end_region_id":21,"start_point":[740,63],"end_point":[994,829],"distance":807.0142501839729},{"start_region_id":2,"end_region_id":18,"start_point":[919,50],"end_point":[768,846],"distance":810.1956553820811},{"start_region_id":1,"end_region_id":9,"start_point":[740,63],"end_point":[220,651],"distance":784.948405947805}],"complexity_score":0.6279425970676998}
{"id":11545,"query_id":"Q02309","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a destination on rocky, sandy ground. The terrain includes areas of loose, uneven earth and patches of natural grass and shrubs. You must avoid all paved surfaces, trees, water bodies, and structures. The cultivated soil is traversable because it has been recently compacted by farm machinery. The natural grass and shrub areas are traversable as they are flat and dry. The rocky, sandy ground is traversable but rough. What is the most comfortable path to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"rocky, sandy ground","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":4,"start_point":[801,403],"end_point":[730,176],"distance":237.84448700779257}],"complexity_score":0.6279425970676998}
{"id":13591,"query_id":"Q02719","question":"A delivery drone is hovering above a cultivated field. It needs to reach a location above exposed rocky ground. The drone must avoid any vertical obstacles or areas with unpredictable air currents to ensure safe flight. Tall vegetation and structures are off-limits due to collision risk. Open areas with stable air are preferred. What is the safest path to reach the rocky ground?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"cultivated field","end_land_type":"exposed rocky ground","task_description":"What is the safest path to reach the rocky ground?","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":2,"start_point":[451,932],"end_point":[919,50],"distance":998.4728338818237},{"start_region_id":127,"end_region_id":1,"start_point":[963,976],"end_point":[740,63],"distance":939.8393479738971},{"start_region_id":127,"end_region_id":2,"start_point":[963,976],"end_point":[919,50],"distance":927.0447669880889},{"start_region_id":126,"end_region_id":2,"start_point":[732,956],"end_point":[919,50],"distance":925.0972921806657},{"start_region_id":124,"end_region_id":1,"start_point":[451,932],"end_point":[740,63],"distance":915.7958287740778}],"complexity_score":0.6279425970676998}
{"id":13816,"query_id":"Q02764","question":"A hiker starts from an area of loose, dry soil and scattered rocks and needs to reach a cultivated field with planted crops. The hiker can walk on natural, unpaved ground surfaces including grassy areas, compacted soil paths, and the cultivated field itself. Hard, paved surfaces like sidewalks or roads are not accessible for this journey. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from an area of loose, dry soil and scattered rocks","end_land_type":"needing to reach a cultivated field with planted crops","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":123,"start_point":[730,176],"end_point":[801,403],"distance":237.84448700779257}],"complexity_score":0.6279425970676998}
{"id":14716,"query_id":"Q02944","question":"A hiker starts from a cultivated field with soft, tilled soil and needs to reach a patch of exposed, rocky ground. The terrain includes areas of loose earth and rocks, maintained grassy surfaces, paved walkways, and wooded sections with trees. The hiker can traverse all these surfaces, but cannot enter any structures or cross water bodies. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Agriculture land","end_land_type":"Bareland","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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":2,"start_point":[451,932],"end_point":[919,50],"distance":998.4728338818237},{"start_region_id":127,"end_region_id":1,"start_point":[963,976],"end_point":[740,63],"distance":939.8393479738971},{"start_region_id":127,"end_region_id":2,"start_point":[963,976],"end_point":[919,50],"distance":927.0447669880889},{"start_region_id":126,"end_region_id":2,"start_point":[732,956],"end_point":[919,50],"distance":925.0972921806657},{"start_region_id":124,"end_region_id":1,"start_point":[451,932],"end_point":[740,63],"distance":915.7958287740778}],"complexity_score":0.6279425970676998}
{"id":14907,"query_id":"Q02982","question":"A hiker starts from an area of loose, dry earth and scattered rocks and needs to reach a cultivated field with planted crops. The hiker can traverse hard, paved surfaces, but these are currently blocked by construction barriers. The hiker can also walk across grassy meadows and through wooded areas with trees, but must avoid any bodies of water and cannot enter any buildings.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the shortest path the hiker can take to reach the cultivated 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":"lodzkie_15.tif","subfolder":"lodzkie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":123,"start_point":[730,176],"end_point":[801,403],"distance":237.84448700779257}],"complexity_score":0.6279425970676998}
{"id":146,"query_id":"Q00030","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks, and need to reach a cultivated field with planted crops. The drone can fly over open sandy areas, grassy fields, water surfaces, and farmed plots. It cannot fly through dense tree canopies or between buildings. What is the shortest path to the destination?","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 need to reach a cultivated field with planted crops","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":253,"start_point":[295,753],"end_point":[465,588],"distance":236.90715480964266}],"complexity_score":0.6280856187904975}
{"id":1093,"query_id":"Q00219","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an exposed area of loose earth and rocks. The drone can fly over open ground with sparse vegetation, hard artificial surfaces, vehicle lanes, liquid bodies, and cultivated fields. However, it must avoid densely packed vertical obstacles and solid, enclosed structures. The drone's primary concern is minimizing risk of collision or system failure.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"exposed, loose earth and rock 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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":1,"start_point":[852,289],"end_point":[295,753],"distance":724.9448254867401}],"complexity_score":0.6280856187904975}
{"id":1954,"query_id":"Q00391","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach an area covered with low, natural grasses and shrubs. The drone must avoid flying through dense tree canopies or near tall structures, and should minimize travel over open water bodies to reduce turbulence and maintain stable flight. Which path provides the most comfortable route?","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":"and needing to reach an area covered with low, natural grasses and shrubs","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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[295,753],"end_point":[852,144],"distance":825.3060038555396},{"start_region_id":1,"end_region_id":4,"start_point":[295,753],"end_point":[553,31],"distance":766.7124624003447},{"start_region_id":1,"end_region_id":3,"start_point":[295,753],"end_point":[300,44],"distance":709.0176302462443},{"start_region_id":1,"end_region_id":9,"start_point":[295,753],"end_point":[663,190],"distance":672.6016651778376},{"start_region_id":1,"end_region_id":47,"start_point":[295,753],"end_point":[907,931],"distance":637.3601807455499}],"complexity_score":0.6280856187904975}
{"id":3204,"query_id":"Q00641","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground while prioritizing safety. The terrain consists of two types of surfaces: loose, sandy ground and areas covered with low, dry vegetation. The drone must avoid all other surfaces including paved areas, roads, water bodies, buildings, trees, and cultivated fields. The loose, sandy ground is traversable by air. The low, dry vegetation areas are traversable by air. What is the safest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the safest path for the quadcopter drone to take?","task_type":"Safest","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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[370,992],"end_point":[195,582],"distance":445.7858230136979}],"complexity_score":0.6280856187904975}
{"id":3593,"query_id":"Q00719","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a cultivated field with crops. The terrain includes areas of soft, uneven earth covered with sparse grass and shrubs, as well as hard, flat surfaces like sidewalks and paved roads. There are also scattered trees and planted fields. You must avoid any water bodies and buildings, as they are impassable. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with crops","task_description":"What is the fastest route?","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_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":251,"start_point":[295,753],"end_point":[393,32],"distance":727.629713521926},{"start_region_id":1,"end_region_id":256,"start_point":[295,753],"end_point":[933,1000],"distance":684.143990692018},{"start_region_id":1,"end_region_id":252,"start_point":[295,753],"end_point":[801,362],"distance":639.4661836250608},{"start_region_id":1,"end_region_id":254,"start_point":[295,753],"end_point":[619,819],"distance":330.6538976029165},{"start_region_id":1,"end_region_id":253,"start_point":[295,753],"end_point":[465,588],"distance":236.90715480964266}],"complexity_score":0.6280856187904975}
{"id":4579,"query_id":"Q00916","question":"A quadcopter starts from a sandy, open area and needs to reach a paved roadway. The drone can fly over loose soil, grassy patches, hard surfaces like sidewalks and roads, cultivated fields, and even structures, but it must avoid flying through areas with tall, dense tree canopies that could obstruct its rotors. Water bodies are also accessible. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open area","end_land_type":"paved roadway","task_description":"What is the shortest path for the quadcopter to reach the paved roadway from the sandy, open 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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":163,"start_point":[295,753],"end_point":[852,289],"distance":724.9448254867401}],"complexity_score":0.6280856187904975}
{"id":7973,"query_id":"Q01595","question":"An aerial surveillance drone starts from a cultivated field and needs to reach exposed rocky ground. The drone must avoid any vertical structures or dense vegetation that could cause collisions, and should minimize flight over liquid surfaces due to potential signal interference and splash hazards. The drone can traverse open areas with loose soil, flat paved surfaces, and cultivated vegetation. 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":"exposed rocky ground","task_description":"What is the safest path to reach the destination?","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_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":1,"start_point":[393,32],"end_point":[295,753],"distance":727.629713521926},{"start_region_id":256,"end_region_id":1,"start_point":[933,1000],"end_point":[295,753],"distance":684.143990692018},{"start_region_id":252,"end_region_id":1,"start_point":[801,362],"end_point":[295,753],"distance":639.4661836250608}],"complexity_score":0.6280856187904975}
{"id":8982,"query_id":"Q01797","question":"An aerial surveillance drone is deployed from a grassy, vegetated area with low bushes and scattered patches of soil. It needs to reach an open, dry area of exposed earth and loose sand for a landing site. The drone's flight path must prioritize safety by avoiding any tall, dense vegetation or vertical structures that could cause collisions. It can fly over flat, open surfaces like paved areas, vehicle lanes, and water bodies, but must steer clear of any areas with tall trees or buildings. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A grassy, vegetated area with low bushes and scattered patches of soil.","end_land_type":"An open, dry area of exposed earth and loose sand.","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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":1,"start_point":[852,144],"end_point":[295,753],"distance":825.3060038555396},{"start_region_id":4,"end_region_id":1,"start_point":[553,31],"end_point":[295,753],"distance":766.7124624003447},{"start_region_id":3,"end_region_id":1,"start_point":[300,44],"end_point":[295,753],"distance":709.0176302462443},{"start_region_id":9,"end_region_id":1,"start_point":[663,190],"end_point":[295,753],"distance":672.6016651778376},{"start_region_id":47,"end_region_id":1,"start_point":[907,931],"end_point":[295,753],"distance":637.3601807455499}],"complexity_score":0.6280856187904975}
{"id":11391,"query_id":"Q02279","question":"An off-road vehicle starts from an area of loose, sandy soil with exposed rocks and no plant growth and needs to reach a cultivated agricultural area with planted rows and tilled earth. The off-road vehicle can drive across the loose sandy ground, can travel through grassy and shrub-covered terrain, and can cross the cultivated field. The vehicle cannot go onto any paved surfaces like streets or parking lots, cannot enter any structures, cannot drive through wooded areas, and cannot cross any water bodies.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Starting from an area of loose, sandy soil with exposed rocks and no plant growth","end_land_type":"and needing to reach a cultivated agricultural area with planted rows and tilled earth","task_description":"What is the shortest path to reach 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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":253,"start_point":[295,753],"end_point":[465,588],"distance":236.90715480964266}],"complexity_score":0.6280856187904975}
{"id":13521,"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":"kyoto_53.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":60,"end_region_id":1,"start_point":[848,31],"end_point":[295,753],"distance":909.4465349870766},{"start_region_id":72,"end_region_id":1,"start_point":[1000,239],"end_point":[295,753],"distance":872.4797991930816},{"start_region_id":65,"end_region_id":1,"start_point":[886,158],"end_point":[295,753],"distance":838.6334121652917},{"start_region_id":59,"end_region_id":1,"start_point":[708,37],"end_point":[295,753],"distance":826.574255587482},{"start_region_id":64,"end_region_id":1,"start_point":[120,78],"end_point":[295,753],"distance":697.3162840490677}],"complexity_score":0.6280856187904975}
{"id":19,"query_id":"Q00004","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; areas covered by low, natural vegetation like grass and shrubs; bodies of liquid such as rivers or lakes; and other cultivated fields. However, it must avoid tall, dense vegetation that could obstruct its flight path, and solid, vertical structures that could cause collisions. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the aerial survey drone to reach the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"pisco_7.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":145,"start_point":[970,908],"end_point":[116,640],"distance":895.064243504342},{"start_region_id":145,"end_region_id":146,"start_point":[116,640],"end_point":[970,908],"distance":895.064243504342},{"start_region_id":144,"end_region_id":146,"start_point":[235,828],"end_point":[970,908],"distance":739.340922714278},{"start_region_id":146,"end_region_id":144,"start_point":[970,908],"end_point":[235,828],"distance":739.340922714278},{"start_region_id":146,"end_region_id":143,"start_point":[970,908],"end_point":[478,567],"distance":598.6192445954273}],"complexity_score":0.628112558760494}
{"id":13287,"query_id":"Q02658","question":"An aerial survey drone starts from a paved, hard-surfaced area and needs to reach a cultivated field with planted crops. The drone can fly over loose, sandy or rocky ground without vegetation; grassy or shrub-covered areas; paved surfaces like sidewalks, parking lots, and artificial turf; vehicle lanes and railways; water bodies such as rivers and ponds; and the cultivated field itself. However, it must avoid flying through dense tree canopies or between buildings due to collision risk. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A cultivated field with planted 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":"pisco_7.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":146,"start_point":[267,142],"end_point":[970,908],"distance":1039.694666717109},{"start_region_id":49,"end_region_id":145,"start_point":[1013,210],"end_point":[116,640],"distance":994.7406697225161},{"start_region_id":49,"end_region_id":144,"start_point":[1013,210],"end_point":[235,828],"distance":993.5834137101928},{"start_region_id":43,"end_region_id":144,"start_point":[887,83],"end_point":[235,828],"distance":990.0146463563052},{"start_region_id":43,"end_region_id":145,"start_point":[887,83],"end_point":[116,640],"distance":951.1519331841786}],"complexity_score":0.628112558760494}
{"id":1044,"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_38.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":53,"start_point":[965,126],"end_point":[278,925],"distance":1053.740954884074},{"start_region_id":64,"end_region_id":35,"start_point":[965,126],"end_point":[172,801],"distance":1041.3808141117254},{"start_region_id":115,"end_region_id":1,"start_point":[766,976],"end_point":[108,183],"distance":1030.4431085702888},{"start_region_id":115,"end_region_id":8,"start_point":[766,976],"end_point":[23,301],"distance":1003.8296668260009},{"start_region_id":114,"end_region_id":1,"start_point":[759,936],"end_point":[108,183],"distance":995.3943941975964}],"complexity_score":0.6281824761681042}
{"id":10084,"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_38.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":8,"start_point":[989,659],"end_point":[23,301],"distance":1030.2038633202653},{"start_region_id":8,"end_region_id":32,"start_point":[23,301],"end_point":[989,659],"distance":1030.2038633202653},{"start_region_id":1,"end_region_id":32,"start_point":[108,183],"end_point":[989,659],"distance":1001.3675648831452},{"start_region_id":32,"end_region_id":1,"start_point":[989,659],"end_point":[108,183],"distance":1001.3675648831452},{"start_region_id":1,"end_region_id":56,"start_point":[108,183],"end_point":[604,977],"distance":936.190151625192}],"complexity_score":0.6281824761681042}
{"id":12845,"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_38.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":64,"start_point":[113,817],"end_point":[965,126],"distance":1096.9890610211207},{"start_region_id":64,"end_region_id":92,"start_point":[965,126],"end_point":[113,817],"distance":1096.9890610211207},{"start_region_id":64,"end_region_id":108,"start_point":[965,126],"end_point":[184,849],"distance":1064.2790987330345},{"start_region_id":108,"end_region_id":64,"start_point":[184,849],"end_point":[965,126],"distance":1064.2790987330345},{"start_region_id":64,"end_region_id":107,"start_point":[965,126],"end_point":[243,928],"distance":1079.114451761258}],"complexity_score":0.6281824761681042}
{"id":17186,"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":"oklahoma_38.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":64,"start_point":[498,563],"end_point":[965,126],"distance":639.5764223296541},{"start_region_id":120,"end_region_id":63,"start_point":[498,563],"end_point":[856,120],"distance":569.5726468151363},{"start_region_id":120,"end_region_id":115,"start_point":[498,563],"end_point":[766,976],"distance":492.33423606326625},{"start_region_id":120,"end_region_id":69,"start_point":[498,563],"end_point":[846,247],"distance":470.06382545352284},{"start_region_id":120,"end_region_id":92,"start_point":[498,563],"end_point":[113,817],"distance":461.23854999338465}],"complexity_score":0.6281824761681042}
{"id":3866,"query_id":"Q00774","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields, and wooded areas with individual trees, as these surfaces are dry and stable enough for safe foot travel. However. 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":"a vehicle lane","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":"abancay_23.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":118,"start_point":[799,195],"end_point":[413,497],"distance":490.10203019371386},{"start_region_id":72,"end_region_id":118,"start_point":[875,430],"end_point":[413,497],"distance":466.83294656654215},{"start_region_id":108,"end_region_id":118,"start_point":[343,950],"end_point":[413,497],"distance":458.3764828173452},{"start_region_id":100,"end_region_id":118,"start_point":[662,781],"end_point":[413,497],"distance":377.69961609723674},{"start_region_id":78,"end_region_id":118,"start_point":[831,521],"end_point":[413,497],"distance":418.68842830916645}],"complexity_score":0.6281887543893646}
{"id":5218,"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":"abancay_23.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":50,"start_point":[343,950],"end_point":[799,195],"distance":882.0209748072888},{"start_region_id":50,"end_region_id":108,"start_point":[799,195],"end_point":[343,950],"distance":882.0209748072888},{"start_region_id":108,"end_region_id":40,"start_point":[343,950],"end_point":[332,152],"distance":798.075810935277},{"start_region_id":40,"end_region_id":108,"start_point":[332,152],"end_point":[343,950],"distance":798.075810935277},{"start_region_id":72,"end_region_id":76,"start_point":[875,430],"end_point":[89,481],"distance":787.652842310621}],"complexity_score":0.6281887543893646}
{"id":9992,"query_id":"Q01999","question":"A trail runner starts from a paved lane and needs to reach another paved lane as quickly as possible. You can use surfaces that are firm and flat like paved areas and lanes, as well as grassy and vegetated areas that are dry and stable enough for running. You can also pass through areas with tall vertical obstacles if there are clear gaps between them. However, you cannot cross liquid surfaces or enter solid vertical structures. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a trail runner","start_land_type":"a paved lane","end_land_type":"a paved lane","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":[0,2,5,4,1,0,3,0],"image_name":"abancay_23.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":118,"start_point":[252,4],"end_point":[46,1017],"distance":1033.7335246571042}],"complexity_score":0.6281887543893646}
{"id":10204,"query_id":"Q02041","question":"A quadcopter starts from a sandy, open ground and needs to reach a paved roadway. The drone can fly over loose soil, grassy areas, hard artificial surfaces, and paved lanes. However. The drone must avoid flying through dense tree canopies or near structures. What is the shortest aerial path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open ground","end_land_type":"paved roadway","task_description":"What is the shortest aerial 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":"chicago_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":72,"start_point":[460,153],"end_point":[495,876],"distance":723.8466688463793},{"start_region_id":1,"end_region_id":71,"start_point":[460,153],"end_point":[791,544],"distance":512.2909329668055},{"start_region_id":1,"end_region_id":68,"start_point":[460,153],"end_point":[825,308],"distance":396.547601177967},{"start_region_id":1,"end_region_id":67,"start_point":[460,153],"end_point":[806,294],"distance":373.62681916586234},{"start_region_id":1,"end_region_id":69,"start_point":[460,153],"end_point":[516,383],"distance":236.71924298628534}],"complexity_score":0.6281971557103504}
{"id":11470,"query_id":"Q02294","question":"A quadcopter drone is positioned on a flat, hard rooftop and needs to fly to a dry, sandy patch. The drone prioritizes smooth, unobstructed airspace for stable flight comfort. It can always fly over open sandy ground, grassy areas, paved surfaces, roads, and cultivated fields. It can also fly near vertical structures and over water, but these may cause turbulence or moisture issues. Flying through dense tree canopies is allowed only if necessary, as it increases vibration risk. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard rooftop","end_land_type":"a dry, sandy patch","task_description":"What is the most comfortable flight path for the drone to take from the flat, hard rooftop to the dry, sandy patch?","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_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":1,"start_point":[951,947],"end_point":[460,153],"distance":933.5507484866583},{"start_region_id":58,"end_region_id":1,"start_point":[804,951],"end_point":[460,153],"distance":868.987917062142},{"start_region_id":59,"end_region_id":1,"start_point":[442,951],"end_point":[460,153],"distance":798.2029817032758},{"start_region_id":56,"end_region_id":1,"start_point":[452,747],"end_point":[460,153],"distance":594.0538696111659},{"start_region_id":50,"end_region_id":1,"start_point":[57,442],"end_point":[460,153],"distance":495.913298873906}],"complexity_score":0.6281971557103504}
{"id":11600,"query_id":"Q02320","question":"An aerial photography drone starts from a paved surface and needs to reach a sandy, rocky area without vegetation. The drone can fly over liquid surfaces, but must avoid vertical structures and dense vegetation that could cause turbulence. The drone's stabilization system works best over open, flat areas and struggles with obstacles that create unpredictable air currents. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved surface","end_land_type":"sandy, rocky area without vegetation","task_description":"What is the most comfortable route for the aerial photography drone to travel from the paved surface to the sandy, rocky 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":"chicago_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":1,"start_point":[951,947],"end_point":[460,153],"distance":933.5507484866583},{"start_region_id":58,"end_region_id":1,"start_point":[804,951],"end_point":[460,153],"distance":868.987917062142},{"start_region_id":59,"end_region_id":1,"start_point":[442,951],"end_point":[460,153],"distance":798.2029817032758},{"start_region_id":56,"end_region_id":1,"start_point":[452,747],"end_point":[460,153],"distance":594.0538696111659},{"start_region_id":50,"end_region_id":1,"start_point":[57,442],"end_point":[460,153],"distance":495.913298873906}],"complexity_score":0.6281971557103504}
{"id":14270,"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":"chicago_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[979,174],"end_point":[75,200],"distance":904.3738165161573}],"complexity_score":0.6281971557103504}
{"id":14472,"query_id":"Q02895","question":"An off-road vehicle starts from a patch of rough, loose ground and needs to reach another area of similar rough, loose ground. The vehicle can traverse paved lanes and cultivated fields, but must avoid all other terrain types. The vehicle's suspension is optimized for smooth travel, so it should prioritize surfaces that minimize vibration and jolts.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, loose ground","end_land_type":"rough, loose ground","task_description":"What is the most comfortable path for the off-road vehicle to take?","task_type":"Comfort","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,3,0,0,2,0],"image_name":"chicago_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[953,178],"end_point":[45,160],"distance":908.1783965719511}],"complexity_score":0.6281971557103504}
{"id":15290,"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":"chicago_46.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":1,"start_point":[951,947],"end_point":[460,153],"distance":933.5507484866583},{"start_region_id":58,"end_region_id":1,"start_point":[804,951],"end_point":[460,153],"distance":868.987917062142},{"start_region_id":59,"end_region_id":1,"start_point":[442,951],"end_point":[460,153],"distance":798.2029817032758},{"start_region_id":56,"end_region_id":1,"start_point":[452,747],"end_point":[460,153],"distance":594.0538696111659},{"start_region_id":50,"end_region_id":1,"start_point":[57,442],"end_point":[460,153],"distance":495.913298873906}],"complexity_score":0.6281971557103504}
{"id":1700,"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_43.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":2,"start_point":[283,878],"end_point":[371,33],"distance":849.5698911802372},{"start_region_id":186,"end_region_id":1,"start_point":[283,878],"end_point":[58,66],"distance":842.5965820011377},{"start_region_id":185,"end_region_id":47,"start_point":[584,261],"end_point":[26,754],"distance":744.5891484570535},{"start_region_id":185,"end_region_id":63,"start_point":[584,261],"end_point":[760,942],"distance":703.3754331791806},{"start_region_id":185,"end_region_id":60,"start_point":[584,261],"end_point":[400,912],"distance":676.503510707816}],"complexity_score":0.6282482612240684}
{"id":6480,"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_43.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":123,"start_point":[735,477],"end_point":[30,910],"distance":827.3536124294134},{"start_region_id":178,"end_region_id":77,"start_point":[607,934],"end_point":[175,368],"distance":712.0252804500694},{"start_region_id":150,"end_region_id":109,"start_point":[735,477],"end_point":[50,701],"distance":720.6948036443721},{"start_region_id":178,"end_region_id":86,"start_point":[607,934],"end_point":[107,461],"distance":688.2797396407946},{"start_region_id":178,"end_region_id":76,"start_point":[607,934],"end_point":[321,344],"distance":655.6645483782085}],"complexity_score":0.6282482612240684}
{"id":11334,"query_id":"Q02267","question":"A quadcopter drone starts from a grassy, uneven area with scattered shrubs and needs to reach a paved, flat surface. The terrain includes loose, sandy patches; compacted, hard surfaces; and cultivated fields with soft soil. You must avoid flying through dense tree canopies or close to buildings, as they are hazardous, and avoid water bodies due to splash risk. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"a paved, flat surface like a sidewalk or parking lot","task_description":"What is the most comfortable path from the grassy, uneven start to the paved, flat destination?","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_43.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":114,"start_point":[58,66],"end_point":[928,741],"distance":1101.1471291339772},{"start_region_id":1,"end_region_id":120,"start_point":[58,66],"end_point":[797,861],"distance":1085.4243409837463},{"start_region_id":2,"end_region_id":123,"start_point":[371,33],"end_point":[30,910],"distance":940.962273420141},{"start_region_id":47,"end_region_id":74,"start_point":[26,754],"end_point":[748,155],"distance":938.1284560229478},{"start_region_id":2,"end_region_id":120,"start_point":[371,33],"end_point":[797,861],"distance":931.1605661753508}],"complexity_score":0.6282482612240684}
{"id":253,"query_id":"Q00051","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field while prioritizing safety. The drone must avoid any areas with tall vegetation or vertical structures that could pose collision risks. The drone can fly over dry, exposed earth surfaces; grassy or shrub-covered terrain; paved or compacted surfaces; vehicle lanes; liquid bodies; and cultivated fields. However, areas with tall vegetation or vertical structures are only traversable if they are explicitly stated to be safe for passage, which they are not in this scenario. The drone cannot use any other types of terrain. What is the safest 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":"cultivated crop 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":"kinshasa_1.tif","subfolder":"kinshasa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":360,"start_point":[983,98],"end_point":[537,705],"distance":753.2363506894765},{"start_region_id":7,"end_region_id":360,"start_point":[186,71],"end_point":[537,705],"distance":724.6771695037729},{"start_region_id":6,"end_region_id":360,"start_point":[422,72],"end_point":[537,705],"distance":643.361484703584},{"start_region_id":12,"end_region_id":360,"start_point":[926,244],"end_point":[537,705],"distance":603.1931697226022},{"start_region_id":14,"end_region_id":360,"start_point":[522,144],"end_point":[537,705],"distance":561.2004989306406}],"complexity_score":0.6282902627219066}
{"id":13695,"query_id":"Q02739","question":"An aerial photography drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone's flight path must prioritize smooth, stable travel to protect its sensitive camera equipment from vibrations. The drone can fly over open grassy areas, paved surfaces, vehicle lanes, water bodies, and cultivated fields, but must avoid flying through dense vegetation clusters and solid vertical structures. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","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":"kinshasa_1.tif","subfolder":"kinshasa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":360,"start_point":[177,129],"end_point":[537,705],"distance":679.2466415080755},{"start_region_id":63,"end_region_id":360,"start_point":[763,63],"end_point":[537,705],"distance":680.6173668075184},{"start_region_id":86,"end_region_id":360,"start_point":[188,271],"end_point":[537,705],"distance":556.9174085984384},{"start_region_id":96,"end_region_id":360,"start_point":[390,202],"end_point":[537,705],"distance":524.0400748034448},{"start_region_id":81,"end_region_id":360,"start_point":[658,202],"end_point":[537,705],"distance":517.3490117899134}],"complexity_score":0.6282902627219066}
{"id":4343,"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_37.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":493,"end_region_id":81,"start_point":[966,826],"end_point":[88,138],"distance":1115.4496851046217},{"start_region_id":568,"end_region_id":81,"start_point":[734,964],"end_point":[88,138],"distance":1048.6143237625547},{"start_region_id":493,"end_region_id":78,"start_point":[966,826],"end_point":[302,82],"distance":997.2121138453945},{"start_region_id":568,"end_region_id":78,"start_point":[734,964],"end_point":[302,82],"distance":982.1140463306692},{"start_region_id":493,"end_region_id":99,"start_point":[966,826],"end_point":[205,273],"distance":940.7071807953844}],"complexity_score":0.6282979504259053}
{"id":4739,"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_37.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":350,"start_point":[88,138],"end_point":[579,461],"distance":587.7159177698014},{"start_region_id":262,"end_region_id":350,"start_point":[143,870],"end_point":[579,461],"distance":597.8101705391102},{"start_region_id":304,"end_region_id":350,"start_point":[438,950],"end_point":[579,461],"distance":508.9223909399153},{"start_region_id":78,"end_region_id":350,"start_point":[302,82],"end_point":[579,461],"distance":469.4358316106686},{"start_region_id":79,"end_region_id":350,"start_point":[486,65],"end_point":[579,461],"distance":406.77389296757974}],"complexity_score":0.6282979504259053}
{"id":9534,"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_37.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":350,"end_region_id":53,"start_point":[579,461],"end_point":[44,791],"distance":628.589691293136},{"start_region_id":350,"end_region_id":62,"start_point":[579,461],"end_point":[375,887],"distance":472.3261584964356},{"start_region_id":350,"end_region_id":39,"start_point":[579,461],"end_point":[233,633],"distance":386.39358172723314}],"complexity_score":0.6282979504259053}
{"id":7021,"query_id":"Q01405","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated field with low vegetation. The drone can fly over open liquid surfaces, but must avoid areas with tall, dense vertical obstacles that could cause collisions. The drone's primary concern is maintaining stable flight and avoiding any terrain that could lead to loss of control or damage. Which path should the drone take to reach the destination with the lowest risk?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with low vegetation","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","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":"les_cayes_50.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":218,"start_point":[762,492],"end_point":[66,215],"distance":749.0961220030445},{"start_region_id":59,"end_region_id":232,"start_point":[762,492],"end_point":[151,665],"distance":635.0196847342609},{"start_region_id":59,"end_region_id":219,"start_point":[762,492],"end_point":[260,100],"distance":636.9207172011286},{"start_region_id":59,"end_region_id":237,"start_point":[762,492],"end_point":[526,1000],"distance":560.1428389259297},{"start_region_id":59,"end_region_id":235,"start_point":[762,492],"end_point":[861,805],"distance":328.28341414089135}],"complexity_score":0.6284330246758112}
{"id":14934,"query_id":"Q02987","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow. The terrain includes areas of loose earth and rocks without vegetation, patches of low bushes and wild grasses, hard paved surfaces like sidewalks and parking lots, individual trees or groups of trees with visible trunks and canopies, and the cultivated fields themselves. However, all water bodies such as rivers and lakes are completely impassable, and all structures like houses and buildings are strictly blocked. What is the shortest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","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":"les_cayes_50.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":229,"end_region_id":34,"start_point":[966,358],"end_point":[25,925],"distance":1098.6218639732235},{"start_region_id":220,"end_region_id":34,"start_point":[853,216],"end_point":[25,925],"distance":1090.07568544574},{"start_region_id":220,"end_region_id":40,"start_point":[853,216],"end_point":[112,988],"distance":1070.0771000259747},{"start_region_id":229,"end_region_id":40,"start_point":[966,358],"end_point":[112,988],"distance":1061.2332448618447},{"start_region_id":227,"end_region_id":34,"start_point":[694,125],"end_point":[25,925],"distance":1042.8619275819785}],"complexity_score":0.6284330246758112}
{"id":16902,"query_id":"Q03381","question":"A quadcopter drone is deployed from an area of wild grasses and shrubs and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, over more wild vegetation similar to its starting point, over the cultivated crops, and can navigate between trees if necessary. However, it must avoid any built structures and large bodies of water entirely, as these pose navigation risks. To minimize flight time, which path should it take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of wild grasses and shrubs","end_land_type":"and needs to reach a cultivated field with crops.","task_description":"Which path allows the drone to reach the cultivated field in the shortest possible flight time?","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":"les_cayes_50.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":218,"start_point":[751,991],"end_point":[66,215],"distance":1035.0850206625541},{"start_region_id":43,"end_region_id":219,"start_point":[751,991],"end_point":[260,100],"distance":1017.3308213162521},{"start_region_id":2,"end_region_id":237,"start_point":[824,32],"end_point":[526,1000],"distance":1012.8316740702771},{"start_region_id":44,"end_region_id":220,"start_point":[237,1001],"end_point":[853,216],"distance":997.8381632308918},{"start_region_id":44,"end_region_id":227,"start_point":[237,1001],"end_point":[694,125],"distance":988.0409910524968}],"complexity_score":0.6284330246758112}
{"id":4506,"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_19.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":169,"start_point":[920,605],"end_point":[91,590],"distance":829.1356945639236},{"start_region_id":59,"end_region_id":169,"start_point":[903,432],"end_point":[91,590],"distance":827.2291097392548},{"start_region_id":90,"end_region_id":162,"start_point":[696,950],"end_point":[171,331],"distance":811.6563312141413},{"start_region_id":63,"end_region_id":162,"start_point":[920,605],"end_point":[171,331],"distance":797.5443561332498},{"start_region_id":85,"end_region_id":162,"start_point":[748,850],"end_point":[171,331],"distance":776.073450132138}],"complexity_score":0.6284787079280071}
{"id":13408,"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":"bielefeld_19.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":141,"start_point":[618,654],"end_point":[34,205],"distance":736.6525639675735},{"start_region_id":103,"end_region_id":182,"start_point":[618,654],"end_point":[30,891],"distance":633.966087421086},{"start_region_id":103,"end_region_id":121,"start_point":[618,654],"end_point":[418,25],"distance":660.0310598752153},{"start_region_id":103,"end_region_id":151,"start_point":[618,654],"end_point":[54,347],"distance":642.1409502593648},{"start_region_id":103,"end_region_id":120,"start_point":[618,654],"end_point":[281,115],"distance":635.6807374775485}],"complexity_score":0.6284787079280071}
{"id":6962,"query_id":"Q01393","question":"A hiker is standing in a cultivated field with rows of crops and needs to reach a flat, paved area such as a sidewalk or parking lot as quickly as possible. The hiker can walk on hard, paved surfaces and on open, dry ground with loose soil or rocks, and can pass through areas with tall, dense vegetation like trees if the vegetation is sparse enough to allow passage, but must avoid any liquid surfaces and vertical structures like buildings. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with rows of crops","end_land_type":"a flat, paved area such as a sidewalk or parking lot","task_description":"What is the fastest route for the hiker to reach the flat, paved area from the cultivated field?","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":"muenster_12.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":35,"start_point":[987,730],"end_point":[420,433],"distance":640.0765579210037},{"start_region_id":112,"end_region_id":36,"start_point":[987,730],"end_point":[477,385],"distance":615.7312725532138},{"start_region_id":109,"end_region_id":43,"start_point":[744,247],"end_point":[383,741],"distance":611.8472031479755},{"start_region_id":112,"end_region_id":43,"start_point":[987,730],"end_point":[383,741],"distance":604.1001572587115},{"start_region_id":114,"end_region_id":36,"start_point":[478,965],"end_point":[477,385],"distance":580.0008620683249}],"complexity_score":0.628508713009583}
{"id":9764,"query_id":"Q01953","question":"An aerial survey drone starts from a cultivated field and needs to reach a wooded area. The drone can fly over open, solid ground; grassy or shrub-covered terrain; paved lanes; liquid surfaces; and cultivated plots. However, vertical structures and dense tree canopies are only passable if the drone maintains a safe altitude to avoid collisions. What is the fastest path?","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 for the aerial survey drone to reach the wooded area from 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":"muenster_12.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":67,"start_point":[987,730],"end_point":[220,250],"distance":904.8143455980348},{"start_region_id":108,"end_region_id":107,"start_point":[170,241],"end_point":[755,903],"distance":883.4415656963397},{"start_region_id":109,"end_region_id":105,"start_point":[744,247],"end_point":[222,929],"distance":858.8410795950552},{"start_region_id":108,"end_region_id":104,"start_point":[170,241],"end_point":[768,848],"distance":852.0874368279349},{"start_region_id":112,"end_region_id":105,"start_point":[987,730],"end_point":[222,929],"distance":790.4593601191651}],"complexity_score":0.628508713009583}
{"id":12406,"query_id":"Q02482","question":"A quadcopter drone is hovering above grassy, uneven terrain and needs to reach a cultivated field. The drone can fly over grassy areas, cultivated fields, hard surfaces, and paved lanes, but must avoid flying through dense vertical obstacles. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, uneven terrain","end_land_type":"cultivated field","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":"muenster_12.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":108,"start_point":[743,952],"end_point":[170,241],"distance":913.1538753134654},{"start_region_id":6,"end_region_id":114,"start_point":[686,116],"end_point":[478,965],"distance":874.1081168825742},{"start_region_id":3,"end_region_id":114,"start_point":[421,104],"end_point":[478,965],"distance":862.8846968164403},{"start_region_id":26,"end_region_id":108,"start_point":[873,717],"end_point":[170,241],"distance":848.9905770972962},{"start_region_id":3,"end_region_id":112,"start_point":[421,104],"end_point":[987,730],"distance":843.9383863766359}],"complexity_score":0.628508713009583}
{"id":14995,"query_id":"Q02999","question":"A family SUV is parked on a cultivated field with loose, uneven soil that could cause loss of traction. The driver needs to reach a paved roadway that provides stable, predictable driving conditions. The vehicle can only travel on three types of surfaces: loose, rocky ground without vegetation; paved lanes used by vehicles; and cultivated fields with crops or grazing vegetation. The loose, rocky ground is extremely hazardous due to unpredictable terrain and high risk of getting stuck or losing control. The cultivated fields are conditionally traversable because the crops are low enough that the vehicle has sufficient ground clearance and the soil is firm enough to support the vehicle's weight without excessive sinking. The paved roadway is the safest option as it offers maximum traction and stability. What is the safest path to reach the paved roadway?","agent_category":"Car","specific_agent":"family SUV","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the safest path to reach the paved roadway?","task_type":"Safest","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,3,0,0,2,0],"image_name":"muenster_12.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":51,"start_point":[987,730],"end_point":[661,591],"distance":354.39667041325316},{"start_region_id":114,"end_region_id":51,"start_point":[478,965],"end_point":[661,591],"distance":416.37122859294686},{"start_region_id":109,"end_region_id":52,"start_point":[744,247],"end_point":[472,181],"distance":279.89283663573815}],"complexity_score":0.628508713009583}
{"id":569,"query_id":"Q00114","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a dry, sandy area without vegetation. The hiker can traverse paved surfaces, vehicle lanes, and areas with loose soil or rocks, but cannot cross water bodies or enter structures. The hiker can also walk through areas with trees and shrubs, though these may slow movement slightly. 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 dry, sandy area without vegetation","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":"tonga_45.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":2,"start_point":[88,512],"end_point":[772,893],"distance":782.9540216385634},{"start_region_id":121,"end_region_id":2,"start_point":[269,310],"end_point":[772,893],"distance":769.9987012976061},{"start_region_id":104,"end_region_id":2,"start_point":[962,196],"end_point":[772,893],"distance":722.4326958270923},{"start_region_id":115,"end_region_id":2,"start_point":[838,213],"end_point":[772,893],"distance":683.1954332400064},{"start_region_id":187,"end_region_id":2,"start_point":[307,972],"end_point":[772,893],"distance":471.6630152979985}],"complexity_score":0.6285127829847934}
{"id":3449,"query_id":"Q00690","question":"A quadcopter drone is currently on a dry, solid surface of compacted earth and rocks. It needs to reach another dry, solid surface of compacted earth and rocks elsewhere. The drone can fly over liquid water, but must avoid any vertical obstacles or dense vegetation that could pose collision risks. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A dry, solid surface of compacted earth and rocks","end_land_type":"Another dry, solid surface of compacted earth and rocks","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":"tonga_45.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":2,"start_point":[806,750],"end_point":[904,1009],"distance":276.9205662279348}],"complexity_score":0.6285127829847934}
{"id":5863,"query_id":"Q01173","question":"A quadcopter drone is starting from loose, sandy ground and needs to reach a paved, hard surface as quickly as possible. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered terrain, paved surfaces like sidewalks or parking lots, vehicle lanes, and wooded areas with individual trees, provided it maintains sufficient altitude to avoid collisions. What is the fastest path to the destination?","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 to 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":"tonga_45.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":125,"start_point":[772,893],"end_point":[88,512],"distance":782.9540216385634},{"start_region_id":2,"end_region_id":121,"start_point":[772,893],"end_point":[269,310],"distance":769.9987012976061},{"start_region_id":2,"end_region_id":104,"start_point":[772,893],"end_point":[962,196],"distance":722.4326958270923},{"start_region_id":2,"end_region_id":115,"start_point":[772,893],"end_point":[838,213],"distance":683.1954332400064},{"start_region_id":2,"end_region_id":187,"start_point":[772,893],"end_point":[307,972],"distance":471.6630152979985}],"complexity_score":0.6285127829847934}
{"id":13170,"query_id":"Q02634","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a tall, leafy structure with branches and a canopy. The drone must avoid any liquid surfaces and cannot fly through solid vertical obstacles. It can traverse hard, flat surfaces, soft cultivated fields, and open grassy areas. The flight path should prioritize smooth, stable airspace to minimize vibrations and ensure stable sensor readings.","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 tall, leafy structure with branches and a canopy.","task_description":"What is the most comfortable path 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":"tonga_45.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":201,"start_point":[772,893],"end_point":[736,103],"distance":790.8198277736844},{"start_region_id":2,"end_region_id":307,"start_point":[772,893],"end_point":[48,671],"distance":757.2714176568398},{"start_region_id":2,"end_region_id":313,"start_point":[772,893],"end_point":[32,741],"distance":755.4495350451941},{"start_region_id":2,"end_region_id":322,"start_point":[772,893],"end_point":[103,935],"distance":670.3170891451299},{"start_region_id":2,"end_region_id":317,"start_point":[772,893],"end_point":[190,787],"distance":591.5741711738267}],"complexity_score":0.6285127829847934}
{"id":17480,"query_id":"Q03496","question":"An aerial survey drone starts from an area of loose, dry soil and scattered rocks with no vegetation, an aerial survey drone must reach a patch of low, dense shrubs and grasses. The drone can fly over open liquid surfaces, but must avoid any tall, solid vertical structures. The drone's priority is to minimize the risk of collision or signal interference. The drone can traverse flat, hard surfaces designed for vehicles, but these are not preferred as they may have unpredictable ground-level activity. The primary goal is to find the path that poses the least risk to the drone's operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks with no vegetation.","end_land_type":"The destination is a patch of 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","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_45.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":3,"start_point":[772,893],"end_point":[211,145],"distance":935.0},{"start_region_id":2,"end_region_id":7,"start_point":[772,893],"end_point":[682,24],"distance":873.6480984927513},{"start_region_id":2,"end_region_id":26,"start_point":[772,893],"end_point":[125,334],"distance":855.0380108509796},{"start_region_id":2,"end_region_id":41,"start_point":[772,893],"end_point":[47,463],"distance":842.9264499349869},{"start_region_id":2,"end_region_id":8,"start_point":[772,893],"end_point":[992,94],"distance":828.734577533724}],"complexity_score":0.6285127829847934}
{"id":1240,"query_id":"Q00248","question":"A hiker starts from a paved road and needs to reach a cultivated field. The terrain includes grassy areas and loose soil, but you can walk on them. You cannot cross water bodies or buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","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","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_32.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":370,"end_region_id":671,"start_point":[222,68],"end_point":[972,696],"distance":978.2044776016925},{"start_region_id":371,"end_region_id":671,"start_point":[824,40],"end_point":[972,696],"distance":672.4879181070839},{"start_region_id":375,"end_region_id":671,"start_point":[376,498],"end_point":[972,696],"distance":628.0286617663241},{"start_region_id":370,"end_region_id":670,"start_point":[222,68],"end_point":[724,513],"distance":670.8420082254837},{"start_region_id":388,"end_region_id":671,"start_point":[507,848],"end_point":[972,696],"distance":489.2126327068834}],"complexity_score":0.6285190687268549}
{"id":6856,"query_id":"Q01372","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with complex branching patterns and needs to reach a large, flat expanse of regularly patterned, low-lying vegetation. The drone can fly over open, solid ground with no vegetation, as well as over hard, flat, artificial surfaces. However, it must navigate carefully around the tall, vertical structures at the start, as flying directly through them is slow and risky. The goal 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":"A dense cluster of tall, vertical structures with complex branching patterns.","end_land_type":"A large, flat expanse of regularly patterned, low-lying vegetation.","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":"muenster_32.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":446,"end_region_id":671,"start_point":[72,168],"end_point":[972,696],"distance":1043.448129999762},{"start_region_id":470,"end_region_id":671,"start_point":[109,341],"end_point":[972,696],"distance":933.1634369176709},{"start_region_id":425,"end_region_id":671,"start_point":[388,124],"end_point":[972,696],"distance":817.4594791180783},{"start_region_id":490,"end_region_id":671,"start_point":[181,720],"end_point":[972,696],"distance":791.3640123230269},{"start_region_id":446,"end_region_id":670,"start_point":[72,168],"end_point":[724,513],"distance":737.6510014905423}],"complexity_score":0.6285190687268549}
{"id":15160,"query_id":"Q03032","question":"An aerial survey drone starts from a grassy, open area with low vegetation and scattered shrubs and needs to reach a cultivated field with rows of crops and tilled soil. The drone's flight must prioritize smooth, stable travel to protect sensitive onboard equipment and ensure clear data capture. You can fly over hard, flat surfaces like paved areas and roads, as well as open sandy or rocky ground, grassy or shrub-covered terrain, cultivated fields, and water bodies. However, you must avoid flying through dense tree canopies or close to vertical structures like buildings, as these pose collision risks and turbulence. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A grassy, open area with low vegetation and scattered shrubs.","end_land_type":"A cultivated field with rows of crops and tilled soil.","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":"muenster_32.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":671,"start_point":[660,64],"end_point":[972,696],"distance":704.8177069285363},{"start_region_id":26,"end_region_id":671,"start_point":[541,246],"end_point":[972,696],"distance":623.1059299990652},{"start_region_id":4,"end_region_id":670,"start_point":[660,64],"end_point":[724,513],"distance":453.5383115019061},{"start_region_id":50,"end_region_id":671,"start_point":[740,308],"end_point":[972,696],"distance":452.07079091664394},{"start_region_id":125,"end_region_id":671,"start_point":[561,731],"end_point":[972,696],"distance":412.4875755704649}],"complexity_score":0.6285190687268549}
{"id":2489,"query_id":"Q00498","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a paved lane or street while minimizing risk. The drone can fly over loose, sandy ground and open liquid areas, but must avoid vertical obstacles and dense vegetation. Which path provides the safest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"paved lane or street","task_description":"Which path provides the safest route?","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_14.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":89,"start_point":[99,909],"end_point":[935,8],"distance":1229.1041453025857},{"start_region_id":80,"end_region_id":89,"start_point":[249,816],"end_point":[935,8],"distance":1059.9339602069556},{"start_region_id":41,"end_region_id":88,"start_point":[794,145],"end_point":[70,591],"distance":850.3481639893156},{"start_region_id":43,"end_region_id":89,"start_point":[168,84],"end_point":[935,8],"distance":770.7561222591748},{"start_region_id":70,"end_region_id":89,"start_point":[482,605],"end_point":[935,8],"distance":749.4117693231138}],"complexity_score":0.6286528896769922}
{"id":5983,"query_id":"Q01197","question":"A pedestrian starts from a paved, hard surface area such as a sidewalk or parking lot and needs to reach another paved, hard surface area such as a sidewalk or parking lot. The terrain consists only of hard, flat surfaces suitable for walking, including sidewalks, footpaths, and paved roads. 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":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved, hard surface area such as a sidewalk or parking lot","end_land_type":"another paved, hard surface area such as a sidewalk or parking lot","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_14.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":82,"start_point":[794,145],"end_point":[99,909],"distance":1032.821862665581},{"start_region_id":82,"end_region_id":41,"start_point":[99,909],"end_point":[794,145],"distance":1032.821862665581},{"start_region_id":41,"end_region_id":80,"start_point":[794,145],"end_point":[249,816],"distance":864.4454870030845},{"start_region_id":80,"end_region_id":41,"start_point":[249,816],"end_point":[794,145],"distance":864.4454870030845},{"start_region_id":43,"end_region_id":82,"start_point":[168,84],"end_point":[99,909],"distance":827.8804261486075}],"complexity_score":0.6286528896769922}
{"id":12101,"query_id":"Q02421","question":"A quadcopter drone is positioned on a grassy, open field with low vegetation and needs to reach a flat, hard, paved area. The drone can fly over grassy fields, paved surfaces, and water bodies, but must avoid tall, dense vegetation and vertical structures. The drone's priority is to minimize risk by avoiding areas where loss of control or collisions are more likely. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a flat, hard, 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":"tonga_14.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":41,"start_point":[149,845],"end_point":[794,145],"distance":951.853455107455},{"start_region_id":32,"end_region_id":43,"start_point":[498,962],"end_point":[168,84],"distance":937.9680165122902},{"start_region_id":30,"end_region_id":41,"start_point":[349,929],"end_point":[794,145],"distance":901.4882140105882},{"start_region_id":3,"end_region_id":82,"start_point":[219,40],"end_point":[99,909],"distance":877.2462596101508},{"start_region_id":30,"end_region_id":43,"start_point":[349,929],"end_point":[168,84],"distance":864.1678077780958}],"complexity_score":0.6286528896769922}
{"id":2209,"query_id":"Q00442","question":"An aerial survey drone starts from a paved lane and needs to reach an artificial hard surface area. The drone can fly over loose, dry earth surfaces and liquid surfaces, but must avoid any areas with tall vertical obstacles. 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 lane","end_land_type":"artificial hard surface","task_description":"What is the fastest path for the drone to reach the artificial hard surface 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":"little_rock_24.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":174,"end_region_id":160,"start_point":[517,539],"end_point":[62,845],"distance":548.3256331779502},{"start_region_id":174,"end_region_id":163,"start_point":[517,539],"end_point":[885,871],"distance":495.62889342733035},{"start_region_id":174,"end_region_id":156,"start_point":[517,539],"end_point":[936,740],"distance":464.7171182558267},{"start_region_id":174,"end_region_id":147,"start_point":[517,539],"end_point":[296,504],"distance":223.75432956704995}],"complexity_score":0.6287072619923982}
{"id":6172,"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_24.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":160,"start_point":[970,70],"end_point":[62,845],"distance":1193.7709160471284},{"start_region_id":6,"end_region_id":160,"start_point":[825,59],"end_point":[62,845],"distance":1095.429139652584},{"start_region_id":13,"end_region_id":160,"start_point":[916,143],"end_point":[62,845],"distance":1105.4953640789272},{"start_region_id":1,"end_region_id":163,"start_point":[170,142],"end_point":[885,871],"distance":1021.110180147079},{"start_region_id":5,"end_region_id":160,"start_point":[680,58],"end_point":[62,845],"distance":1000.6462911538722}],"complexity_score":0.6287072619923982}
{"id":15899,"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_24.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":306,"start_point":[62,845],"end_point":[942,414],"distance":979.8780536372881},{"start_region_id":160,"end_region_id":316,"start_point":[62,845],"end_point":[821,473],"distance":845.2603149326247},{"start_region_id":147,"end_region_id":306,"start_point":[296,504],"end_point":[942,414],"distance":652.2392199185817},{"start_region_id":147,"end_region_id":316,"start_point":[296,504],"end_point":[821,473],"distance":525.9144417108167},{"start_region_id":163,"end_region_id":306,"start_point":[885,871],"end_point":[942,414],"distance":460.5409862324959}],"complexity_score":0.6287072619923982}
{"id":15905,"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_24.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":175,"start_point":[17,905],"end_point":[929,105],"distance":1213.1545655851112},{"start_region_id":115,"end_region_id":175,"start_point":[143,909],"end_point":[929,105],"distance":1124.3718246203077},{"start_region_id":77,"end_region_id":175,"start_point":[31,647],"end_point":[929,105],"distance":1048.8889359698671},{"start_region_id":116,"end_region_id":175,"start_point":[312,914],"end_point":[929,105],"distance":1017.4330444800778},{"start_region_id":117,"end_region_id":175,"start_point":[414,913],"end_point":[929,105],"distance":958.1696092028801}],"complexity_score":0.6287072619923982}
{"id":4234,"query_id":"Q00847","question":"A quadcopter starts from a patch of grassy, shrub-covered ground and needs to reach a cluster of tall trees. You can fly over soft vegetated surfaces, cultivated fields, and wooded areas, but must avoid liquid surfaces and be cautious around vertical structures. What is the most comfortable route to follow?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a patch of grassy, shrub-covered ground","end_land_type":"a cluster of tall trees","task_description":"What is the most comfortable route to follow?","task_type":"Comfort","input_classes":["Rangeland","Tree","Agriculture land"],"traverse_vector":[0,1,0,0,1,0,1,0],"cost_vector":[0,2,0,0,1,0,2,0],"image_name":"buenos_aires_22.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":553,"start_point":[521,136],"end_point":[448,1006],"distance":873.0572718899946},{"start_region_id":22,"end_region_id":543,"start_point":[521,136],"end_point":[397,932],"distance":805.6003972193658},{"start_region_id":52,"end_region_id":553,"start_point":[141,295],"end_point":[448,1006],"distance":774.4481906493164},{"start_region_id":49,"end_region_id":553,"start_point":[411,283],"end_point":[448,1006],"distance":723.9461305926014},{"start_region_id":52,"end_region_id":543,"start_point":[141,295],"end_point":[397,932],"distance":686.5165693557585}],"complexity_score":0.6288310501271462}
{"id":9597,"query_id":"Q01920","question":"A quadcopter drone is on a paved surface and needs to reach another paved surface. The drone can fly over loose, sandy or rocky ground, natural grass or shrub areas, other paved or compacted surfaces, vehicle lanes, and cultivated fields. The drone cannot fly through dense tree canopies or enter any structures. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"Another paved surface","task_description":"What is the shortest flight 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":"buenos_aires_22.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":207,"end_region_id":355,"start_point":[241,182],"end_point":[904,962],"distance":1023.7035703757216},{"start_region_id":355,"end_region_id":207,"start_point":[904,962],"end_point":[241,182],"distance":1023.7035703757216},{"start_region_id":274,"end_region_id":355,"start_point":[61,471],"end_point":[904,962],"distance":975.5665020899395},{"start_region_id":355,"end_region_id":274,"start_point":[904,962],"end_point":[61,471],"distance":975.5665020899395},{"start_region_id":174,"end_region_id":313,"start_point":[860,124],"end_point":[199,782],"distance":932.6762568008259}],"complexity_score":0.6288310501271462}
{"id":13253,"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_22.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":355,"start_point":[80,200],"end_point":[904,962],"distance":1122.3279378149687},{"start_region_id":21,"end_region_id":355,"start_point":[217,149],"end_point":[904,962],"distance":1064.3956031476266},{"start_region_id":52,"end_region_id":355,"start_point":[141,295],"end_point":[904,962],"distance":1013.4387006622552},{"start_region_id":3,"end_region_id":355,"start_point":[572,37],"end_point":[904,962],"distance":982.7761698372626},{"start_region_id":158,"end_region_id":207,"start_point":[794,973],"end_point":[241,182],"distance":965.1372959325528}],"complexity_score":0.6288310501271462}
{"id":17526,"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":"buenos_aires_22.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":553,"end_region_id":6,"start_point":[448,1006],"end_point":[946,33],"distance":1093.0384256740474},{"start_region_id":385,"end_region_id":158,"start_point":[165,92],"end_point":[794,973],"distance":1082.4980369497212},{"start_region_id":543,"end_region_id":6,"start_point":[397,932],"end_point":[946,33],"distance":1053.3764759097292},{"start_region_id":408,"end_region_id":158,"start_point":[141,185],"end_point":[794,973],"distance":1023.4026578038578},{"start_region_id":379,"end_region_id":158,"start_point":[457,42],"end_point":[794,973],"distance":990.1161548020515}],"complexity_score":0.6288310501271462}
{"id":11237,"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_47.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":213,"start_point":[34,122],"end_point":[789,889],"distance":1076.2499709639949},{"start_region_id":10,"end_region_id":212,"start_point":[34,122],"end_point":[878,778],"distance":1068.9583715000317},{"start_region_id":10,"end_region_id":216,"start_point":[34,122],"end_point":[628,985],"distance":1047.6664545550746},{"start_region_id":11,"end_region_id":213,"start_point":[75,215],"end_point":[789,889],"distance":981.8716820440438},{"start_region_id":11,"end_region_id":212,"start_point":[75,215],"end_point":[878,778],"distance":980.7028092138821}],"complexity_score":0.6289652532086647}
{"id":15532,"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_47.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":213,"start_point":[163,77],"end_point":[789,889],"distance":1025.2902028206454},{"start_region_id":49,"end_region_id":216,"start_point":[163,77],"end_point":[628,985],"distance":1020.1416568300699},{"start_region_id":49,"end_region_id":212,"start_point":[163,77],"end_point":[878,778],"distance":1001.3121391454315},{"start_region_id":63,"end_region_id":212,"start_point":[48,237],"end_point":[878,778],"distance":990.74769744875},{"start_region_id":63,"end_region_id":213,"start_point":[48,237],"end_point":[789,889],"distance":987.0081053365266}],"complexity_score":0.6289652532086647}
{"id":16324,"query_id":"Q03265","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field while ensuring a smooth and stable flight to protect its sensitive equipment. The drone can fly over hard, paved surfaces, loose sandy or rocky ground, and calm liquid surfaces, but must avoid dense vertical obstacles and built structures. Which path should it take to maximize ride comfort?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open field","end_land_type":"another grassy, open field","task_description":"Which path should it take to maximize ride 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":"tokyo_47.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":10,"start_point":[962,947],"end_point":[34,122],"distance":1241.6960175501893},{"start_region_id":10,"end_region_id":37,"start_point":[34,122],"end_point":[962,947],"distance":1241.6960175501893},{"start_region_id":37,"end_region_id":11,"start_point":[962,947],"end_point":[75,215],"distance":1150.0404340717764},{"start_region_id":11,"end_region_id":37,"start_point":[75,215],"end_point":[962,947],"distance":1150.0404340717764},{"start_region_id":16,"end_region_id":37,"start_point":[49,315],"end_point":[962,947],"distance":1110.4021793926738}],"complexity_score":0.6289652532086647}
{"id":4755,"query_id":"Q00951","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 like roads and parking lots, as well as cultivated fields, but must avoid flying through dense tree canopies or inside buildings. The drone must find a path that minimizes the total distance traveled.","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 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_54.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":205,"start_point":[939,405],"end_point":[24,821],"distance":1005.1273551147635},{"start_region_id":205,"end_region_id":191,"start_point":[24,821],"end_point":[939,405],"distance":1005.1273551147635},{"start_region_id":191,"end_region_id":204,"start_point":[939,405],"end_point":[134,771],"distance":884.2968958443764},{"start_region_id":204,"end_region_id":191,"start_point":[134,771],"end_point":[939,405],"distance":884.2968958443764},{"start_region_id":191,"end_region_id":189,"start_point":[939,405],"end_point":[134,172],"distance":838.0417650690209}],"complexity_score":0.6290195685073122}
{"id":17620,"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_54.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":217,"start_point":[129,967],"end_point":[955,125],"distance":1179.5083721618935},{"start_region_id":16,"end_region_id":219,"start_point":[129,967],"end_point":[672,83],"distance":1037.4512036717679},{"start_region_id":3,"end_region_id":294,"start_point":[807,306],"end_point":[64,911],"distance":958.1617817466944},{"start_region_id":16,"end_region_id":260,"start_point":[129,967],"end_point":[966,542],"distance":938.7193403781558},{"start_region_id":16,"end_region_id":254,"start_point":[129,967],"end_point":[915,489],"distance":919.9347802969513}],"complexity_score":0.6290195685073122}
{"id":3723,"query_id":"Q00745","question":"A hiker starts from a grassy, open area with scattered shrubs and needs to reach another similar grassy, shrub-covered area. The terrain includes loose, sandy or rocky ground without vegetation; grassy or bushy areas; hard, paved surfaces like sidewalks or parking lots; vehicle lanes made of asphalt or concrete; individual trees or groups of trees; and cultivated fields with crops. All these surfaces are accessible for walking, but water bodies and buildings are completely off-limits and cannot be crossed. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Rangeland","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":"al_qurnah_60.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":52,"start_point":[995,254],"end_point":[32,758],"distance":1086.9153600901957},{"start_region_id":52,"end_region_id":11,"start_point":[32,758],"end_point":[995,254],"distance":1086.9153600901957},{"start_region_id":5,"end_region_id":52,"start_point":[808,127],"end_point":[32,758],"distance":1000.1684858062665},{"start_region_id":52,"end_region_id":5,"start_point":[32,758],"end_point":[808,127],"distance":1000.1684858062665},{"start_region_id":2,"end_region_id":52,"start_point":[626,44],"end_point":[32,758],"distance":928.7798447425525}],"complexity_score":0.6291290909318997}
{"id":8344,"query_id":"Q01669","question":"A quadcopter 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. All these surfaces are traversable by default for aerial movement. However, vertical structures and dense tree canopies are not allowed due to flight restrictions, and liquid bodies and cultivated fields are excluded from the permitted area.","agent_category":"Drone","specific_agent":"quadcopter","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":"al_qurnah_60.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":52,"start_point":[1004,72],"end_point":[32,758],"distance":1189.6974405284732},{"start_region_id":75,"end_region_id":52,"start_point":[951,85],"end_point":[32,758],"distance":1139.074185468181},{"start_region_id":72,"end_region_id":64,"start_point":[111,83],"end_point":[822,924],"distance":1101.2728998754123},{"start_region_id":128,"end_region_id":11,"start_point":[92,809],"end_point":[995,254],"distance":1059.9216952209254},{"start_region_id":81,"end_region_id":52,"start_point":[983,305],"end_point":[32,758],"distance":1053.3802732157083}],"complexity_score":0.6291290909318997}
{"id":12783,"query_id":"Q02557","question":"A hiker is starting from grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced area. The hiker can traverse grassy areas, cultivated fields, and wooded patches, but must avoid any structures and water bodies. The paved area is accessible, and the hiker can also use vehicle lanes and compacted artificial surfaces. What is the shortest 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 area","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":"al_qurnah_60.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":76,"start_point":[32,758],"end_point":[1004,72],"distance":1189.6974405284732},{"start_region_id":52,"end_region_id":75,"start_point":[32,758],"end_point":[951,85],"distance":1139.074185468181},{"start_region_id":64,"end_region_id":72,"start_point":[822,924],"end_point":[111,83],"distance":1101.2728998754123},{"start_region_id":11,"end_region_id":128,"start_point":[995,254],"end_point":[92,809],"distance":1059.9216952209254},{"start_region_id":52,"end_region_id":81,"start_point":[32,758],"end_point":[983,305],"distance":1053.3802732157083}],"complexity_score":0.6291290909318997}
{"id":9675,"query_id":"Q01935","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a vehicle lane. The surrounding terrain includes loose, sandy or rocky ground without vegetation; areas with natural grass and shrubs; cultivated fields with crops; and other paved or compacted surfaces like sidewalks and parking lots. The hiker can walk across all these surface types, but must avoid any liquid bodies and any vertical 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":["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":"niamey_11.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":213,"start_point":[948,57],"end_point":[208,817],"distance":1060.7544484940895},{"start_region_id":74,"end_region_id":213,"start_point":[967,164],"end_point":[208,817],"distance":1001.2442259508915},{"start_region_id":69,"end_region_id":213,"start_point":[748,68],"end_point":[208,817],"distance":923.3639585775481},{"start_region_id":84,"end_region_id":213,"start_point":[954,302],"end_point":[208,817],"distance":906.4993105347626},{"start_region_id":75,"end_region_id":213,"start_point":[807,139],"end_point":[208,817],"distance":904.7016082665046}],"complexity_score":0.6291632244292472}
{"id":14180,"query_id":"Q02836","question":"An aerial survey drone starts from a hard, paved surface and needs to reach a cluster of tall, vertical structures with dense foliage. The drone must avoid any liquid surfaces and built structures, and it can only traverse over loose, sandy or rocky ground, the hard paved surface, and the vertical structures themselves, though the latter requires careful navigation due to potential obstacles. The drone's flight path should prioritize smooth, stable travel to minimize vibrations and ensure steady sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved surface","end_land_type":"A cluster of tall, vertical structures with dense foliage","task_description":"What is the most comfortable path for the drone 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":"niamey_11.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":335,"start_point":[208,817],"end_point":[947,926],"distance":746.9953145770058},{"start_region_id":213,"end_region_id":253,"start_point":[208,817],"end_point":[700,260],"distance":743.177636907893},{"start_region_id":213,"end_region_id":227,"start_point":[208,817],"end_point":[115,79],"distance":743.8366756217389},{"start_region_id":213,"end_region_id":221,"start_point":[208,817],"end_point":[279,93],"distance":727.4730235548257},{"start_region_id":209,"end_region_id":335,"start_point":[522,502],"end_point":[947,926],"distance":600.3340736623235}],"complexity_score":0.6291632244292472}
{"id":7051,"query_id":"Q01411","question":"A quadcopter drone starts from a cultivated field with loose soil and crops and needs to reach another cultivated field with loose soil and crops using a quadcopter drone. The drone can fly over all surfaces except vertical obstacles like trees and buildings, which are blocked. Hard paved areas and liquid surfaces are accessible. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crops","end_land_type":"another cultivated field with loose soil and 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":"al_qurnah_39.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":169,"start_point":[924,443],"end_point":[282,656],"distance":676.4118567854943},{"start_region_id":169,"end_region_id":164,"start_point":[282,656],"end_point":[924,443],"distance":676.4118567854943},{"start_region_id":168,"end_region_id":169,"start_point":[817,826],"end_point":[282,656],"distance":561.3599558215744},{"start_region_id":169,"end_region_id":168,"start_point":[282,656],"end_point":[817,826],"distance":561.3599558215744},{"start_region_id":168,"end_region_id":163,"start_point":[817,826],"end_point":[617,435],"distance":439.1821945388952}],"complexity_score":0.6292788087015289}
{"id":9557,"query_id":"Q01912","question":"An off-road vehicle starts from a hard, paved surface and needs to reach cultivated soil. The terrain includes compacted, unpaved ground; grassy and shrubby areas; hard, artificial surfaces; vehicle lanes; and soft, plowed earth. The vehicle can traverse all these surfaces, but must avoid any liquid bodies, vertical structures, and areas with dense tree cover. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"cultivated soil","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":"al_qurnah_39.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":168,"start_point":[72,103],"end_point":[817,826],"distance":1038.1493148868326},{"start_region_id":62,"end_region_id":164,"start_point":[175,956],"end_point":[924,443],"distance":907.8380912916135},{"start_region_id":48,"end_region_id":164,"start_point":[72,103],"end_point":[924,443],"distance":917.3352713157824},{"start_region_id":50,"end_region_id":164,"start_point":[252,479],"end_point":[924,443],"distance":672.9635948548777},{"start_region_id":50,"end_region_id":168,"start_point":[252,479],"end_point":[817,826],"distance":663.0490177958188}],"complexity_score":0.6292788087015289}
{"id":17062,"query_id":"Q03413","question":"An aerial drone starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes open areas with natural vegetation, smooth hard surfaces, and vehicle lanes. You must avoid any areas with dense vertical obstacles or liquid surfaces. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"an aerial drone","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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,1,1,1,0,0,1,0],"image_name":"al_qurnah_39.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":65,"start_point":[921,528],"end_point":[352,570],"distance":570.5479822065801},{"start_region_id":48,"end_region_id":65,"start_point":[72,103],"end_point":[352,570],"distance":544.5080348351161},{"start_region_id":62,"end_region_id":65,"start_point":[175,956],"end_point":[352,570],"distance":424.64691215173104},{"start_region_id":49,"end_region_id":65,"start_point":[573,322],"end_point":[352,570],"distance":332.18217893198306},{"start_region_id":60,"end_region_id":65,"start_point":[465,883],"end_point":[352,570],"distance":332.77319603597886}],"complexity_score":0.6292788087015289}
{"id":8068,"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":"melbourne_68.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":146,"start_point":[382,737],"end_point":[33,945],"distance":406.2819218227658},{"start_region_id":146,"end_region_id":127,"start_point":[33,945],"end_point":[382,737],"distance":406.2819218227658}],"complexity_score":0.6292853467765651}
{"id":12585,"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":"melbourne_68.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":146,"start_point":[694,86],"end_point":[33,945],"distance":1083.882834996477},{"start_region_id":146,"end_region_id":94,"start_point":[33,945],"end_point":[694,86],"distance":1083.882834996477},{"start_region_id":94,"end_region_id":138,"start_point":[694,86],"end_point":[29,773],"distance":956.1349277167946},{"start_region_id":138,"end_region_id":94,"start_point":[29,773],"end_point":[694,86],"distance":956.1349277167946},{"start_region_id":104,"end_region_id":146,"start_point":[655,353],"end_point":[33,945],"distance":858.6896994840453}],"complexity_score":0.6292853467765651}
{"id":15020,"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":"melbourne_68.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":139,"start_point":[302,19],"end_point":[855,885],"distance":1027.5042578987204},{"start_region_id":65,"end_region_id":146,"start_point":[938,459],"end_point":[33,945],"distance":1027.2395046920656},{"start_region_id":57,"end_region_id":146,"start_point":[809,352],"end_point":[33,945],"distance":976.639646952754},{"start_region_id":50,"end_region_id":146,"start_point":[302,19],"end_point":[33,945],"distance":964.28056083279},{"start_region_id":48,"end_region_id":139,"start_point":[86,304],"end_point":[855,885],"distance":963.8059970761751}],"complexity_score":0.6292853467765651}
{"id":7048,"query_id":"Q01410","question":"An aerial photography drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone must maintain stable flight for clear image capture, so it should avoid areas with tall vertical obstacles and liquid surfaces that could cause turbulence or signal interference. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","task_description":"Which path provides 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":"ngaoundere_17.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":265,"start_point":[27,463],"end_point":[983,385],"distance":959.1767303265858},{"start_region_id":74,"end_region_id":265,"start_point":[153,270],"end_point":[983,385],"distance":837.9289946051515},{"start_region_id":89,"end_region_id":269,"start_point":[27,463],"end_point":[706,824],"distance":769.0006501947837},{"start_region_id":74,"end_region_id":269,"start_point":[153,270],"end_point":[706,824],"distance":782.7675261531996},{"start_region_id":87,"end_region_id":265,"start_point":[250,441],"end_point":[983,385],"distance":735.1360418317144}],"complexity_score":0.6292910808071053}
{"id":9561,"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_17.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":265,"start_point":[27,463],"end_point":[983,385],"distance":959.1767303265858},{"start_region_id":74,"end_region_id":265,"start_point":[153,270],"end_point":[983,385],"distance":837.9289946051515},{"start_region_id":89,"end_region_id":269,"start_point":[27,463],"end_point":[706,824],"distance":769.0006501947837},{"start_region_id":74,"end_region_id":269,"start_point":[153,270],"end_point":[706,824],"distance":782.7675261531996},{"start_region_id":87,"end_region_id":265,"start_point":[250,441],"end_point":[983,385],"distance":735.1360418317144}],"complexity_score":0.6292910808071053}
{"id":12519,"query_id":"Q02504","question":"A quadcopter drone is hovering above a cultivated field with soft, tilled soil and needs to reach a paved, hard-surfaced area as quickly as possible. The drone can fly over grassy or shrub-covered areas, paved surfaces, vehicle lanes, cultivated fields, water bodies, and structures, but must avoid densely wooded areas. The cultivated fields are clear of tall obstacles, and the grassy or shrub-covered areas are open. What is the fastest path?","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 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":"ngaoundere_17.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":265,"end_region_id":89,"start_point":[983,385],"end_point":[27,463],"distance":959.1767303265858},{"start_region_id":265,"end_region_id":74,"start_point":[983,385],"end_point":[153,270],"distance":837.9289946051515},{"start_region_id":269,"end_region_id":89,"start_point":[706,824],"end_point":[27,463],"distance":769.0006501947837},{"start_region_id":269,"end_region_id":74,"start_point":[706,824],"end_point":[153,270],"distance":782.7675261531996},{"start_region_id":265,"end_region_id":87,"start_point":[983,385],"end_point":[250,441],"distance":735.1360418317144}],"complexity_score":0.6292910808071053}
{"id":14838,"query_id":"Q02968","question":"A quadcopter 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 patches of tall, dense vegetation are too dense for safe flight, making them impassable. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","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","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_17.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":269,"end_region_id":265,"start_point":[706,824],"end_point":[983,385],"distance":519.0857347298229},{"start_region_id":265,"end_region_id":269,"start_point":[983,385],"end_point":[706,824],"distance":519.0857347298229}],"complexity_score":0.6292910808071053}
{"id":16967,"query_id":"Q03394","question":"A quadcopter drone is currently positioned over a cultivated field and needs to reach another cultivated field as quickly as possible. The area contains expanses of loose, dry soil and rock without vegetation, as well as clusters of tall, dense vegetation with vertical structures. The cultivated fields themselves are covered in low, managed crops. The drone can fly over all these surfaces, but navigating through the dense vertical vegetation would require slower, more careful maneuvering to avoid collisions, while the open, vegetation-free ground and the low-crop fields allow for unimpeded, high-speed flight. What is the fastest path for the drone to take?","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 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":"ngaoundere_17.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":269,"end_region_id":265,"start_point":[706,824],"end_point":[983,385],"distance":519.0857347298229},{"start_region_id":265,"end_region_id":269,"start_point":[983,385],"end_point":[706,824],"distance":519.0857347298229}],"complexity_score":0.6292910808071053}
{"id":3176,"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":"rotterdam_24.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":134,"start_point":[813,328],"end_point":[125,830],"distance":851.6736464162784},{"start_region_id":134,"end_region_id":24,"start_point":[125,830],"end_point":[813,328],"distance":851.6736464162784},{"start_region_id":14,"end_region_id":134,"start_point":[778,295],"end_point":[125,830],"distance":844.1765218246715},{"start_region_id":134,"end_region_id":14,"start_point":[125,830],"end_point":[778,295],"distance":844.1765218246715},{"start_region_id":66,"end_region_id":134,"start_point":[806,558],"end_point":[125,830],"distance":733.3109845079372}],"complexity_score":0.6293087050576504}
{"id":5628,"query_id":"Q01126","question":"A hiker starts from a paved, hard surface area and needs to reach another paved, hard surface area. The terrain includes only firm, stable surfaces and open, grassy or shrub-covered ground. The hiker must avoid any liquid areas, vertical structures, loose sandy or rocky expanses, cultivated fields, and wooded zones to minimize risk. What is the safest 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 safest path?","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":"rotterdam_24.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":134,"start_point":[813,328],"end_point":[125,830],"distance":851.6736464162784},{"start_region_id":134,"end_region_id":24,"start_point":[125,830],"end_point":[813,328],"distance":851.6736464162784},{"start_region_id":14,"end_region_id":134,"start_point":[778,295],"end_point":[125,830],"distance":844.1765218246715},{"start_region_id":134,"end_region_id":14,"start_point":[125,830],"end_point":[778,295],"distance":844.1765218246715},{"start_region_id":66,"end_region_id":134,"start_point":[806,558],"end_point":[125,830],"distance":733.3109845079372}],"complexity_score":0.6293087050576504}
{"id":7737,"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":"rotterdam_24.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":24,"start_point":[402,603],"end_point":[813,328],"distance":494.51592492052265},{"start_region_id":161,"end_region_id":14,"start_point":[402,603],"end_point":[778,295],"distance":486.04526538173377},{"start_region_id":155,"end_region_id":134,"start_point":[435,554],"end_point":[125,830],"distance":415.06144123490924},{"start_region_id":161,"end_region_id":66,"start_point":[402,603],"end_point":[806,558],"distance":406.4984624817171},{"start_region_id":161,"end_region_id":118,"start_point":[402,603],"end_point":[766,762],"distance":397.2115305476416}],"complexity_score":0.6293087050576504}
{"id":10446,"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":"rotterdam_24.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":134,"start_point":[813,328],"end_point":[125,830],"distance":851.6736464162784},{"start_region_id":134,"end_region_id":24,"start_point":[125,830],"end_point":[813,328],"distance":851.6736464162784},{"start_region_id":14,"end_region_id":134,"start_point":[778,295],"end_point":[125,830],"distance":844.1765218246715},{"start_region_id":134,"end_region_id":14,"start_point":[125,830],"end_point":[778,295],"distance":844.1765218246715},{"start_region_id":66,"end_region_id":134,"start_point":[806,558],"end_point":[125,830],"distance":733.3109845079372}],"complexity_score":0.6293087050576504}
{"id":2063,"query_id":"Q00413","question":"An aerial survey drone starts from a paved lane and needs to reach a hard artificial surface. The drone can fly over liquid surfaces and cultivated fields, but cannot pass through dense vertical obstacles or solid structures. What is the most direct route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard artificial surface","task_description":"What is the shortest path from the starting paved lane to the destination hard artificial 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":"vienna_21.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":103,"start_point":[64,122],"end_point":[738,732],"distance":909.052253723624},{"start_region_id":116,"end_region_id":103,"start_point":[190,127],"end_point":[738,732],"distance":816.2897769787394},{"start_region_id":119,"end_region_id":103,"start_point":[39,369],"end_point":[738,732],"distance":787.6357025935276},{"start_region_id":120,"end_region_id":103,"start_point":[74,570],"end_point":[738,732],"distance":683.4764077859601},{"start_region_id":114,"end_region_id":80,"start_point":[64,122],"end_point":[482,472],"distance":545.1825382383408}],"complexity_score":0.6293515656126767}
{"id":2403,"query_id":"Q00481","question":"A quadcopter drone starts from a flat, hard, paved surface and needs to reach a long, straight, paved lane as quickly as possible. The drone can fly over open, dry, loose ground composed of sand or rocks, and it can also traverse liquid surfaces. However, it must avoid any areas with tall, dense vegetation or vertical structures that could obstruct its flight path. What is the fastest route for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a long, straight, 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":"vienna_21.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":114,"start_point":[738,732],"end_point":[64,122],"distance":909.052253723624},{"start_region_id":103,"end_region_id":116,"start_point":[738,732],"end_point":[190,127],"distance":816.2897769787394},{"start_region_id":103,"end_region_id":119,"start_point":[738,732],"end_point":[39,369],"distance":787.6357025935276},{"start_region_id":103,"end_region_id":120,"start_point":[738,732],"end_point":[74,570],"distance":683.4764077859601},{"start_region_id":80,"end_region_id":114,"start_point":[482,472],"end_point":[64,122],"distance":545.1825382383408}],"complexity_score":0.6293515656126767}
{"id":462,"query_id":"Q00093","question":"An aerial survey drone starts from a cultivated field with rows of crops and needs to reach another cultivated field with rows of crops. The area includes hard, flat surfaces suitable for landing and takeoff; smooth, paved lanes for vehicles; tall, vertical obstacles that can be flown over if necessary; liquid bodies that are safe to fly above; and cultivated fields that are traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey 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 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":"svaneti_23.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":209,"start_point":[230,867],"end_point":[795,138],"distance":922.3155642186681},{"start_region_id":209,"end_region_id":212,"start_point":[795,138],"end_point":[230,867],"distance":922.3155642186681},{"start_region_id":208,"end_region_id":212,"start_point":[674,71],"end_point":[230,867],"distance":911.4559780921951},{"start_region_id":212,"end_region_id":208,"start_point":[230,867],"end_point":[674,71],"distance":911.4559780921951},{"start_region_id":208,"end_region_id":213,"start_point":[674,71],"end_point":[777,951],"distance":886.0073363127418}],"complexity_score":0.6293847542846293}
{"id":4926,"query_id":"Q00986","question":"An aerial survey drone begins its mission in a cultivated field with even rows of crops, requiring a smooth flight path to maintain stable sensor readings. It needs to reach a paved lane used by vehicles. The drone can fly over open water surfaces, but must avoid areas with dense vertical obstacles like tall trees or structures that could cause turbulence. Which route provides the most comfortable flight?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"Which route provides the most comfortable 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":"svaneti_23.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":110,"start_point":[674,71],"end_point":[647,846],"distance":775.470179955361},{"start_region_id":209,"end_region_id":110,"start_point":[795,138],"end_point":[647,846],"distance":723.3035324122231},{"start_region_id":212,"end_region_id":109,"start_point":[230,867],"end_point":[822,575],"distance":660.0969625744387},{"start_region_id":208,"end_region_id":109,"start_point":[674,71],"end_point":[822,575],"distance":525.2808772456884},{"start_region_id":210,"end_region_id":109,"start_point":[381,688],"end_point":[822,575],"distance":455.2471856036015}],"complexity_score":0.6293847542846293}
{"id":12905,"query_id":"Q02581","question":"A hiker is standing in a cultivated field with loose soil and crop rows, needing to reach a grassy meadow. The hiker can only travel on surfaces that provide stable footing and predictable conditions. Hard, paved surfaces like sidewalks and parking lots are accessible, as are vehicle lanes and streets. The cultivated field is traversable because the crops are low and the soil is firm enough to walk on. The grassy meadow is traversable because the vegetation is short and the ground is even. All other terrain types—including sandy or rocky ground, areas with tall trees or dense shrubs, liquid surfaces, and vertical structures—are impassable due to instability, obstruction, or permanent barriers.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest path for the hiker to take from the cultivated field to the grassy meadow?","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":"svaneti_23.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":212,"end_region_id":3,"start_point":[230,867],"end_point":[966,90],"distance":1070.2452989852372},{"start_region_id":212,"end_region_id":7,"start_point":[230,867],"end_point":[840,133],"distance":954.3877618662134},{"start_region_id":208,"end_region_id":54,"start_point":[674,71],"end_point":[867,990],"distance":939.0473896454854},{"start_region_id":208,"end_region_id":53,"start_point":[674,71],"end_point":[982,942],"distance":923.8533433397316},{"start_region_id":212,"end_region_id":15,"start_point":[230,867],"end_point":[916,265],"distance":912.6883367283708}],"complexity_score":0.6293847542846293}
{"id":4907,"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_41.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":378,"end_region_id":180,"start_point":[959,867],"end_point":[370,39],"distance":1016.1225319812567},{"start_region_id":180,"end_region_id":378,"start_point":[370,39],"end_point":[959,867],"distance":1016.1225319812567},{"start_region_id":378,"end_region_id":339,"start_point":[959,867],"end_point":[105,446],"distance":952.1328688791286},{"start_region_id":339,"end_region_id":378,"start_point":[105,446],"end_point":[959,867],"distance":952.1328688791286},{"start_region_id":180,"end_region_id":383,"start_point":[370,39],"end_point":[546,938],"distance":916.0660456539147}],"complexity_score":0.6294146290966784}
{"id":9796,"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_41.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":4,"start_point":[43,926],"end_point":[961,32],"distance":1281.3898704141532},{"start_region_id":4,"end_region_id":145,"start_point":[961,32],"end_point":[43,926],"distance":1281.3898704141532},{"start_region_id":145,"end_region_id":14,"start_point":[43,926],"end_point":[950,127],"distance":1208.7390123595746},{"start_region_id":14,"end_region_id":145,"start_point":[950,127],"end_point":[43,926],"distance":1208.7390123595746},{"start_region_id":103,"end_region_id":4,"start_point":[62,544],"end_point":[961,32],"distance":1034.5747918831196}],"complexity_score":0.6294146290966784}
{"id":17357,"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":"santiago_41.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":395,"end_region_id":395,"start_point":[49,206],"end_point":[933,977],"distance":1172.986359681987}],"complexity_score":0.6294146290966784}
{"id":15647,"query_id":"Q03130","question":"An aerial surveillance drone begins its mission perched on a dense cluster of tall, vertical structures with branching patterns and foliage. Its destination is a flat, hard, and smooth artificial surface. The drone can fly over most terrain types, including loose, sandy or rocky ground; open areas with low vegetation; all paved or compacted surfaces; bodies of liquid; and cultivated fields. However, it must navigate carefully around tall, dense vertical structures and solid, man-made vertical obstacles, as these require slower, more cautious flight to avoid collisions. Given the need to complete this surveillance run as quickly as possible, what is the optimal flight path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, vertical structures with branching patterns and foliage.","end_land_type":"A flat, hard, and smooth artificial surface.","task_description":"What is the fastest path for the drone to reach the flat, hard artificial surface from its starting point in the dense 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":"ica_10.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":358,"end_region_id":274,"start_point":[740,335],"end_point":[52,948],"distance":921.4732768778484},{"start_region_id":358,"end_region_id":220,"start_point":[740,335],"end_point":[125,782],"distance":760.2854727008796},{"start_region_id":358,"end_region_id":264,"start_point":[740,335],"end_point":[278,872],"distance":708.387605763963},{"start_region_id":358,"end_region_id":286,"start_point":[740,335],"end_point":[474,984],"distance":701.3964642055162},{"start_region_id":358,"end_region_id":272,"start_point":[740,335],"end_point":[787,982],"distance":648.7048635550684}],"complexity_score":0.62966229782282}
{"id":16286,"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":"ica_10.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":306,"end_region_id":307,"start_point":[549,575],"end_point":[944,78],"distance":634.8495884853356},{"start_region_id":307,"end_region_id":306,"start_point":[944,78],"end_point":[549,575],"distance":634.8495884853356}],"complexity_score":0.62966229782282}
{"id":3752,"query_id":"Q00751","question":"A farmer is standing on a paved road surface and needs to reach a cultivated crop field as quickly as possible. The person can walk on hard surfaces like sidewalks, parking lots, and roads. They may also traverse areas with loose soil or rocks, grassy patches, or shrubbery, provided the vegetation is not too dense to walk through. Crossing through cultivated fields is allowed if the crops are spaced enough to walk between. However, the person cannot walk through liquid bodies or enter solid structures. What is the fastest route for the farmer?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"paved road surface","end_land_type":"cultivated crop field","task_description":"What is the fastest route for the farmer?","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":"ulaanbaatar_35.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":154,"end_region_id":187,"start_point":[396,60],"end_point":[348,858],"distance":799.442305610605},{"start_region_id":156,"end_region_id":187,"start_point":[822,463],"end_point":[348,858],"distance":617.0097243966256},{"start_region_id":155,"end_region_id":187,"start_point":[499,304],"end_point":[348,858],"distance":574.2098919384792}],"complexity_score":0.6296658318035319}
{"id":7303,"query_id":"Q01461","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a flat, hard-surfaced area like a paved lot or sidewalk. The terrain includes patches of bare, rocky ground and scattered trees with low-hanging branches, but you cannot cross any water bodies or enter buildings. You are on foot and can traverse the field, bare ground, and wooded areas, though vegetation may slow you down. What is the shortest path to the paved area?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the shortest path to the paved area?","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":"ulaanbaatar_35.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":98,"start_point":[348,858],"end_point":[974,50],"distance":1022.1252369450624},{"start_region_id":187,"end_region_id":91,"start_point":[348,858],"end_point":[94,53],"distance":844.1214367613229},{"start_region_id":187,"end_region_id":101,"start_point":[348,858],"end_point":[859,214],"distance":822.1052244086519},{"start_region_id":187,"end_region_id":92,"start_point":[348,858],"end_point":[329,43],"distance":815.2214423087754},{"start_region_id":187,"end_region_id":106,"start_point":[348,858],"end_point":[990,387],"distance":796.2443092418306}],"complexity_score":0.6296658318035319}
{"id":9253,"query_id":"Q01851","question":"A quadcopter is starting from a cultivated field with loose soil and crop patterns, needing to reach a paved lane. It can fly over loose, rocky terrain, grassy or shrub-covered areas, hard, flat surfaces like parking lots and sidewalks, lanes used by vehicles, and cultivated fields. However, it must avoid areas with dense trees or buildings due to navigation constraints. What is the fastest route to the paved lane?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest route to the 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":"ulaanbaatar_35.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":154,"start_point":[348,858],"end_point":[396,60],"distance":799.442305610605},{"start_region_id":187,"end_region_id":156,"start_point":[348,858],"end_point":[822,463],"distance":617.0097243966256},{"start_region_id":187,"end_region_id":155,"start_point":[348,858],"end_point":[499,304],"distance":574.2098919384792}],"complexity_score":0.6296658318035319}
{"id":14105,"query_id":"Q02821","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with loose soil. The terrain includes rough, uneven ground composed of loose earth and rocks, which is passable by air. The drone can fly over liquid surfaces and vertical structures, but these areas pose higher risks and should be avoided for safety. The cultivated field is accessible as it is open and free of obstructions. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with loose soil","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":"ulaanbaatar_35.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":187,"start_point":[974,50],"end_point":[348,858],"distance":1022.1252369450624},{"start_region_id":91,"end_region_id":187,"start_point":[94,53],"end_point":[348,858],"distance":844.1214367613229},{"start_region_id":101,"end_region_id":187,"start_point":[859,214],"end_point":[348,858],"distance":822.1052244086519},{"start_region_id":92,"end_region_id":187,"start_point":[329,43],"end_point":[348,858],"distance":815.2214423087754},{"start_region_id":106,"end_region_id":187,"start_point":[990,387],"end_point":[348,858],"distance":796.2443092418306}],"complexity_score":0.6296658318035319}
{"id":869,"query_id":"Q00174","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with loose soil and crops. The area includes open grassy patches and shrubs that are not cultivated or grazed, which can be traversed if the vegetation is low and the ground is firm. However, the terrain is restricted to these types of surfaces; all other surfaces, such as water bodies, buildings, bare sand or rock areas, roads, and trees, are not traversable due to obstacles or restrictions. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with loose soil and crops","task_description":"What is the shortest path to the destination?","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_40.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":331,"start_point":[968,499],"end_point":[321,273],"distance":685.3356841723623},{"start_region_id":123,"end_region_id":331,"start_point":[707,773],"end_point":[321,273],"distance":631.6613016482805},{"start_region_id":103,"end_region_id":331,"start_point":[908,362],"end_point":[321,273],"distance":593.7086827729572},{"start_region_id":98,"end_region_id":331,"start_point":[787,334],"end_point":[321,273],"distance":469.9755312779592},{"start_region_id":116,"end_region_id":331,"start_point":[562,658],"end_point":[321,273],"distance":454.2092029010421}],"complexity_score":0.6296665788126166}
{"id":7255,"query_id":"Q01451","question":"An agricultural monitoring drone is currently positioned over a cultivated field and needs to reach another part of the same field. The drone can fly over areas with hard, flat surfaces like paved lots or artificial turf, as well as over water bodies such as rivers or ponds, and over cultivated fields. However, to ensure a smooth and stable flight that minimizes vibrations and discomfort for sensitive onboard sensors, the drone should avoid flying directly over dense tree canopies or close to tall vertical structures like buildings, as these can cause turbulence and unpredictable air currents. What is the most comfortable path for the drone to take?","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 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":"dortmund_40.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":326,"end_region_id":331,"start_point":[538,192],"end_point":[321,273],"distance":231.62469643800938},{"start_region_id":331,"end_region_id":326,"start_point":[321,273],"end_point":[538,192],"distance":231.62469643800938}],"complexity_score":0.6296665788126166}
{"id":12718,"query_id":"Q02544","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vegetation and tree trunks. You can traverse rough bare ground, areas with short grass and shrubs, hard paved surfaces, vehicle lanes, cultivated fields, and wooded areas, but you must avoid buildings and water bodies. The wooded areas are passable only if you fly between tree canopies without collision. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","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","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_40.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":326,"end_region_id":317,"start_point":[538,192],"end_point":[83,927],"distance":864.4362324659928},{"start_region_id":329,"end_region_id":317,"start_point":[393,254],"end_point":[83,927],"distance":740.9649114499282},{"start_region_id":326,"end_region_id":276,"start_point":[538,192],"end_point":[98,754],"distance":713.7534588357523},{"start_region_id":331,"end_region_id":317,"start_point":[321,273],"end_point":[83,927],"distance":695.9597689522003},{"start_region_id":331,"end_region_id":252,"start_point":[321,273],"end_point":[984,392],"distance":673.5948337094043}],"complexity_score":0.6296665788126166}
{"id":17293,"query_id":"Q03459","question":"A family sedan starts from a paved road surface and needs to reach another paved road surface while driving a family sedan. You can only traverse surfaces that are smooth, hard, and provide stable ride quality. Soft or uneven ground is not permitted as it would cause excessive vibration and discomfort for passengers. What is the most comfortable route?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"paved road surface","end_land_type":"paved road surface","task_description":"What is the most comfortable route from the starting paved road surface to the destination paved road surface?","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":"dortmund_40.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":184,"start_point":[616,867],"end_point":[584,512],"distance":356.4393356519451},{"start_region_id":184,"end_region_id":186,"start_point":[584,512],"end_point":[616,867],"distance":356.4393356519451},{"start_region_id":194,"end_region_id":184,"start_point":[370,757],"end_point":[584,512],"distance":325.3013987058771},{"start_region_id":184,"end_region_id":194,"start_point":[584,512],"end_point":[370,757],"distance":325.3013987058771},{"start_region_id":186,"end_region_id":194,"start_point":[616,867],"end_point":[370,757],"distance":269.47356085523495}],"complexity_score":0.6296665788126166}
{"id":5517,"query_id":"Q01104","question":"A hiker starts from a grassy, open field and needs to return to a similar grassy area after passing through a wooded section. The hiker must avoid any paved surfaces, water bodies, or structures to minimize risks such as slips, falls, or encounters with hazards. The wooded area is traversable because the trees are sparse enough to walk between without significant obstruction. What is the safest path?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Rangeland","end_land_type":"Rangeland","task_description":"What is the safest path for the hiker to return to the grassy area after passing through the wooded section?","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":"kitsap_20.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":10,"start_point":[703,57],"end_point":[743,687],"distance":631.2685640834652},{"start_region_id":10,"end_region_id":1,"start_point":[743,687],"end_point":[703,57],"distance":631.2685640834652},{"start_region_id":2,"end_region_id":10,"start_point":[763,184],"end_point":[743,687],"distance":503.3974572840034},{"start_region_id":10,"end_region_id":2,"start_point":[743,687],"end_point":[763,184],"distance":503.3974572840034},{"start_region_id":4,"end_region_id":10,"start_point":[901,335],"end_point":[743,687],"distance":385.83416126621034}],"complexity_score":0.6297394880276888}
{"id":8155,"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":"kitsap_20.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":41,"start_point":[958,556],"end_point":[74,632],"distance":887.2609537221842},{"start_region_id":41,"end_region_id":35,"start_point":[74,632],"end_point":[958,556],"distance":887.2609537221842},{"start_region_id":24,"end_region_id":56,"start_point":[213,229],"end_point":[778,922],"distance":894.1330997116704},{"start_region_id":56,"end_region_id":24,"start_point":[778,922],"end_point":[213,229],"distance":894.1330997116704},{"start_region_id":35,"end_region_id":33,"start_point":[958,556],"end_point":[144,484],"distance":817.1780711693137}],"complexity_score":0.6297394880276888}
{"id":12680,"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":"kitsap_20.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":4,"start_point":[74,632],"end_point":[901,335],"distance":878.7138328261368},{"start_region_id":56,"end_region_id":1,"start_point":[778,922],"end_point":[703,57],"distance":868.2453570276089},{"start_region_id":41,"end_region_id":1,"start_point":[74,632],"end_point":[703,57],"distance":852.2124148356442},{"start_region_id":35,"end_region_id":8,"start_point":[958,556],"end_point":[94,585],"distance":864.4865528161789},{"start_region_id":24,"end_region_id":16,"start_point":[213,229],"end_point":[860,815],"distance":872.928977637929}],"complexity_score":0.6297394880276888}
{"id":2976,"query_id":"Q00596","question":"An agricultural tractor starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose, tilled soil. The agricultural tractor must maintain a smooth ride by avoiding rough or uneven terrain that could cause excessive vibration. Only cultivated fields with loose, tilled soil are available for travel.","agent_category":"Car","specific_agent":"agricultural tractor","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"duesseldorf_13.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":144,"start_point":[196,270],"end_point":[903,71],"distance":734.4725998973686}],"complexity_score":0.6297467061271234}
{"id":7023,"query_id":"Q01405","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated field with low vegetation. The drone can fly over open liquid surfaces, but must avoid areas with tall, dense vertical obstacles that could cause collisions. The drone's primary concern is maintaining stable flight and avoiding any terrain that could lead to loss of control or damage. Which path should the drone take to reach the destination with the lowest risk?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with low vegetation","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","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":"duesseldorf_13.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":144,"start_point":[283,850],"end_point":[513,166],"distance":721.6342563930845},{"start_region_id":63,"end_region_id":144,"start_point":[709,805],"end_point":[513,166],"distance":668.3838717383895},{"start_region_id":65,"end_region_id":144,"start_point":[638,788],"end_point":[513,166],"distance":634.4359699764823},{"start_region_id":69,"end_region_id":144,"start_point":[281,742],"end_point":[513,166],"distance":620.966987850401},{"start_region_id":62,"end_region_id":144,"start_point":[830,693],"end_point":[513,166],"distance":614.9943089167574}],"complexity_score":0.6297467061271234}
{"id":7005,"query_id":"Q01401","question":"A hiker 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 that is firm enough for walking, and patches of tall, dense vegetation that can be navigated through with effort. The hiker must avoid any liquid bodies and vertical structures. What is the fastest 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 fastest path for the hiker 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":[2,3,6,5,1,0,4,0],"image_name":"panama_city_37.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":89,"start_point":[165,95],"end_point":[947,753],"distance":1022.0019569452888},{"start_region_id":89,"end_region_id":77,"start_point":[947,753],"end_point":[165,95],"distance":1022.0019569452888},{"start_region_id":77,"end_region_id":117,"start_point":[165,95],"end_point":[795,852],"distance":984.8598885120665},{"start_region_id":117,"end_region_id":77,"start_point":[795,852],"end_point":[165,95],"distance":984.8598885120665},{"start_region_id":89,"end_region_id":95,"start_point":[947,753],"end_point":[45,552],"distance":924.12390944072}],"complexity_score":0.6297761184609046}
{"id":10847,"query_id":"Q02170","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach a flat, hard artificial surface. The drone can fly over most terrain types, including liquid surfaces and vertical structures, but must avoid dense clusters of tall vegetation that could obstruct its flight path. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"flat, hard artificial surface","task_description":"What is the fastest route for the aerial survey drone to reach the flat, hard artificial surface from the grassy, open 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":"panama_city_37.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":114,"start_point":[957,121],"end_point":[90,750],"distance":1071.1349121375888},{"start_region_id":2,"end_region_id":122,"start_point":[957,121],"end_point":[255,925],"distance":1067.342494235098},{"start_region_id":2,"end_region_id":95,"start_point":[957,121],"end_point":[45,552],"distance":1008.7145284965414},{"start_region_id":5,"end_region_id":89,"start_point":[37,359],"end_point":[947,753],"distance":991.6329966272805},{"start_region_id":40,"end_region_id":77,"start_point":[991,593],"end_point":[165,95],"distance":964.5102384111846}],"complexity_score":0.6297761184609046}
{"id":15657,"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":"panama_city_37.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":62,"start_point":[957,121],"end_point":[53,812],"distance":1137.8475293289519},{"start_region_id":62,"end_region_id":2,"start_point":[53,812],"end_point":[957,121],"distance":1137.8475293289519},{"start_region_id":2,"end_region_id":63,"start_point":[957,121],"end_point":[355,956],"distance":1029.3828248032896},{"start_region_id":63,"end_region_id":2,"start_point":[355,956],"end_point":[957,121],"distance":1029.3828248032896},{"start_region_id":5,"end_region_id":40,"start_point":[37,359],"end_point":[991,593],"distance":982.2789827742422}],"complexity_score":0.6297761184609046}
{"id":7233,"query_id":"Q01447","question":"A quadcopter 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 liquid surfaces and paved lanes, but must navigate carefully around the tall, leafy structures due to potential obstacles. What is the fastest 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 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":"palu_21.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":543,"end_region_id":422,"start_point":[185,939],"end_point":[839,65],"distance":1091.6006595820652},{"start_region_id":422,"end_region_id":543,"start_point":[839,65],"end_point":[185,939],"distance":1091.6006595820652},{"start_region_id":510,"end_region_id":422,"start_point":[316,711],"end_point":[839,65],"distance":831.1708608944373},{"start_region_id":422,"end_region_id":510,"start_point":[839,65],"end_point":[316,711],"distance":831.1708608944373},{"start_region_id":543,"end_region_id":479,"start_point":[185,939],"end_point":[609,322],"distance":748.6421040791121}],"complexity_score":0.6299142523917437}
{"id":10673,"query_id":"Q02135","question":"A delivery drone starts from a region covered with wild grasses and shrubs and needs to reach a flat, artificial surface. The environment includes open, vegetation-free ground, and areas with tall, dense obstacles that can be flown over but may slow you down. All surfaces except liquid are accessible, but vertical structures and natural obstacles require careful maneuvering. What is the fastest route to the flat, artificial surface?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the fastest route to the flat, artificial 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":"palu_21.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":412,"start_point":[49,75],"end_point":[832,903],"distance":1139.5933485239373},{"start_region_id":1,"end_region_id":408,"start_point":[49,75],"end_point":[823,810],"distance":1067.3804382693174},{"start_region_id":53,"end_region_id":412,"start_point":[201,106],"end_point":[832,903],"distance":1016.5480805156242},{"start_region_id":5,"end_region_id":412,"start_point":[303,54],"end_point":[832,903],"distance":1000.3209484960314},{"start_region_id":1,"end_region_id":406,"start_point":[49,75],"end_point":[802,731],"distance":998.6716177002328}],"complexity_score":0.6299142523917437}
{"id":12304,"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_21.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":412,"end_region_id":414,"start_point":[832,903],"end_point":[354,211],"distance":841.0398325882074},{"start_region_id":408,"end_region_id":414,"start_point":[823,810],"end_point":[354,211],"distance":760.7640895836238},{"start_region_id":407,"end_region_id":414,"start_point":[401,915],"end_point":[354,211],"distance":705.5671477612885},{"start_region_id":406,"end_region_id":414,"start_point":[802,731],"end_point":[354,211],"distance":686.3701625216528},{"start_region_id":410,"end_region_id":414,"start_point":[99,820],"end_point":[354,211],"distance":660.2317774842408}],"complexity_score":0.6299142523917437}
{"id":1026,"query_id":"Q00206","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved, flat surface like a sidewalk or parking lot. The drone can fly over grassy or shrub-covered areas and paved surfaces, but must avoid any trees, buildings, water bodies, bare rocky or sandy ground, and roads to ensure a smooth and comfortable flight. The goal is to find the most comfortable 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, flat surface like a sidewalk or parking lot","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","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":"melbourne_50.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":36,"start_point":[521,428],"end_point":[795,684],"distance":374.98266626605556},{"start_region_id":127,"end_region_id":33,"start_point":[521,428],"end_point":[528,780],"distance":352.0695953927291}],"complexity_score":0.6299614063458711}
{"id":2913,"query_id":"Q00583","question":"An agricultural utility vehicle starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose, tilled soil. The terrain consists entirely of cultivated areas with loose soil that provides limited traction. You must avoid any paved surfaces like roads or parking lots, any natural vegetation areas like grasslands or shrubs, any sandy or rocky bare ground, any water bodies, any vertical structures, and any wooded areas. What path should you take?","agent_category":"Car","specific_agent":"An agricultural utility vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path to reach the destination while minimizing risk?","task_type":"Safest","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"melbourne_50.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":127,"start_point":[35,616],"end_point":[1023,384],"distance":1014.8733911183207}],"complexity_score":0.6299614063458711}
{"id":6899,"query_id":"Q01380","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over liquid surfaces and cultivated areas, but must avoid vertical obstacles like trees and buildings. The goal is to find the fastest path.","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":["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_50.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":127,"start_point":[795,684],"end_point":[521,428],"distance":374.98266626605556},{"start_region_id":29,"end_region_id":127,"start_point":[319,125],"end_point":[521,428],"distance":364.1606788218629},{"start_region_id":33,"end_region_id":127,"start_point":[528,780],"end_point":[521,428],"distance":352.0695953927291},{"start_region_id":31,"end_region_id":127,"start_point":[608,199],"end_point":[521,428],"distance":244.9693858423946}],"complexity_score":0.6299614063458711}
{"id":12294,"query_id":"Q02459","question":"An off-road vehicle starts from a paved parking lot and needs to reach a cultivated agricultural field. The vehicle can drive on paved surfaces and vehicle lanes, and is equipped to handle grassy terrain and loose soil in crop areas, but cannot pass through dense vegetation, water, or structures. 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":"a cultivated agricultural 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":"melbourne_50.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":127,"start_point":[795,684],"end_point":[521,428],"distance":374.98266626605556},{"start_region_id":29,"end_region_id":127,"start_point":[319,125],"end_point":[521,428],"distance":364.1606788218629},{"start_region_id":33,"end_region_id":127,"start_point":[528,780],"end_point":[521,428],"distance":352.0695953927291},{"start_region_id":31,"end_region_id":127,"start_point":[608,199],"end_point":[521,428],"distance":244.9693858423946}],"complexity_score":0.6299614063458711}
{"id":16741,"query_id":"Q03349","question":"A hiker starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field with soft, tilled soil. The person requires stable footing to avoid slips or falls. 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, dense tree stands, and liquid bodies, are impassable. What is the safest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","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":[1,2,0,4,0,0,3,0],"image_name":"melbourne_50.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":127,"start_point":[750,511],"end_point":[521,428],"distance":243.57750306627253}],"complexity_score":0.6299614063458711}
{"id":5197,"query_id":"Q01040","question":"An aerial surveillance drone starts from a flat, cultivated field with loose soil and crop rows and needs to reach a hard, paved surface like a parking lot or runway. The drone can fly over open areas with loose or soft ground, liquid surfaces, and hard, flat surfaces, but must avoid tall, dense vegetation that could entangle its rotors and vertical structures that pose collision risks. The goal is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, cultivated field with loose soil and crop rows.","end_land_type":"A hard, paved surface like a parking lot or runway.","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":"viru_1.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":303,"end_region_id":56,"start_point":[756,913],"end_point":[112,152],"distance":996.9237683995702},{"start_region_id":303,"end_region_id":51,"start_point":[756,913],"end_point":[309,75],"distance":949.764707703966},{"start_region_id":300,"end_region_id":56,"start_point":[855,640],"end_point":[112,152],"distance":888.9280060837323},{"start_region_id":302,"end_region_id":53,"start_point":[271,889],"end_point":[543,138],"distance":798.7396321705841},{"start_region_id":303,"end_region_id":53,"start_point":[756,913],"end_point":[543,138],"distance":803.7375193432243}],"complexity_score":0.6300041265076931}
{"id":6505,"query_id":"Q01301","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open grassy area. The drone must avoid all vertical structures and dense vegetation that could pose collision risks. The drone can fly over flat, open ground with loose soil, over water bodies, over cultivated fields, and over paved areas and vehicle lanes, but must prioritize surfaces that minimize the risk of signal interference, mechanical failure, or unexpected obstacles. 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":"open grassy 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":"aachen_63.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":54,"start_point":[61,125],"end_point":[974,935],"distance":1220.5199711598332},{"start_region_id":77,"end_region_id":54,"start_point":[36,217],"end_point":[974,935],"distance":1181.256957651467},{"start_region_id":74,"end_region_id":58,"start_point":[61,125],"end_point":[721,939],"distance":1047.9484720156806},{"start_region_id":94,"end_region_id":54,"start_point":[63,424],"end_point":[974,935],"distance":1044.5295591796337},{"start_region_id":75,"end_region_id":54,"start_point":[256,196],"end_point":[974,935],"distance":1030.3615870169074}],"complexity_score":0.6301171495244914}
{"id":15614,"query_id":"Q03123","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over various surfaces including loose sandy or rocky ground, grassy or shrubby areas, paved or constructed hard surfaces, vehicle lanes, bodies of water, and other cultivated fields. However. The drone must avoid flying through dense vegetation that could entangle its rotors, and cannot pass through solid vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path for the aerial survey drone to reach the destination cultivated 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":"aachen_63.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":263,"end_region_id":264,"start_point":[765,231],"end_point":[925,805],"distance":595.8825387607864},{"start_region_id":264,"end_region_id":263,"start_point":[925,805],"end_point":[765,231],"distance":595.8825387607864}],"complexity_score":0.6301171495244914}
{"id":16095,"query_id":"Q03219","question":"A quadcopter drone starts above a cultivated field with loose soil and crop stubble, needing to reach a position above a paved lane as quickly as possible. The drone can fly over areas of loose earth, grassy terrain, and cultivated land, but must avoid flying directly through dense tree canopies or close to building structures. Which aerial path allows the drone to reach above the paved lane in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a cultivated field with loose soil and crop stubble","end_land_type":"a paved lane","task_description":"Which aerial path allows the drone to reach above the paved lane 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":"aachen_63.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":137,"start_point":[925,805],"end_point":[430,617],"distance":529.4988196398552},{"start_region_id":263,"end_region_id":137,"start_point":[765,231],"end_point":[430,617],"distance":511.0978379919054}],"complexity_score":0.6301171495244914}
{"id":775,"query_id":"Q00155","question":"An aerial survey drone is conducting a time-sensitive environmental assessment. It begins its mission on loose, dry earth and scattered rocks. The drone is equipped to fly over various surfaces, including open grassy fields, hard paved surfaces, vehicle lanes, bodies of water, and cultivated crop fields. However, it must navigate carefully through areas with dense vertical structures. The drone's objective is to reach a location beneath a tall, leafy canopy as quickly as possible. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry earth and scattered rocks","end_land_type":"and needs to reach a location beneath a tall, leafy 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":122,"start_point":[814,974],"end_point":[49,308],"distance":1014.2884205195286},{"start_region_id":1,"end_region_id":122,"start_point":[903,835],"end_point":[49,308],"distance":1003.5163177547239},{"start_region_id":4,"end_region_id":110,"start_point":[814,974],"end_point":[194,228],"distance":970.0082473876189},{"start_region_id":1,"end_region_id":110,"start_point":[903,835],"end_point":[194,228],"distance":933.3434523260985},{"start_region_id":2,"end_region_id":114,"start_point":[225,912],"end_point":[869,338],"distance":862.6772281682182}],"complexity_score":0.6301834582386903}
{"id":3198,"query_id":"Q00640","question":"An off-road vehicle starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground while prioritizing safety. The terrain consists of two types of surfaces: loose, sandy ground and areas covered with low, dry vegetation. The vehicle must avoid all other surfaces including paved areas, roads, water bodies, buildings, trees, and cultivated fields. The loose, sandy ground is traversable because the vehicle has high clearance and all-terrain tires, but it is slippery. The low, dry vegetation areas are traversable because the vegetation is sparse and flat enough to drive over without significant risk of getting stuck. What is the safest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, sandy ground","end_land_type":"loose, sandy ground","task_description":"What is the safest path for the off-road vehicle to take?","task_type":"Safest","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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[225,912],"end_point":[903,835],"distance":682.3584102214905},{"start_region_id":1,"end_region_id":2,"start_point":[903,835],"end_point":[225,912],"distance":682.3584102214905},{"start_region_id":2,"end_region_id":4,"start_point":[225,912],"end_point":[814,974],"distance":592.2541684108268},{"start_region_id":4,"end_region_id":2,"start_point":[814,974],"end_point":[225,912],"distance":592.2541684108268}],"complexity_score":0.6301834582386903}
{"id":3602,"query_id":"Q00721","question":"A hiker starts from loose, sandy ground and needs to reach a paved, hard surface. The terrain includes areas of loose earth and rocks, grassy and shrubby patches, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, individual trees or wooded areas, and cultivated fields. You must avoid any water bodies or buildings. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","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","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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":61,"start_point":[814,974],"end_point":[157,134],"distance":1066.4187732781152},{"start_region_id":2,"end_region_id":63,"start_point":[225,912],"end_point":[862,104],"distance":1028.8989260369553},{"start_region_id":1,"end_region_id":61,"start_point":[903,835],"end_point":[157,134],"distance":1023.6781720833945},{"start_region_id":4,"end_region_id":79,"start_point":[814,974],"end_point":[24,349],"distance":1007.3355945264716},{"start_region_id":1,"end_region_id":79,"start_point":[903,835],"end_point":[24,349],"distance":1004.4087813236202}],"complexity_score":0.6301834582386903}
{"id":4563,"query_id":"Q00913","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a cluster of tall, leafy vegetation. The hiker can walk on hard, paved surfaces, vehicle lanes, and cultivated fields, but cannot cross liquid areas or enter structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cluster of tall, leafy 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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":122,"start_point":[814,974],"end_point":[49,308],"distance":1014.2884205195286},{"start_region_id":1,"end_region_id":122,"start_point":[903,835],"end_point":[49,308],"distance":1003.5163177547239},{"start_region_id":4,"end_region_id":110,"start_point":[814,974],"end_point":[194,228],"distance":970.0082473876189},{"start_region_id":1,"end_region_id":110,"start_point":[903,835],"end_point":[194,228],"distance":933.3434523260985},{"start_region_id":2,"end_region_id":114,"start_point":[225,912],"end_point":[869,338],"distance":862.6772281682182}],"complexity_score":0.6301834582386903}
{"id":7522,"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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":2,"start_point":[999,111],"end_point":[225,912],"distance":1113.8568130599192},{"start_region_id":94,"end_region_id":4,"start_point":[999,111],"end_point":[814,974],"distance":882.60636752745},{"start_region_id":94,"end_region_id":1,"start_point":[999,111],"end_point":[903,835],"distance":730.3369085565921},{"start_region_id":93,"end_region_id":4,"start_point":[327,448],"end_point":[814,974],"distance":716.8298263883835},{"start_region_id":93,"end_region_id":1,"start_point":[327,448],"end_point":[903,835],"distance":693.9344349432445}],"complexity_score":0.6301834582386903}
{"id":13886,"query_id":"Q02778","question":"An off-road vehicle is positioned on a stretch of loose, sandy ground and must get to a grassy field. The available terrain includes areas of compacted, hard-packed earth and cultivated fields with soft soil. The vehicle has sufficient ground clearance and traction to drive across the sandy ground, the grassy field, the cultivated fields, and the hard-packed earth. What is the shortest route to the grassy field?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a stretch of loose, sandy ground","end_land_type":"a grassy field","task_description":"What is the shortest route 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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":14,"start_point":[814,974],"end_point":[24,121],"distance":1162.630207761694},{"start_region_id":1,"end_region_id":14,"start_point":[903,835],"end_point":[24,121],"distance":1132.4473497695158},{"start_region_id":4,"end_region_id":11,"start_point":[814,974],"end_point":[148,60],"distance":1130.9076001159424},{"start_region_id":1,"end_region_id":11,"start_point":[903,835],"end_point":[148,60],"distance":1081.965803526156},{"start_region_id":4,"end_region_id":8,"start_point":[814,974],"end_point":[474,19],"distance":1013.7184027134952}],"complexity_score":0.6301834582386903}
{"id":14089,"query_id":"Q02818","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved, hard-surfaced area. The terrain includes soft, uneven earth covered with sparse grass and bushes, as well as cultivated fields with rows of crops. However, you cannot use any vertical structures, liquid surfaces, or lanes designated for vehicles. Given that you are a hiker aiming to move as quickly as possible, what is the best path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved, hard-surfaced area","task_description":"What is the fastest path from the starting point to the destination?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,2,4,0,0,0,3,0],"image_name":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":63,"start_point":[225,912],"end_point":[862,104],"distance":1028.8989260369553},{"start_region_id":4,"end_region_id":63,"start_point":[814,974],"end_point":[862,104],"distance":871.3231317943993},{"start_region_id":4,"end_region_id":73,"start_point":[814,974],"end_point":[585,230],"distance":778.4452453448476},{"start_region_id":2,"end_region_id":73,"start_point":[225,912],"end_point":[585,230],"distance":771.1835060476851},{"start_region_id":1,"end_region_id":63,"start_point":[903,835],"end_point":[862,104],"distance":732.1488919611912}],"complexity_score":0.6301834582386903}
{"id":16514,"query_id":"Q03303","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 ground with scattered rocks. The drone can fly over open sandy areas, grassy fields, cultivated crop fields, and areas with individual trees, but must navigate carefully around dense tree canopies. What is the fastest path?","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":"needs to reach another area of similar loose, sandy ground with scattered rocks","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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":1,"start_point":[225,912],"end_point":[903,835],"distance":682.3584102214905},{"start_region_id":1,"end_region_id":2,"start_point":[903,835],"end_point":[225,912],"distance":682.3584102214905},{"start_region_id":2,"end_region_id":4,"start_point":[225,912],"end_point":[814,974],"distance":592.2541684108268},{"start_region_id":4,"end_region_id":2,"start_point":[814,974],"end_point":[225,912],"distance":592.2541684108268}],"complexity_score":0.6301834582386903}
{"id":16800,"query_id":"Q03360","question":"A quadcopter starts from an open area of sandy, rocky ground and needs to reach a zone with grassy and shrubby vegetation. The quadcopter must avoid flying over liquid bodies, tall vertical structures, and dense tree canopies to minimize the risk of collision or signal interference, and can only traverse surfaces that are clear and stable for low-altitude flight. Which flight path should the quadcopter take to reach the destination with minimal risk?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"Which flight path should the quadcopter take to reach the destination with minimal risk?","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":"western_18.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":14,"start_point":[814,974],"end_point":[24,121],"distance":1162.630207761694},{"start_region_id":1,"end_region_id":14,"start_point":[903,835],"end_point":[24,121],"distance":1132.4473497695158},{"start_region_id":4,"end_region_id":11,"start_point":[814,974],"end_point":[148,60],"distance":1130.9076001159424},{"start_region_id":1,"end_region_id":11,"start_point":[903,835],"end_point":[148,60],"distance":1081.965803526156},{"start_region_id":4,"end_region_id":8,"start_point":[814,974],"end_point":[474,19],"distance":1013.7184027134952}],"complexity_score":0.6301834582386903}
{"id":1361,"query_id":"Q00273","question":"A quadcopter drone is currently positioned on a paved, hard surface and needs to reach a cultivated field with crops as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, areas covered with low vegetation like grass or shrubs, the paved surface it starts on, liquid bodies, and the cultivated field it aims for. However, it must avoid flying through dense clusters of 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":"cultivated field with crops","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":"kagera_66.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":240,"start_point":[587,77],"end_point":[766,300],"distance":285.9545418418809}],"complexity_score":0.6303527876090961}
{"id":2647,"query_id":"Q00530","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved street. The terrain includes areas of loose, dry earth and rocks without vegetation, as well as flat, hard surfaces like sidewalks and parking lots. The cultivated field is traversable because the crops are low and the ground is firm enough to walk on. What is the shortest path to the street?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"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":"kagera_66.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":135,"start_point":[766,300],"end_point":[587,77],"distance":285.9545418418809}],"complexity_score":0.6303527876090961}
{"id":12139,"query_id":"Q02428","question":"A quadcopter drone is on a paved, hard surface and needs to reach a paved lane or street as quickly as possible. The drone can fly over areas with soft, grassy ground, hard surfaces like sidewalks and parking lots, paved roads, and liquid bodies. However, it must avoid any tall, vertical obstacles like trees or buildings that could obstruct its flight path. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"a paved lane or street","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":"kagera_66.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":132,"end_region_id":135,"start_point":[87,840],"end_point":[587,77],"distance":912.2329746287403},{"start_region_id":130,"end_region_id":135,"start_point":[133,671],"end_point":[587,77],"distance":747.6309249890617},{"start_region_id":111,"end_region_id":135,"start_point":[61,314],"end_point":[587,77],"distance":576.9272051134354},{"start_region_id":128,"end_region_id":135,"start_point":[303,579],"end_point":[587,77],"distance":576.7668506424411},{"start_region_id":109,"end_region_id":135,"start_point":[120,396],"end_point":[587,77],"distance":565.5528268871087}],"complexity_score":0.6303527876090961}
{"id":1036,"query_id":"Q00208","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The vehicle can traverse grassy fields and cultivated plots, as these are firm and dry enough for off-road tires. However, loose sandy or rocky ground is too soft and risky, and any vertical obstacles or liquid surfaces are impassable. 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 grassy, open area with low vegetation","task_description":"What is the safest path?","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":"baybay_27.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":153,"end_region_id":72,"start_point":[654,370],"end_point":[941,734],"distance":463.5353276720125},{"start_region_id":171,"end_region_id":37,"start_point":[658,698],"end_point":[497,301],"distance":428.40401492049534},{"start_region_id":160,"end_region_id":72,"start_point":[633,494],"end_point":[941,734],"distance":390.4663877979768},{"start_region_id":153,"end_region_id":81,"start_point":[654,370],"end_point":[558,695],"distance":338.88198535773483},{"start_region_id":171,"end_region_id":48,"start_point":[658,698],"end_point":[578,387],"distance":321.1245864146811}],"complexity_score":0.6303831025864645}
{"id":14577,"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":"baybay_27.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":384,"start_point":[881,194],"end_point":[36,957],"distance":1138.505160286944},{"start_region_id":384,"end_region_id":251,"start_point":[36,957],"end_point":[881,194],"distance":1138.505160286944},{"start_region_id":251,"end_region_id":397,"start_point":[881,194],"end_point":[192,981],"distance":1045.987571627885},{"start_region_id":397,"end_region_id":251,"start_point":[192,981],"end_point":[881,194],"distance":1045.987571627885},{"start_region_id":384,"end_region_id":298,"start_point":[36,957],"end_point":[945,528],"distance":1005.1477503332533}],"complexity_score":0.6303831025864645}
{"id":17214,"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":"baybay_27.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":2,"start_point":[941,734],"end_point":[118,81],"distance":1050.5893584079367},{"start_region_id":2,"end_region_id":72,"start_point":[118,81],"end_point":[941,734],"distance":1050.5893584079367},{"start_region_id":72,"end_region_id":3,"start_point":[941,734],"end_point":[326,72],"distance":903.586741823938},{"start_region_id":3,"end_region_id":72,"start_point":[326,72],"end_point":[941,734],"distance":903.586741823938},{"start_region_id":2,"end_region_id":29,"start_point":[118,81],"end_point":[962,240],"distance":858.8463191980275}],"complexity_score":0.6303831025864645}
{"id":965,"query_id":"Q00193","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over grassy or shrubby areas, paved lanes, and wooded areas, but must avoid dense tree canopies that could obstruct flight. However, the drone cannot land on or enter any solid 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","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_25.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":138,"start_point":[439,553],"end_point":[750,968],"distance":518.6000385653668},{"start_region_id":138,"end_region_id":136,"start_point":[750,968],"end_point":[439,553],"distance":518.6000385653668}],"complexity_score":0.6303847343544305}
{"id":3900,"query_id":"Q00780","question":"A quadcopter drone starts from a grassy area and needs to reach a flat, paved surface. The available terrain includes loose, sandy ground; compacted, unpaved surfaces; and areas with tall vegetation that may cause turbulence. You must avoid any vertical structures. Given the need for a smooth and stable flight, what is the most comfortable 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 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":"ulaanbaatar_25.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":123,"start_point":[53,84],"end_point":[970,945],"distance":1257.8592926078816},{"start_region_id":6,"end_region_id":130,"start_point":[949,79],"end_point":[103,981],"distance":1236.6567834286116},{"start_region_id":6,"end_region_id":122,"start_point":[949,79],"end_point":[52,881],"distance":1203.2510128813522},{"start_region_id":4,"end_region_id":127,"start_point":[53,84],"end_point":[829,975],"distance":1181.5485601531577},{"start_region_id":13,"end_region_id":130,"start_point":[964,211],"end_point":[103,981],"distance":1155.0848453685123}],"complexity_score":0.6303847343544305}
{"id":5105,"query_id":"Q01021","question":"A family sedan is currently on a paved lane and needs to reach a flat, hard-surfaced area like a parking lot. The vehicle can only travel on surfaces that are smooth and stable to ensure a comfortable ride. It is not allowed to drive on loose or uneven ground, such as cultivated fields, because those surfaces are too rough and could cause discomfort. What is the most comfortable path?","agent_category":"Car","specific_agent":"family sedan","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the most comfortable path for the family sedan to travel from the paved lane to the flat, hard-surfaced area?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"ulaanbaatar_25.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":82,"start_point":[750,968],"end_point":[64,152],"distance":1066.0450271916286},{"start_region_id":138,"end_region_id":78,"start_point":[750,968],"end_point":[244,119],"distance":988.3506462789409},{"start_region_id":138,"end_region_id":70,"start_point":[750,968],"end_point":[499,49],"distance":952.6604851677223},{"start_region_id":138,"end_region_id":74,"start_point":[750,968],"end_point":[973,102],"distance":894.2510833093802},{"start_region_id":138,"end_region_id":79,"start_point":[750,968],"end_point":[153,319],"distance":881.8219774988601}],"complexity_score":0.6303847343544305}
{"id":14458,"query_id":"Q02892","question":"A 4x4 off-road vehicle starts from a paved lane and needs to reach another paved lane. The terrain includes loose, sandy ground and cultivated fields with soft soil. The vehicle can traverse these surfaces due to its high clearance and all-wheel-drive capability. What is the shortest path?","agent_category":"Car","specific_agent":"a 4x4 off-road vehicle","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the shortest path from the starting paved lane to the destination 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":"ulaanbaatar_25.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":138,"start_point":[439,553],"end_point":[750,968],"distance":518.6000385653668},{"start_region_id":138,"end_region_id":136,"start_point":[750,968],"end_point":[439,553],"distance":518.6000385653668}],"complexity_score":0.6303847343544305}
{"id":1208,"query_id":"Q00242","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures that provide overhead cover. It needs to reach a cultivated field with low, uniform vegetation arranged in rows as quickly as possible. The drone can fly over open grassy expanses with scattered shrubs, but must navigate carefully through areas with dense overhead foliage that could entangle its rotors. The cultivated field is accessible, but the tall vegetated structures require cautious maneuvering to avoid collisions. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a vegetated area with tall, leafy structures that provide overhead cover","end_land_type":"a cultivated field with low, uniform vegetation arranged in rows","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":"accra_64.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":393,"start_point":[118,509],"end_point":[718,552],"distance":601.538859925109},{"start_region_id":288,"end_region_id":393,"start_point":[362,622],"end_point":[718,552],"distance":362.8167581576132},{"start_region_id":212,"end_region_id":393,"start_point":[504,316],"end_point":[718,552],"distance":318.57809089766357}],"complexity_score":0.6303898324115316}
{"id":13981,"query_id":"Q02797","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The hiker can traverse loose, sandy ground and areas with tall, vertical obstacles, but must avoid any liquid surfaces and solid structures. What is the shortest 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 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":"rio_47.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":19,"start_point":[423,146],"end_point":[51,25],"distance":391.184099881373}],"complexity_score":0.6304932866176791}
{"id":17581,"query_id":"Q03517","question":"A hiker starts from a paved lane and needs to reach another paved lane while prioritizing safety. The hiker can traverse areas with loose soil and sparse vegetation, but must avoid any liquid surfaces and vertical structures. The hiker is allowed to walk on grassy or cultivated fields if they are dry and stable, and can pass through wooded areas if the ground is clear of dense undergrowth. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a paved lane","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":"rio_47.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":19,"start_point":[6,45],"end_point":[438,139],"distance":442.10858394742803}],"complexity_score":0.6304932866176791}
{"id":2580,"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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":105,"start_point":[561,739],"end_point":[74,427],"distance":578.3709882073962},{"start_region_id":1,"end_region_id":105,"start_point":[264,662],"end_point":[74,427],"distance":302.2002647252315}],"complexity_score":0.6305488666680726}
{"id":4904,"query_id":"Q00981","question":"An aerial drone starts from a cultivated field and needs to reach a patch of sandy or rocky ground. You are piloting an aerial drone that can fly over hard surfaces, loose soil, vegetation, and liquid areas, but you must avoid flying through dense wooded patches or near structures due to navigation hazards. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":10,"start_point":[248,114],"end_point":[819,894],"distance":966.6648850558295},{"start_region_id":226,"end_region_id":5,"start_point":[634,40],"end_point":[94,769],"distance":907.2160712862179},{"start_region_id":226,"end_region_id":10,"start_point":[634,40],"end_point":[819,894],"distance":873.8083313862371},{"start_region_id":227,"end_region_id":5,"start_point":[848,328],"end_point":[94,769],"distance":873.4969948431419},{"start_region_id":228,"end_region_id":10,"start_point":[184,338],"end_point":[819,894],"distance":844.0148102965966}],"complexity_score":0.6305488666680726}
{"id":8413,"query_id":"Q01683","question":"A quadcopter drone begins on a sandy, open area and must fly to a grassy meadow in the shortest possible time. The drone can fly over most surfaces but must avoid tall, dense obstacles like trees and buildings to maintain speed and stability. Which route enables the drone to reach its destination fastest?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"grassy meadow","task_description":"Which route enables the drone to reach its destination 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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":16,"start_point":[94,769],"end_point":[832,73],"distance":1014.4259460404195},{"start_region_id":5,"end_region_id":24,"start_point":[94,769],"end_point":[945,291],"distance":976.0558385666262},{"start_region_id":10,"end_region_id":14,"start_point":[819,894],"end_point":[271,222],"distance":867.1147559579413},{"start_region_id":5,"end_region_id":33,"start_point":[94,769],"end_point":[880,451],"distance":847.8915024930961},{"start_region_id":10,"end_region_id":37,"start_point":[819,894],"end_point":[58,556],"distance":832.6854147876015}],"complexity_score":0.6305488666680726}
{"id":13431,"query_id":"Q02687","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a loose, sandy ground area. The drone can fly over open, dry terrain with sparse vegetation, as well as liquid surfaces, but must avoid vertical structures and dense vegetation that could cause collisions. The drone prioritizes minimizing risk of damage or loss of control. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy 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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":10,"start_point":[74,427],"end_point":[819,894],"distance":879.2690145797246},{"start_region_id":105,"end_region_id":2,"start_point":[74,427],"end_point":[561,739],"distance":578.3709882073962},{"start_region_id":105,"end_region_id":6,"start_point":[74,427],"end_point":[449,789],"distance":521.2187640521013},{"start_region_id":105,"end_region_id":5,"start_point":[74,427],"end_point":[94,769],"distance":342.58429619584143},{"start_region_id":105,"end_region_id":1,"start_point":[74,427],"end_point":[264,662],"distance":302.2002647252315}],"complexity_score":0.6305488666680726}
{"id":13445,"query_id":"Q02689","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, paved area with a hard, smooth surface. The drone can fly over open liquid surfaces, but must avoid any areas with tall vertical obstacles or structures. The drone's flight path should prioritize stability and smoothness to ensure clear sensor readings and minimal vibration.","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 flat, paved area with a hard, smooth 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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":105,"start_point":[819,894],"end_point":[74,427],"distance":879.2690145797246},{"start_region_id":2,"end_region_id":105,"start_point":[561,739],"end_point":[74,427],"distance":578.3709882073962},{"start_region_id":6,"end_region_id":105,"start_point":[449,789],"end_point":[74,427],"distance":521.2187640521013},{"start_region_id":5,"end_region_id":105,"start_point":[94,769],"end_point":[74,427],"distance":342.58429619584143},{"start_region_id":1,"end_region_id":105,"start_point":[264,662],"end_point":[74,427],"distance":302.2002647252315}],"complexity_score":0.6305488666680726}
{"id":15855,"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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":5,"start_point":[610,75],"end_point":[94,769],"distance":864.8074930295181},{"start_region_id":123,"end_region_id":10,"start_point":[610,75],"end_point":[819,894],"distance":845.246709546982},{"start_region_id":123,"end_region_id":6,"start_point":[610,75],"end_point":[449,789],"distance":731.9269089191898},{"start_region_id":123,"end_region_id":1,"start_point":[610,75],"end_point":[264,662],"distance":681.384619726627},{"start_region_id":123,"end_region_id":2,"start_point":[610,75],"end_point":[561,739],"distance":665.805527162399}],"complexity_score":0.6305488666680726}
{"id":15943,"query_id":"Q03189","question":"An aerial surveillance drone starts from a patch of loose, sandy ground, an aerial surveillance drone must navigate across various terrains to return to another patch of loose, sandy ground. The drone can fly over open, solid surfaces like paved areas and compacted lanes, as well as liquid surfaces and cultivated fields. It can also pass over areas with low vegetation or scattered bushes, but must avoid flying directly through dense clusters of tall, rigid vertical obstacles or close to large, solid vertical structures, as these pose collision risks. The liquid surfaces are calm and present minimal hazard beyond potential signal interference if flown too low. The cultivated fields are flat and predictable. The open solid surfaces are clear and obstruction-free. The low-vegetation areas are sparse enough for safe passage at altitude. The goal is to minimize operational risks such as collisions, signal loss, or unpredictable turbulence.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to another patch of loose, sandy 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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":5,"start_point":[819,894],"end_point":[94,769],"distance":735.6969484781081},{"start_region_id":5,"end_region_id":10,"start_point":[94,769],"end_point":[819,894],"distance":735.6969484781081},{"start_region_id":10,"end_region_id":1,"start_point":[819,894],"end_point":[264,662],"distance":601.538859925109},{"start_region_id":1,"end_region_id":10,"start_point":[264,662],"end_point":[819,894],"distance":601.538859925109},{"start_region_id":2,"end_region_id":5,"start_point":[561,739],"end_point":[94,769],"distance":467.9626053436321}],"complexity_score":0.6305488666680726}
{"id":17540,"query_id":"Q03508","question":"A hiker starts from a patch of loose, dry soil and scattered rocks without vegetation and needs to reach a cultivated field with orderly rows of crops. The hiker can walk on paved lanes used by vehicles and hard artificial surfaces. The hiker is also permitted to traverse loose earth or rocky ground, natural grass and shrub areas, and cultivated crop areas because the ground is firm and dry enough for stable footing. However, the hiker must avoid walking through dense tree clusters as they slow progress. The hiker's priority is to reach the destination as quickly as possible. What is the fastest path for the hiker?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a patch of loose, dry soil and scattered rocks without vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of crops.","task_description":"What is the fastest path for the hiker?","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":"coxsbazar_68.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":226,"start_point":[264,662],"end_point":[634,40],"distance":723.7292311355125},{"start_region_id":2,"end_region_id":226,"start_point":[561,739],"end_point":[634,40],"distance":702.8015367086216},{"start_region_id":2,"end_region_id":225,"start_point":[561,739],"end_point":[248,114],"distance":698.9949928289901},{"start_region_id":1,"end_region_id":227,"start_point":[264,662],"end_point":[848,328],"distance":672.7644461473867},{"start_region_id":2,"end_region_id":228,"start_point":[561,739],"end_point":[184,338],"distance":550.3907702714499}],"complexity_score":0.6305488666680726}
{"id":272,"query_id":"Q00055","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with soft, uneven soil. The drone must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. Additionally, it should minimize travel over liquid surfaces to reduce turbulence and maintain stable flight. The drone is permitted to traverse over loose, sandy ground; grassy, shrub-covered areas; liquid surfaces; and cultivated fields with rows of crops. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey 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 grassy, shrub-covered area with soft, uneven soil.","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":42,"start_point":[552,830],"end_point":[109,820],"distance":443.11285244280606},{"start_region_id":6,"end_region_id":42,"start_point":[445,831],"end_point":[109,820],"distance":336.1800113034682},{"start_region_id":6,"end_region_id":43,"start_point":[445,831],"end_point":[759,865],"distance":315.8354001691387}],"complexity_score":0.6305736514292234}
{"id":719,"query_id":"Q00144","question":"An aerial survey drone starts from a grassy, open field and needs to reach exposed, rocky ground as quickly as possible. The drone can fly over most surfaces, including hard paved areas, vehicle lanes, cultivated fields, and water bodies, but must avoid dense tree canopies and building structures due to collision risk. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"exposed, rocky ground","task_description":"What is the fastest route for the aerial survey drone to travel from the grassy, open field to the exposed, rocky 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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":6,"start_point":[996,81],"end_point":[445,831],"distance":930.645474925871},{"start_region_id":11,"end_region_id":7,"start_point":[996,81],"end_point":[552,830],"distance":870.7106293137807},{"start_region_id":8,"end_region_id":7,"start_point":[118,194],"end_point":[552,830],"distance":769.9688305379641},{"start_region_id":8,"end_region_id":6,"start_point":[118,194],"end_point":[445,831],"distance":716.0293290082467},{"start_region_id":9,"end_region_id":7,"start_point":[290,201],"end_point":[552,830],"distance":681.384619726627}],"complexity_score":0.6305736514292234}
{"id":2219,"query_id":"Q00444","question":"An aerial surveillance drone starts from a paved, hard-surfaced area and needs to reach an exposed, loose-soil terrain. The drone can fly over liquid surfaces and traverse hard, flat surfaces like roads and parking areas. It must avoid any vertical structures or dense vegetation clusters. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard-surfaced area","end_land_type":"exposed, loose-soil terrain","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":7,"start_point":[195,52],"end_point":[552,830],"distance":855.9982476617578},{"start_region_id":57,"end_region_id":6,"start_point":[195,52],"end_point":[445,831],"distance":818.132629834552},{"start_region_id":54,"end_region_id":7,"start_point":[445,81],"end_point":[552,830],"distance":756.6042558696058},{"start_region_id":54,"end_region_id":6,"start_point":[445,81],"end_point":[445,831],"distance":750.0},{"start_region_id":53,"end_region_id":7,"start_point":[298,161],"end_point":[552,830],"distance":715.5955561628369}],"complexity_score":0.6305736514292234}
{"id":2938,"query_id":"Q00588","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dry, sandy area. The drone can fly over open, flat surfaces like sand, paved areas, and liquid surfaces, but must avoid tall, dense vegetation that could obstruct its path. 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 for the quadcopter drone to travel from the paved, hard surface to the dry, sandy 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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":7,"start_point":[195,52],"end_point":[552,830],"distance":855.9982476617578},{"start_region_id":57,"end_region_id":6,"start_point":[195,52],"end_point":[445,831],"distance":818.132629834552},{"start_region_id":54,"end_region_id":7,"start_point":[445,81],"end_point":[552,830],"distance":756.6042558696058},{"start_region_id":54,"end_region_id":6,"start_point":[445,81],"end_point":[445,831],"distance":750.0},{"start_region_id":53,"end_region_id":7,"start_point":[298,161],"end_point":[552,830],"distance":715.5955561628369}],"complexity_score":0.6305736514292234}
{"id":3129,"query_id":"Q00626","question":"A hiker starts from a paved, hard surface and needs to reach a loose, sandy area. The sandy ground is firm and dry, making it walkable without sinking, and the paved surface provides a stable starting point. What is the shortest path?","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 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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":6,"start_point":[653,323],"end_point":[445,831],"distance":548.9335114565333},{"start_region_id":130,"end_region_id":7,"start_point":[653,323],"end_point":[552,830],"distance":516.9622810225133}],"complexity_score":0.6305736514292234}
{"id":7986,"query_id":"Q01598","question":"An aerial survey drone starts from a paved surface and needs to reach an open, vegetation-free ground area. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical structures and dense vegetation. The drone's flight path should prioritize surfaces that allow maximum speed and minimal navigation complexity.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"open, vegetation-free ground","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":7,"start_point":[195,52],"end_point":[552,830],"distance":855.9982476617578},{"start_region_id":57,"end_region_id":6,"start_point":[195,52],"end_point":[445,831],"distance":818.132629834552},{"start_region_id":54,"end_region_id":7,"start_point":[445,81],"end_point":[552,830],"distance":756.6042558696058},{"start_region_id":54,"end_region_id":6,"start_point":[445,81],"end_point":[445,831],"distance":750.0},{"start_region_id":53,"end_region_id":7,"start_point":[298,161],"end_point":[552,830],"distance":715.5955561628369}],"complexity_score":0.6305736514292234}
{"id":8572,"query_id":"Q01715","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a grassy, shrub-covered area. The drone can fly over the sandy ground, grassy areas, and wooded patches, but must avoid any paved surfaces, roads, water bodies, or buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"grassy, shrub-covered area","task_description":"What is the shortest path from the loose, sandy ground to the grassy, shrub-covered area?","task_type":"Shortest","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":42,"start_point":[552,830],"end_point":[109,820],"distance":443.11285244280606},{"start_region_id":6,"end_region_id":42,"start_point":[445,831],"end_point":[109,820],"distance":336.1800113034682}],"complexity_score":0.6305736514292234}
{"id":9691,"query_id":"Q01939","question":"A quadcopter drone is positioned on a paved surface and needs to reach an area of exposed, dry earth with no vegetation. The drone can fly over liquid surfaces and cultivated fields with crops, but must avoid flying through dense vegetation or near vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"exposed, dry earth with no vegetation","task_description":"What is the fastest route for the quadcopter drone to reach the exposed, dry earth area 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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":6,"start_point":[653,323],"end_point":[445,831],"distance":548.9335114565333},{"start_region_id":130,"end_region_id":7,"start_point":[653,323],"end_point":[552,830],"distance":516.9622810225133}],"complexity_score":0.6305736514292234}
{"id":10696,"query_id":"Q02140","question":"A hiker starts from rocky, sandy terrain and needs to reach a concrete sidewalk. The hiker must avoid any water bodies or buildings, as these are impassable. The goal is to find the safest path that minimizes risks such as slipping, tripping, or encountering dangerous obstacles.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"rocky, sandy terrain","end_land_type":"a concrete sidewalk","task_description":"What is the safest path for the hiker to take from the rocky, sandy terrain to the concrete sidewalk?","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_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":57,"start_point":[552,830],"end_point":[195,52],"distance":855.9982476617578},{"start_region_id":6,"end_region_id":57,"start_point":[445,831],"end_point":[195,52],"distance":818.132629834552},{"start_region_id":7,"end_region_id":54,"start_point":[552,830],"end_point":[445,81],"distance":756.6042558696058},{"start_region_id":6,"end_region_id":54,"start_point":[445,831],"end_point":[445,81],"distance":750.0},{"start_region_id":7,"end_region_id":53,"start_point":[552,830],"end_point":[298,161],"distance":715.5955561628369}],"complexity_score":0.6305736514292234}
{"id":14201,"query_id":"Q02841","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a loose, sandy ground without vegetation. The drone can fly over liquid surfaces, but cannot pass through dense vertical obstacles or solid structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground without vegetation","task_description":"What is the shortest path for the aerial surveillance drone to travel from the paved, hard surface to the loose, sandy ground without vegetation?","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":6,"start_point":[653,323],"end_point":[445,831],"distance":548.9335114565333},{"start_region_id":130,"end_region_id":7,"start_point":[653,323],"end_point":[552,830],"distance":516.9622810225133}],"complexity_score":0.6305736514292234}
{"id":15076,"query_id":"Q03016","question":"A hiker starts from a shaded area under a tree and needs to reach a patch of loose, sandy ground. The hiker prefers to walk on firm, even surfaces to avoid tripping or sinking, and can traverse grassy or shrubby areas if they are dry and not too dense, as well as cultivated fields if they are flat and free of crops. However, the hiker cannot cross water bodies or enter buildings. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Tree","end_land_type":"Bareland","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":7,"start_point":[174,324],"end_point":[552,830],"distance":631.6011399609725},{"start_region_id":149,"end_region_id":6,"start_point":[174,324],"end_point":[445,831],"distance":574.8825967099717}],"complexity_score":0.6305736514292234}
{"id":17376,"query_id":"Q03476","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a destination on loose, sandy ground without vegetation. The drone can fly over various surfaces including loose sandy areas, grassy or shrub-covered terrain, paved surfaces, areas with tall vertical obstacles, and liquid bodies. The drone's flight controller prioritizes smooth, stable flight paths to minimize vibration and ensure stable sensor readings. Which path should the drone take to reach the destination with maximum ride comfort?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground without vegetation","task_description":"Which path should the drone take to reach the destination with maximum ride comfort?","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":"oklahoma_25.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":130,"end_region_id":6,"start_point":[653,323],"end_point":[445,831],"distance":548.9335114565333},{"start_region_id":130,"end_region_id":7,"start_point":[653,323],"end_point":[552,830],"distance":516.9622810225133}],"complexity_score":0.6305736514292234}
{"id":612,"query_id":"Q00123","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 areas with loose soil used for crop growth, bodies of liquid, and clusters of tall vertical obstacles, but must avoid rough or unstable terrain that could cause vibrations. The drone prefers smooth, stable surfaces for a comfortable flight, and should minimize exposure to windy or turbulent conditions near tall obstacles or over liquid surfaces. 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 parking lot or sidewalk","task_description":"What is the most comfortable path for the quadcopter drone to take from the paved lane to the hard, flat surface?","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":"daressalaam_10.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":70,"start_point":[841,958],"end_point":[264,32],"distance":1091.0568271176346},{"start_region_id":341,"end_region_id":78,"start_point":[841,958],"end_point":[123,139],"distance":1089.1671129812908},{"start_region_id":341,"end_region_id":71,"start_point":[841,958],"end_point":[635,239],"distance":747.9284725159218},{"start_region_id":341,"end_region_id":196,"start_point":[841,958],"end_point":[276,757],"distance":599.6882523444995},{"start_region_id":341,"end_region_id":181,"start_point":[841,958],"end_point":[960,395],"distance":575.4389628796438}],"complexity_score":0.6306170332018237}
{"id":17765,"query_id":"Q03553","question":"A quadcopter drone is starting 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 areas with low vegetation like grass and shrubs, paved lanes used by vehicles, liquid surfaces, and cultivated fields, but must avoid tall vertical obstacles like trees and solid 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":"Another cultivated field with rows of crops","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Water","Agriculture land"],"traverse_vector":[0,1,0,1,0,1,1,0],"cost_vector":[0,1,0,1,0,1,1,0],"image_name":"les_cayes_56.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":373,"end_region_id":381,"start_point":[241,866],"end_point":[1004,867],"distance":763.0006553077134},{"start_region_id":381,"end_region_id":373,"start_point":[1004,867],"end_point":[241,866],"distance":763.0006553077134},{"start_region_id":337,"end_region_id":373,"start_point":[806,353],"end_point":[241,866],"distance":763.1474300552941},{"start_region_id":373,"end_region_id":337,"start_point":[241,866],"end_point":[806,353],"distance":763.1474300552941},{"start_region_id":337,"end_region_id":387,"start_point":[806,353],"end_point":[519,977],"distance":686.8369529953961}],"complexity_score":0.6306640497884087}
{"id":2386,"query_id":"Q00478","question":"An aerial surveillance drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane or street. The drone can fly over loose, sandy or rocky ground, liquid surfaces, and other paved areas, but must avoid any vertical structures or dense vegetation. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A vehicle lane or street","task_description":"What is the shortest path?","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":"vienna_65.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":137,"start_point":[980,129],"end_point":[498,503],"distance":610.0819617067857},{"start_region_id":131,"end_region_id":137,"start_point":[889,966],"end_point":[498,503],"distance":606.0115510450275},{"start_region_id":50,"end_region_id":137,"start_point":[202,41],"end_point":[498,503],"distance":548.6893474453464},{"start_region_id":120,"end_region_id":137,"start_point":[142,902],"end_point":[498,503],"distance":534.7307733803993},{"start_region_id":53,"end_region_id":137,"start_point":[804,200],"end_point":[498,503],"distance":430.6332546378647}],"complexity_score":0.6307398518877333}
{"id":6846,"query_id":"Q01370","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy canopies and needs to reach another densely vegetated area with tall, leafy canopies. The terrain includes rough, loose soil and rocks; smooth, hard artificial surfaces; cultivated fields with soft, tilled soil; and additional densely vegetated areas with tall, leafy canopies. The drone must navigate carefully through the densely vegetated areas due to potential obstacles, but it can traverse them. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter 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 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":"vienna_65.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":187,"start_point":[20,136],"end_point":[963,727],"distance":1112.8926273455136},{"start_region_id":187,"end_region_id":143,"start_point":[963,727],"end_point":[20,136],"distance":1112.8926273455136},{"start_region_id":182,"end_region_id":187,"start_point":[51,644],"end_point":[963,727],"distance":915.769075695396},{"start_region_id":187,"end_region_id":182,"start_point":[963,727],"end_point":[51,644],"distance":915.769075695396},{"start_region_id":187,"end_region_id":176,"start_point":[963,727],"end_point":[81,543],"distance":900.9883462065422}],"complexity_score":0.6307398518877333}
{"id":11056,"query_id":"Q02212","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a dense cluster of tall, vertical vegetation as quickly as possible. The hiker can traverse grassy fields and shrubs, cultivated crop fields, and vehicle lanes, but must avoid any liquid surfaces and permanent structures. The hiker can also walk on loose, sandy or rocky ground if necessary. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a dense cluster of tall, vertical vegetation","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":[2,3,6,5,1,0,4,0],"image_name":"vienna_65.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":143,"start_point":[889,966],"end_point":[20,136],"distance":1201.6908920350525},{"start_region_id":105,"end_region_id":143,"start_point":[862,760],"end_point":[20,136],"distance":1048.0171754317769},{"start_region_id":126,"end_region_id":143,"start_point":[637,914],"end_point":[20,136],"distance":992.961731387469},{"start_region_id":75,"end_region_id":143,"start_point":[920,448],"end_point":[20,136],"distance":952.5460618783744},{"start_region_id":56,"end_region_id":143,"start_point":[980,129],"end_point":[20,136],"distance":960.0255204941169}],"complexity_score":0.6307398518877333}
{"id":15837,"query_id":"Q03168","question":"A quadcopter drone starts from an area with tall vertical obstacles extending upward and needs to reach another similar area. You can fly over surfaces with loose, granular material; soft ground with natural vegetation; flat, hard artificial surfaces; paved vehicle lanes; liquid bodies; and cultivated fields. You can also fly near solid vertical structures, but must maintain a safe distance to avoid collisions. What is the safest path to your destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"An area with tall vertical obstacles extending upward","end_land_type":"Another area with tall vertical obstacles extending upward","task_description":"What is the safest path to your 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":"vienna_65.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":187,"start_point":[20,136],"end_point":[963,727],"distance":1112.8926273455136},{"start_region_id":187,"end_region_id":143,"start_point":[963,727],"end_point":[20,136],"distance":1112.8926273455136},{"start_region_id":182,"end_region_id":187,"start_point":[51,644],"end_point":[963,727],"distance":915.769075695396},{"start_region_id":187,"end_region_id":182,"start_point":[963,727],"end_point":[51,644],"distance":915.769075695396},{"start_region_id":187,"end_region_id":176,"start_point":[963,727],"end_point":[81,543],"distance":900.9883462065422}],"complexity_score":0.6307398518877333}
{"id":4680,"query_id":"Q00936","question":"A quadcopter drone is on a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over liquid surfaces and hard, flat areas, but must avoid tall vertical obstacles and structures. The goal is to find a path that minimizes vibrations and ensures a smooth, stable flight.","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 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":"chiclayo_24.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":115,"start_point":[645,978],"end_point":[257,33],"distance":1021.5522502544841},{"start_region_id":45,"end_region_id":115,"start_point":[533,973],"end_point":[257,33],"distance":979.6815809231078},{"start_region_id":45,"end_region_id":117,"start_point":[533,973],"end_point":[897,94],"distance":951.386882398533},{"start_region_id":51,"end_region_id":117,"start_point":[645,978],"end_point":[897,94],"distance":919.217058153296},{"start_region_id":40,"end_region_id":117,"start_point":[60,448],"end_point":[897,94],"distance":908.7821521134754}],"complexity_score":0.6307495931349908}
{"id":13045,"query_id":"Q02609","question":"A quadcopter drone starts from a flat, cultivated field with loose soil and crop rows and needs to reach a smooth, paved area with hard, stable surfaces. The drone can fly over open grassy areas with low vegetation, hard paved surfaces, vehicle lanes, liquid bodies, and cultivated fields, but must avoid tall, dense vertical obstacles like trees and solid structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the fastest path for the quadcopter drone to reach the smooth, paved area from the cultivated 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":"chiclayo_24.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":51,"start_point":[257,33],"end_point":[645,978],"distance":1021.5522502544841},{"start_region_id":115,"end_region_id":45,"start_point":[257,33],"end_point":[533,973],"distance":979.6815809231078},{"start_region_id":117,"end_region_id":45,"start_point":[897,94],"end_point":[533,973],"distance":951.386882398533},{"start_region_id":117,"end_region_id":51,"start_point":[897,94],"end_point":[645,978],"distance":919.217058153296},{"start_region_id":117,"end_region_id":40,"start_point":[897,94],"end_point":[60,448],"distance":908.7821521134754}],"complexity_score":0.6307495931349908}
{"id":5528,"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_60.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":140,"start_point":[912,160],"end_point":[150,957],"distance":1102.6572450222236},{"start_region_id":140,"end_region_id":51,"start_point":[150,957],"end_point":[912,160],"distance":1102.6572450222236},{"start_region_id":140,"end_region_id":50,"start_point":[150,957],"end_point":[710,16],"distance":1095.0255704776944},{"start_region_id":50,"end_region_id":140,"start_point":[710,16],"end_point":[150,957],"distance":1095.0255704776944},{"start_region_id":140,"end_region_id":64,"start_point":[150,957],"end_point":[997,284],"distance":1081.8216119120564}],"complexity_score":0.6307901208285938}
{"id":8142,"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_60.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":160,"start_point":[860,5],"end_point":[486,995],"distance":1058.289185430901}],"complexity_score":0.6307901208285938}
{"id":551,"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_46.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":176,"start_point":[36,370],"end_point":[975,714],"distance":1000.0284995938865},{"start_region_id":176,"end_region_id":131,"start_point":[975,714],"end_point":[36,370],"distance":1000.0284995938865},{"start_region_id":131,"end_region_id":151,"start_point":[36,370],"end_point":[900,639],"distance":904.9071775602181},{"start_region_id":151,"end_region_id":131,"start_point":[900,639],"end_point":[36,370],"distance":904.9071775602181},{"start_region_id":156,"end_region_id":176,"start_point":[78,565],"end_point":[975,714],"distance":909.2909325402953}],"complexity_score":0.6308457566447477}
{"id":8396,"query_id":"Q01680","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The environment consists of three types of surfaces: loose, unstable ground composed of sand or rocks; grassy, uneven terrain with natural vegetation; and flat, hard surfaces like sidewalks or parking lots. You must avoid all other surface types including water bodies, buildings, trees, agricultural fields, and roads. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space"],"traverse_vector":[1,1,1,0,0,0,0,0],"cost_vector":[1,2,3,0,0,0,0,0],"image_name":"melbourne_29.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":31,"start_point":[925,827],"end_point":[866,632],"distance":203.73021376320204},{"start_region_id":31,"end_region_id":40,"start_point":[866,632],"end_point":[925,827],"distance":203.73021376320204}],"complexity_score":0.6310480312220893}
{"id":14586,"query_id":"Q02918","question":"An aerial surveillance drone begins its mission on grassy, shrub-covered terrain and needs to reach a cluster of tall, leafy vegetation. The drone must avoid any liquid surfaces and man-made structures entirely. The drone can traverse open, loose soil areas and paved lanes, but flying through dense vegetation requires careful navigation due to collision risks. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, shrub-covered terrain","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","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_29.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":146,"start_point":[973,146],"end_point":[718,844],"distance":743.1211206795296},{"start_region_id":7,"end_region_id":140,"start_point":[973,146],"end_point":[833,774],"distance":643.4158841682415},{"start_region_id":40,"end_region_id":121,"start_point":[925,827],"end_point":[896,285],"distance":542.7752757817917},{"start_region_id":7,"end_region_id":130,"start_point":[973,146],"end_point":[788,536],"distance":431.65379646193315},{"start_region_id":7,"end_region_id":128,"start_point":[973,146],"end_point":[868,485],"distance":354.8887149516028}],"complexity_score":0.6310480312220893}
{"id":17204,"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_29.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":7,"start_point":[355,501],"end_point":[973,146],"distance":712.7054089874722},{"start_region_id":110,"end_region_id":40,"start_point":[355,501],"end_point":[925,827],"distance":656.6399317738756},{"start_region_id":111,"end_region_id":7,"start_point":[992,561],"end_point":[973,146],"distance":415.4347120788055},{"start_region_id":110,"end_region_id":31,"start_point":[355,501],"end_point":[866,632],"distance":527.5244070182914},{"start_region_id":111,"end_region_id":40,"start_point":[992,561],"end_point":[925,827],"distance":274.3082208028042}],"complexity_score":0.6310480312220893}
{"id":16039,"query_id":"Q03208","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over open grassy areas, paved surfaces, cultivated plots, and water bodies. It can also navigate around or between tall vertical structures and dense vegetation clusters, but these present collision risks and should be avoided if possible. The water surfaces are stable but pose a splash risk to sensors in low-altitude flight. The primary objective is to minimize operational risks such as collisions, signal interference, or environmental damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest flight 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":"tyrolw_69.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":1,"start_point":[760,850],"end_point":[113,39],"distance":1037.4632523612584},{"start_region_id":111,"end_region_id":3,"start_point":[760,850],"end_point":[382,109],"distance":831.8443363995453},{"start_region_id":111,"end_region_id":6,"start_point":[760,850],"end_point":[832,38],"distance":815.185868376041},{"start_region_id":110,"end_region_id":1,"start_point":[507,747],"end_point":[113,39],"distance":810.246875958186},{"start_region_id":110,"end_region_id":6,"start_point":[507,747],"end_point":[832,38],"distance":779.9397412621055}],"complexity_score":0.6310782607019246}
{"id":8613,"query_id":"Q01723","question":"An off-road vehicle starts from a grassy, uneven area with scattered bushes and needs to reach another similar grassy, uneven area with scattered bushes. The terrain includes patches of loose, sandy soil and rocks, as well as paved lanes used by vehicles. You must avoid any water bodies, structures, and wooded areas, and cannot cross cultivated fields. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven terrain with scattered bushes","end_land_type":"grassy, uneven terrain with scattered bushes","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":"ulaanbaatar_33.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":4,"start_point":[153,875],"end_point":[890,69],"distance":1092.1561243705041},{"start_region_id":4,"end_region_id":56,"start_point":[890,69],"end_point":[153,875],"distance":1092.1561243705041},{"start_region_id":8,"end_region_id":32,"start_point":[82,165],"end_point":[995,452],"distance":957.046498347912},{"start_region_id":32,"end_region_id":8,"start_point":[995,452],"end_point":[82,165],"distance":957.046498347912},{"start_region_id":4,"end_region_id":59,"start_point":[890,69],"end_point":[404,890],"distance":954.0634150830856}],"complexity_score":0.6311554667145194}
{"id":17314,"query_id":"Q03463","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over grassy areas, paved surfaces, and vehicle lanes because they are open and unobstructed. The drone must avoid liquid surfaces because moisture could damage the electronics. The drone must avoid vertical structures and wooded areas because they pose collision risks. The drone must avoid loose, sandy ground because dust could interfere with the rotors. The drone must avoid cultivated fields because pesticide spray could contaminate the sensors.","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 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":"ulaanbaatar_33.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":4,"start_point":[23,969],"end_point":[890,69],"distance":1249.6755578949283},{"start_region_id":98,"end_region_id":8,"start_point":[970,911],"end_point":[82,165],"distance":1159.7672180226514},{"start_region_id":102,"end_region_id":32,"start_point":[23,969],"end_point":[995,452],"distance":1100.9418694917547},{"start_region_id":93,"end_region_id":4,"start_point":[143,858],"end_point":[890,69],"distance":1086.5219740069688},{"start_region_id":102,"end_region_id":27,"start_point":[23,969],"end_point":[874,347],"distance":1054.0801677291913}],"complexity_score":0.6311554667145194}
{"id":3932,"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_4.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":2,"start_point":[877,659],"end_point":[546,60],"distance":684.3697830851388},{"start_region_id":57,"end_region_id":36,"start_point":[341,171],"end_point":[856,586],"distance":661.4000302388865},{"start_region_id":51,"end_region_id":36,"start_point":[642,94],"end_point":[856,586],"distance":536.5258614456529},{"start_region_id":52,"end_region_id":22,"start_point":[947,104],"end_point":[505,355],"distance":508.2961735051721},{"start_region_id":52,"end_region_id":36,"start_point":[947,104],"end_point":[856,586],"distance":490.5150354474366}],"complexity_score":0.6311676889734736}
{"id":13025,"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":"dhaka_4.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":151,"start_point":[877,659],"end_point":[869,46],"distance":613.0522000612998},{"start_region_id":89,"end_region_id":151,"start_point":[452,447],"end_point":[869,46],"distance":578.5239839453503},{"start_region_id":57,"end_region_id":151,"start_point":[341,171],"end_point":[869,46],"distance":542.5946921966708},{"start_region_id":52,"end_region_id":150,"start_point":[947,104],"end_point":[539,408],"distance":508.80251571705105},{"start_region_id":112,"end_region_id":150,"start_point":[877,659],"end_point":[539,408],"distance":421.0047505670215}],"complexity_score":0.6311676889734736}
{"id":17317,"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_4.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":89,"start_point":[869,46],"end_point":[452,447],"distance":578.5239839453503},{"start_region_id":151,"end_region_id":57,"start_point":[869,46],"end_point":[341,171],"distance":542.5946921966708},{"start_region_id":150,"end_region_id":52,"start_point":[539,408],"end_point":[947,104],"distance":508.80251571705105},{"start_region_id":150,"end_region_id":51,"start_point":[539,408],"end_point":[642,94],"distance":330.4617980947268},{"start_region_id":150,"end_region_id":57,"start_point":[539,408],"end_point":[341,171],"distance":308.8251932728287}],"complexity_score":0.6311676889734736}
{"id":6138,"query_id":"Q01228","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 through areas with loose soil, grassy patches, and wooded sections. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved area","end_land_type":"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","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"tokyo_44.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":272,"start_point":[993,797],"end_point":[471,399],"distance":656.4205968736812},{"start_region_id":69,"end_region_id":272,"start_point":[909,38],"end_point":[471,399],"distance":567.5958068907838},{"start_region_id":62,"end_region_id":272,"start_point":[85,30],"end_point":[471,399],"distance":534.0009363287671},{"start_region_id":74,"end_region_id":272,"start_point":[908,151],"end_point":[471,399],"distance":502.46691433367033},{"start_region_id":251,"end_region_id":272,"start_point":[624,859],"end_point":[471,399],"distance":484.7772684439731}],"complexity_score":0.6311769702583574}
{"id":11265,"query_id":"Q02253","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane while prioritizing safety. The drone can fly over hard, stable surfaces; vehicle lanes; grassy or shrub-covered areas; calm water bodies; and wooded areas, as these terrains pose minimal risk to aerial navigation. However, the drone cannot fly close to any structures or buildings, as they create unpredictable wind patterns and collision hazards that are too dangerous for safe flight.","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 for the quadcopter drone to take from the paved area to the vehicle lane?","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":"tokyo_44.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":272,"start_point":[993,797],"end_point":[471,399],"distance":656.4205968736812},{"start_region_id":69,"end_region_id":272,"start_point":[909,38],"end_point":[471,399],"distance":567.5958068907838},{"start_region_id":62,"end_region_id":272,"start_point":[85,30],"end_point":[471,399],"distance":534.0009363287671},{"start_region_id":74,"end_region_id":272,"start_point":[908,151],"end_point":[471,399],"distance":502.46691433367033},{"start_region_id":251,"end_region_id":272,"start_point":[624,859],"end_point":[471,399],"distance":484.7772684439731}],"complexity_score":0.6311769702583574}
{"id":11700,"query_id":"Q02340","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 loose, dry soil and rock accumulations, as well as over individual trees or groups of trees that are tall enough to require careful navigation. However, the drone cannot travel over water bodies, agricultural fields, grassy or shrub-covered areas, or any structures with vertical walls. 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 reach the destination?","task_type":"Fastest","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":"tokyo_44.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":62,"start_point":[993,797],"end_point":[85,30],"distance":1188.5928655347045},{"start_region_id":62,"end_region_id":241,"start_point":[85,30],"end_point":[993,797],"distance":1188.5928655347045},{"start_region_id":120,"end_region_id":241,"start_point":[59,332],"end_point":[993,797],"distance":1043.3508518231056},{"start_region_id":241,"end_region_id":120,"start_point":[993,797],"end_point":[59,332],"distance":1043.3508518231056},{"start_region_id":241,"end_region_id":64,"start_point":[993,797],"end_point":[288,36],"distance":1037.3745707313246}],"complexity_score":0.6311769702583574}
{"id":15550,"query_id":"Q03110","question":"A quadcopter drone is positioned on a cultivated field with soft, tilled soil and rows of crops. It needs to reach an open area covered with natural grasses and low shrubs. The drone can fly over surfaces with solid ground, such as paved areas and compacted lanes, as well as over liquid surfaces like ponds or streams. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with soft, tilled soil and rows of crops","end_land_type":"An open area covered with natural grasses and low shrubs","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":"tokyo_44.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":367,"end_region_id":54,"start_point":[61,161],"end_point":[798,969],"distance":1093.6329365925296},{"start_region_id":383,"end_region_id":9,"start_point":[19,758],"end_point":[976,287],"distance":1066.6255200397186},{"start_region_id":366,"end_region_id":54,"start_point":[496,23],"end_point":[798,969],"distance":993.0357496082404},{"start_region_id":372,"end_region_id":54,"start_point":[16,363],"end_point":[798,969],"distance":989.3230008445169},{"start_region_id":366,"end_region_id":57,"start_point":[496,23],"end_point":[245,968],"distance":977.7658206339594}],"complexity_score":0.6311769702583574}
{"id":3826,"query_id":"Q00766","question":"A hiker starts from a grassy, uneven terrain with scattered shrubs and needs to reach a paved lane for vehicles. The area contains various surfaces: loose sandy or rocky ground without vegetation, additional grassy or shrub-covered areas, hard artificial surfaces like sidewalks and parking lots, other paved lanes, individual or clustered tall vegetation with distinct height and shadow, and cultivated fields with crops. All these surfaces are accessible for traversal. 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":"a paved lane for vehicles","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":"oklahoma_22.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":234,"start_point":[202,926],"end_point":[848,165],"distance":998.2169102955529},{"start_region_id":85,"end_region_id":234,"start_point":[744,978],"end_point":[848,165],"distance":819.6249142138128},{"start_region_id":1,"end_region_id":234,"start_point":[104,382],"end_point":[848,165],"distance":775.0},{"start_region_id":73,"end_region_id":234,"start_point":[379,751],"end_point":[848,165],"distance":750.571115884431},{"start_region_id":76,"end_region_id":234,"start_point":[689,876],"end_point":[848,165],"distance":728.5615965723146}],"complexity_score":0.6312414403673667}
{"id":5352,"query_id":"Q01071","question":"A hiker is standing on a grassy, uneven field and needs to reach a paved, hard-surfaced area. The hiker can traverse grassy fields and paved surfaces, but cannot cross any water bodies, buildings, roads, bare sand or rock expanses, agricultural plots, or wooded areas. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a grassy, uneven field","end_land_type":"a paved, hard-surfaced area","task_description":"What is the shortest path for the hiker to take?","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_22.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":224,"start_point":[744,978],"end_point":[205,840],"distance":556.3856576152912},{"start_region_id":76,"end_region_id":224,"start_point":[689,876],"end_point":[205,840],"distance":485.33699632317337},{"start_region_id":85,"end_region_id":218,"start_point":[744,978],"end_point":[282,913],"distance":466.5501044903966},{"start_region_id":74,"end_region_id":224,"start_point":[597,794],"end_point":[205,840],"distance":394.689751577109},{"start_region_id":76,"end_region_id":218,"start_point":[689,876],"end_point":[282,913],"distance":408.67835763592865}],"complexity_score":0.6312414403673667}
{"id":8398,"query_id":"Q01680","question":"A hiker starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The environment consists of three types of surfaces: loose, unstable ground composed of sand or rocks; grassy, uneven terrain with natural vegetation; and flat, hard surfaces like sidewalks or parking lots. You must avoid all other surface types including water bodies, buildings, trees, agricultural fields, and roads. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"What is the safest path to your destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space"],"traverse_vector":[1,1,1,0,0,0,0,0],"cost_vector":[1,2,3,0,0,0,0,0],"image_name":"oklahoma_22.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":85,"start_point":[202,926],"end_point":[744,978],"distance":544.4887510316444},{"start_region_id":85,"end_region_id":75,"start_point":[744,978],"end_point":[202,926],"distance":544.4887510316444},{"start_region_id":75,"end_region_id":76,"start_point":[202,926],"end_point":[689,876],"distance":489.5600065364817},{"start_region_id":76,"end_region_id":75,"start_point":[689,876],"end_point":[202,926],"distance":489.5600065364817},{"start_region_id":75,"end_region_id":74,"start_point":[202,926],"end_point":[597,794],"distance":416.47208790025775}],"complexity_score":0.6312414403673667}
{"id":4219,"query_id":"Q00844","question":"An agricultural monitoring drone is positioned on a grassy, open field with low vegetation. It needs to reach a cultivated crop field to begin its survey mission. The drone can fly over water bodies, but must avoid flying through dense tree canopies or near buildings due to collision risks. The drone's rotors can handle moisture from water surfaces, but flying directly through water is not required. What is the fastest path to reach the crop field?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop field","task_description":"What is the fastest path to reach the crop 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":"les_cayes_63.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":257,"end_region_id":687,"start_point":[439,962],"end_point":[963,184],"distance":938.0085287458745},{"start_region_id":31,"end_region_id":687,"start_point":[102,108],"end_point":[963,184],"distance":864.3477309509177},{"start_region_id":5,"end_region_id":688,"start_point":[793,65],"end_point":[237,636],"distance":796.9799244648513},{"start_region_id":52,"end_region_id":687,"start_point":[211,206],"end_point":[963,184],"distance":752.3217396832289},{"start_region_id":170,"end_region_id":687,"start_point":[678,758],"end_point":[963,184],"distance":640.8595790030762}],"complexity_score":0.631291151223353}
{"id":17770,"query_id":"Q03554","question":"A quadcopter drone is starting from a hard, paved surface and needs to reach a cultivated field. The drone can fly over most surfaces, but must avoid tall vertical obstacles like trees and buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Agriculture land","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":"les_cayes_63.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":549,"end_region_id":687,"start_point":[598,888],"end_point":[963,184],"distance":792.9949558477658},{"start_region_id":544,"end_region_id":688,"start_point":[642,335],"end_point":[237,636],"distance":504.6047958551326},{"start_region_id":549,"end_region_id":688,"start_point":[598,888],"end_point":[237,636],"distance":440.25560757360034},{"start_region_id":544,"end_region_id":687,"start_point":[642,335],"end_point":[963,184],"distance":354.7421598851763}],"complexity_score":0.631291151223353}
{"id":4799,"query_id":"Q00960","question":"A person on foot 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 are currently dry and firm enough to walk on without sinking. What is the shortest path to the vehicle lane?","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 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_74.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":224,"start_point":[115,67],"end_point":[480,117],"distance":368.4087403957729},{"start_region_id":148,"end_region_id":224,"start_point":[560,305],"end_point":[480,117],"distance":204.31348462595415}],"complexity_score":0.6314182401671514}
{"id":12627,"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":"daressalaam_74.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":224,"start_point":[250,981],"end_point":[480,117],"distance":894.0894809805112},{"start_region_id":211,"end_region_id":224,"start_point":[332,968],"end_point":[480,117],"distance":863.7736972147277},{"start_region_id":180,"end_region_id":224,"start_point":[765,842],"end_point":[480,117],"distance":779.0057766152958},{"start_region_id":172,"end_region_id":224,"start_point":[40,670],"end_point":[480,117],"distance":706.6887575163482},{"start_region_id":161,"end_region_id":224,"start_point":[981,565],"end_point":[480,117],"distance":672.0900237319403}],"complexity_score":0.6314182401671514}
{"id":5387,"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_6.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":291,"end_region_id":281,"start_point":[995,838],"end_point":[131,344],"distance":995.254741259744},{"start_region_id":281,"end_region_id":291,"start_point":[131,344],"end_point":[995,838],"distance":995.254741259744},{"start_region_id":291,"end_region_id":290,"start_point":[995,838],"end_point":[96,833],"distance":899.0139042306298},{"start_region_id":290,"end_region_id":291,"start_point":[96,833],"end_point":[995,838],"distance":899.0139042306298},{"start_region_id":278,"end_region_id":290,"start_point":[558,440],"end_point":[96,833],"distance":606.5418369741695}],"complexity_score":0.631425405263593}
{"id":8374,"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_6.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":291,"end_region_id":54,"start_point":[995,838],"end_point":[77,449],"distance":997.0180539990237},{"start_region_id":291,"end_region_id":2,"start_point":[995,838],"end_point":[418,40],"distance":984.7502221375734},{"start_region_id":290,"end_region_id":8,"start_point":[96,833],"end_point":[607,63],"distance":924.1325662479383},{"start_region_id":281,"end_region_id":135,"start_point":[131,344],"end_point":[918,828],"distance":923.9182864301366},{"start_region_id":290,"end_region_id":50,"start_point":[96,833],"end_point":[901,425],"distance":902.4904431626964}],"complexity_score":0.631425405263593}
{"id":14674,"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_6.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":135,"start_point":[58,51],"end_point":[918,828],"distance":1159.020707321487},{"start_region_id":171,"end_region_id":136,"start_point":[58,51],"end_point":[836,849],"distance":1114.4900179005642},{"start_region_id":176,"end_region_id":151,"start_point":[881,56],"end_point":[242,965],"distance":1111.1264554496036},{"start_region_id":176,"end_region_id":129,"start_point":[881,56],"end_point":[129,810],"distance":1064.9037515193568},{"start_region_id":248,"end_region_id":2,"start_point":[932,924],"end_point":[418,40],"distance":1022.5712689098985}],"complexity_score":0.631425405263593}
{"id":6106,"query_id":"Q01222","question":"A quadcopter drone starts from a concrete pad and needs to reach a tree canopy as quickly as possible. The drone can fly over hard surfaces, soft ground, grassy areas, and water, but must avoid colliding with vertical structures like buildings and dense tree branches. The drone has obstacle avoidance sensors, allowing it to navigate around sparse vegetation. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete pad","end_land_type":"a tree canopy","task_description":"What is the fastest path from the concrete pad to the tree canopy?","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":"tuscaloosa_17.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":168,"start_point":[930,915],"end_point":[89,65],"distance":1195.7345023039186},{"start_region_id":142,"end_region_id":177,"start_point":[154,959],"end_point":[954,187],"distance":1111.7481729240665},{"start_region_id":136,"end_region_id":168,"start_point":[743,942],"end_point":[89,65],"distance":1094.004113337788},{"start_region_id":142,"end_region_id":181,"start_point":[154,959],"end_point":[991,346],"distance":1037.4671079123425},{"start_region_id":85,"end_region_id":229,"start_point":[138,186],"end_point":[982,789],"distance":1037.2776870250318}],"complexity_score":0.6314428613516622}
{"id":6678,"query_id":"Q01336","question":"An aerial photography drone starts from a paved, hard surface and needs to reach another paved, hard surface destination. The drone's flight must prioritize a smooth and stable journey to protect its sensitive camera gimbal from vibrations. The drone can fly over areas of loose, dry earth and rocks; overgrown grassy and shrubby terrain; other paved or compacted artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures, as these could cause turbulence or sudden impacts. The drone can fly over liquid surfaces, but this is less comfortable due to potential updrafts and lack of visual reference for stability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography 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":"tuscaloosa_17.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":158,"start_point":[241,284],"end_point":[964,923],"distance":964.9093221645234},{"start_region_id":158,"end_region_id":146,"start_point":[964,923],"end_point":[241,284],"distance":964.9093221645234},{"start_region_id":153,"end_region_id":147,"start_point":[29,807],"end_point":[914,384],"distance":980.8944897388302},{"start_region_id":147,"end_region_id":153,"start_point":[914,384],"end_point":[29,807],"distance":980.8944897388302},{"start_region_id":153,"end_region_id":158,"start_point":[29,807],"end_point":[964,923],"distance":942.1682439989155}],"complexity_score":0.6314428613516622}
{"id":11917,"query_id":"Q02384","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The terrain includes areas of loose, dry soil and rock formations without vegetation, as well as flat, hard surfaces made of concrete or asphalt. The drone can fly over all these surfaces, but must avoid any tall vegetation or 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":"paved surface","task_description":"What is the shortest path to the destination?","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":"tuscaloosa_17.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":153,"end_region_id":158,"start_point":[29,807],"end_point":[964,923],"distance":942.1682439989155},{"start_region_id":158,"end_region_id":153,"start_point":[964,923],"end_point":[29,807],"distance":942.1682439989155},{"start_region_id":158,"end_region_id":157,"start_point":[964,923],"end_point":[258,921],"distance":706.0028328555063},{"start_region_id":157,"end_region_id":158,"start_point":[258,921],"end_point":[964,923],"distance":706.0028328555063},{"start_region_id":159,"end_region_id":153,"start_point":[726,923],"end_point":[29,807],"distance":706.5868665634821}],"complexity_score":0.6314428613516622}
{"id":3367,"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_40.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":799,"end_region_id":133,"start_point":[725,890],"end_point":[139,48],"distance":1025.8459923399807},{"start_region_id":133,"end_region_id":799,"start_point":[139,48],"end_point":[725,890],"distance":1025.8459923399807},{"start_region_id":799,"end_region_id":135,"start_point":[725,890],"end_point":[233,64],"distance":961.4260241953095},{"start_region_id":135,"end_region_id":799,"start_point":[233,64],"end_point":[725,890],"distance":961.4260241953095},{"start_region_id":656,"end_region_id":133,"start_point":[724,802],"end_point":[139,48],"distance":954.3275119161136}],"complexity_score":0.6314661078712865}
{"id":12468,"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_40.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":799,"end_region_id":133,"start_point":[725,890],"end_point":[139,48],"distance":1025.8459923399807},{"start_region_id":133,"end_region_id":799,"start_point":[139,48],"end_point":[725,890],"distance":1025.8459923399807},{"start_region_id":799,"end_region_id":135,"start_point":[725,890],"end_point":[233,64],"distance":961.4260241953095},{"start_region_id":135,"end_region_id":799,"start_point":[233,64],"end_point":[725,890],"distance":961.4260241953095},{"start_region_id":656,"end_region_id":133,"start_point":[724,802],"end_point":[139,48],"distance":954.3275119161136}],"complexity_score":0.6314661078712865}
{"id":3253,"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_2.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":314,"end_region_id":731,"start_point":[44,801],"end_point":[665,204],"distance":861.4232409216737},{"start_region_id":325,"end_region_id":731,"start_point":[205,921],"end_point":[665,204],"distance":851.8738169470876},{"start_region_id":179,"end_region_id":731,"start_point":[18,491],"end_point":[665,204],"distance":707.7979937807114},{"start_region_id":195,"end_region_id":731,"start_point":[177,623],"end_point":[665,204],"distance":643.1990360689294},{"start_region_id":95,"end_region_id":731,"start_point":[171,98],"end_point":[665,204],"distance":505.24449526936957}],"complexity_score":0.6314732173871979}
{"id":5288,"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_2.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":727,"end_region_id":729,"start_point":[448,87],"end_point":[859,69],"distance":411.3939717594316},{"start_region_id":729,"end_region_id":727,"start_point":[859,69],"end_point":[448,87],"distance":411.3939717594316},{"start_region_id":731,"end_region_id":727,"start_point":[665,204],"end_point":[448,87],"distance":246.53194519169315},{"start_region_id":727,"end_region_id":731,"start_point":[448,87],"end_point":[665,204],"distance":246.53194519169315},{"start_region_id":731,"end_region_id":729,"start_point":[665,204],"end_point":[859,69],"distance":236.34931774811622}],"complexity_score":0.6314732173871979}
{"id":9564,"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_2.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":314,"end_region_id":729,"start_point":[44,801],"end_point":[859,69],"distance":1095.467480119789},{"start_region_id":325,"end_region_id":729,"start_point":[205,921],"end_point":[859,69],"distance":1074.0670370139844},{"start_region_id":179,"end_region_id":729,"start_point":[18,491],"end_point":[859,69],"distance":940.9383614243815},{"start_region_id":195,"end_region_id":729,"start_point":[177,623],"end_point":[859,69],"distance":878.6580677373878},{"start_region_id":341,"end_region_id":729,"start_point":[648,906],"end_point":[859,69],"distance":863.1859591073062}],"complexity_score":0.6314732173871979}
{"id":4398,"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":"les_cayes_70.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":865,"end_region_id":357,"start_point":[57,751],"end_point":[796,50],"distance":1018.5882386911799},{"start_region_id":865,"end_region_id":614,"start_point":[57,751],"end_point":[1000,382],"distance":1012.6253008887345},{"start_region_id":794,"end_region_id":719,"start_point":[66,309],"end_point":[796,900],"distance":939.2449094884678},{"start_region_id":794,"end_region_id":614,"start_point":[66,309],"end_point":[1000,382],"distance":936.8484402506095},{"start_region_id":877,"end_region_id":357,"start_point":[498,941],"end_point":[796,50],"distance":939.5131718076123}],"complexity_score":0.6315813863892151}
{"id":4559,"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":"les_cayes_70.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":865,"end_region_id":357,"start_point":[57,751],"end_point":[796,50],"distance":1018.5882386911799},{"start_region_id":865,"end_region_id":614,"start_point":[57,751],"end_point":[1000,382],"distance":1012.6253008887345},{"start_region_id":794,"end_region_id":719,"start_point":[66,309],"end_point":[796,900],"distance":939.2449094884678},{"start_region_id":794,"end_region_id":614,"start_point":[66,309],"end_point":[1000,382],"distance":936.8484402506095},{"start_region_id":877,"end_region_id":357,"start_point":[498,941],"end_point":[796,50],"distance":939.5131718076123}],"complexity_score":0.6315813863892151}
{"id":9329,"query_id":"Q01866","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 maintain stable flight and avoid vibrations. The route can include rough, loose ground composed of sand or rocks; paved, hard surfaces used by vehicles; vegetated areas with tall, leafy structures; and cultivated fields with rows of crops. However, the drone is not permitted to fly over liquid surfaces or vertical, solid structures. 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","Road","Tree","Agriculture land"],"traverse_vector":[1,0,0,1,1,0,1,0],"cost_vector":[2,0,0,2,1,0,2,0],"image_name":"les_cayes_70.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":832,"end_region_id":863,"start_point":[807,453],"end_point":[805,739],"distance":286.0069929215018},{"start_region_id":863,"end_region_id":832,"start_point":[805,739],"end_point":[807,453],"distance":286.0069929215018}],"complexity_score":0.6315813863892151}
{"id":13397,"query_id":"Q02680","question":"An aerial survey drone starts from an area of natural, uncultivated grassy vegetation and needs to return to another patch of similar grassy vegetation. An aerial survey drone must complete its mission as quickly as possible. The drone can fly over open grassy areas, hard artificial surfaces like pavement, areas with tall vertical obstacles like trees, liquid bodies, and cultivated crop fields. However, flying through or very close to clusters of tall vertical obstacles like trees requires careful navigation and slows it down significantly. What is the fastest path?","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 another patch of similar grassy vegetation","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[0,1,1,1,1,1,1,0],"cost_vector":[0,2,2,2,1,2,2,0],"image_name":"les_cayes_70.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":345,"end_region_id":5,"start_point":[293,925],"end_point":[975,67],"distance":1096.0328462231412},{"start_region_id":5,"end_region_id":345,"start_point":[975,67],"end_point":[293,925],"distance":1096.0328462231412},{"start_region_id":345,"end_region_id":4,"start_point":[293,925],"end_point":[839,75],"distance":1010.2554132495405},{"start_region_id":4,"end_region_id":345,"start_point":[839,75],"end_point":[293,925],"distance":1010.2554132495405},{"start_region_id":1,"end_region_id":325,"start_point":[120,97],"end_point":[792,801],"distance":973.2420048477152}],"complexity_score":0.6315813863892151}
{"id":11149,"query_id":"Q02230","question":"A quadcopter drone starts from a paved road surface and needs to reach a flat, hard-surfaced area. The terrain includes loose, sandy or rocky ground; areas with natural grass and shrubs; cultivated fields; and the paved road and hard surfaces at start and end. The drone must avoid any trees or structures due to collision risk, and avoid water bodies due to signal interference risk. Given the need to minimize risk of crashes or signal loss, what is the safest flight path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"What is the safest flight path from the starting road to the destination developed space?","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":"panama_city_39.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":311,"end_region_id":266,"start_point":[67,570],"end_point":[877,919],"distance":881.9869613548717},{"start_region_id":311,"end_region_id":250,"start_point":[67,570],"end_point":[677,879],"distance":683.7989470597333},{"start_region_id":312,"end_region_id":266,"start_point":[155,900],"end_point":[877,919],"distance":722.2499567324321},{"start_region_id":313,"end_region_id":164,"start_point":[520,912],"end_point":[213,554],"distance":471.60682777076073},{"start_region_id":313,"end_region_id":230,"start_point":[520,912],"end_point":[75,771],"distance":466.80402740336336}],"complexity_score":0.6316218770624815}
{"id":15967,"query_id":"Q03194","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open paved area. The drone can fly over loose soil with sparse vegetation, hard surfaces like sidewalks and parking lots, tall leafy structures, liquid surfaces, and cultivated fields with rows of crops. However, flying through tall leafy structures is only allowed if the drone can navigate carefully to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a flat, hard, and open paved area","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":"panama_city_39.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":316,"end_region_id":278,"start_point":[1002,75],"end_point":[120,972],"distance":1257.9876787949872},{"start_region_id":316,"end_region_id":230,"start_point":[1002,75],"end_point":[75,771],"distance":1159.2001552794927},{"start_region_id":316,"end_region_id":262,"start_point":[1002,75],"end_point":[210,918],"distance":1156.6818923109327},{"start_region_id":315,"end_region_id":278,"start_point":[744,161],"end_point":[120,972],"distance":1023.2775771998524},{"start_region_id":324,"end_region_id":278,"start_point":[943,431],"end_point":[120,972],"distance":984.8908568973518}],"complexity_score":0.6316218770624815}
{"id":1772,"query_id":"Q00355","question":"An aerial survey drone starts from an area of loose, dry soil and scattered rocks without any vegetation cover and needs to reach a destination covered with natural grasses and low shrubs. The aerial survey drone can traverse various surfaces. The drone cannot fly through dense tree canopies or between buildings due to collision risks. It can safely fly over water bodies, paved vehicle lanes, and cultivated crop fields. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks without any vegetation cover","end_land_type":"and needs to reach a destination covered with natural grasses and low shrubs","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":66,"start_point":[100,635],"end_point":[884,327],"distance":842.3301015635141},{"start_region_id":28,"end_region_id":63,"start_point":[100,635],"end_point":[768,320],"distance":738.5451915759793},{"start_region_id":25,"end_region_id":66,"start_point":[256,553],"end_point":[884,327],"distance":667.4278987276454},{"start_region_id":28,"end_region_id":84,"start_point":[100,635],"end_point":[721,665],"distance":621.7242153881414},{"start_region_id":14,"end_region_id":66,"start_point":[296,370],"end_point":[884,327],"distance":589.5701824210583}],"complexity_score":0.631621982176599}
{"id":1787,"query_id":"Q00358","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach an area of exposed, dry ground with loose soil and rocks. The drone can fly over grassy fields, loose soil, paved lanes, liquid surfaces, and cultivated plots, but must avoid dense tree canopies and vertical structures. 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":"exposed, dry ground with loose soil and rocks","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":28,"start_point":[884,327],"end_point":[100,635],"distance":842.3301015635141},{"start_region_id":63,"end_region_id":28,"start_point":[768,320],"end_point":[100,635],"distance":738.5451915759793},{"start_region_id":66,"end_region_id":25,"start_point":[884,327],"end_point":[256,553],"distance":667.4278987276454},{"start_region_id":84,"end_region_id":28,"start_point":[721,665],"end_point":[100,635],"distance":621.7242153881414},{"start_region_id":66,"end_region_id":14,"start_point":[884,327],"end_point":[296,370],"distance":589.5701824210583}],"complexity_score":0.631621982176599}
{"id":2991,"query_id":"Q00599","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a destination on uneven, rocky ground. The drone can fly over both hard surfaces and loose, rocky terrain. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"flat, hard surface","end_land_type":"uneven, rocky ground","task_description":"What is the fastest route to the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":34,"start_point":[360,766],"end_point":[561,809],"distance":205.54804791094466}],"complexity_score":0.631621982176599}
{"id":6418,"query_id":"Q01284","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cultivated field with neat rows of crops and soft, tilled soil. The drone must avoid flying directly over tall, dense vegetation or man-made structures, as these pose collision risks. It should also minimize flight over open water bodies to reduce the hazard of a crash into liquid. The drone can freely traverse open sandy/rocky areas, grassy/shrubby fields, paved surfaces like parking lots or sidewalks, vehicle lanes, and the cultivated field itself.","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 cultivated field with neat rows of crops and soft, tilled soil.","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":184,"start_point":[958,243],"end_point":[71,901],"distance":1104.415229884123},{"start_region_id":17,"end_region_id":184,"start_point":[914,352],"end_point":[71,901],"distance":1006.006958226433},{"start_region_id":28,"end_region_id":185,"start_point":[100,635],"end_point":[1000,916],"distance":942.8472834982344},{"start_region_id":14,"end_region_id":185,"start_point":[296,370],"end_point":[1000,916],"distance":890.9163821594034},{"start_region_id":24,"end_region_id":184,"start_point":[847,583],"end_point":[71,901],"distance":838.6298349093001}],"complexity_score":0.631621982176599}
{"id":7731,"query_id":"Q01547","question":"An aerial survey drone is starting from a flat, open area of loose soil and rocks. It needs to reach a cultivated field with rows of crops. The drone can fly over hard, paved surfaces, vehicle lanes, and liquid bodies, but must avoid areas with tall, dense vegetation or vertical structures. To ensure stable flight and smooth data collection, what is the most comfortable path?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"Bareland","end_land_type":"Agriculture land","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":184,"start_point":[958,243],"end_point":[71,901],"distance":1104.415229884123},{"start_region_id":17,"end_region_id":184,"start_point":[914,352],"end_point":[71,901],"distance":1006.006958226433},{"start_region_id":28,"end_region_id":185,"start_point":[100,635],"end_point":[1000,916],"distance":942.8472834982344},{"start_region_id":14,"end_region_id":185,"start_point":[296,370],"end_point":[1000,916],"distance":890.9163821594034},{"start_region_id":24,"end_region_id":184,"start_point":[847,583],"end_point":[71,901],"distance":838.6298349093001}],"complexity_score":0.631621982176599}
{"id":7741,"query_id":"Q01549","question":"An aerial surveillance drone starts from a flat, cultivated field with rows of crops and soft soil, an aerial surveillance drone must reach a dry, open expanse of loose sand and rocks without vegetation. The drone can fly over liquid surfaces like rivers or lakes, but must avoid tall vertical obstacles such as dense tree canopies and solid structures like buildings to prevent collisions. It can traverse hard, paved surfaces like sidewalks and parking lots, as well as lanes used by vehicles, but these areas may have overhead wires or low-flying aircraft that pose risks. The goal 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":"A flat, cultivated field with rows of crops and soft soil.","end_land_type":"A dry, open expanse of loose sand and rocks without 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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":11,"start_point":[71,901],"end_point":[958,243],"distance":1104.415229884123},{"start_region_id":184,"end_region_id":17,"start_point":[71,901],"end_point":[914,352],"distance":1006.006958226433},{"start_region_id":185,"end_region_id":28,"start_point":[1000,916],"end_point":[100,635],"distance":942.8472834982344},{"start_region_id":185,"end_region_id":14,"start_point":[1000,916],"end_point":[296,370],"distance":890.9163821594034},{"start_region_id":184,"end_region_id":24,"start_point":[71,901],"end_point":[847,583],"distance":838.6298349093001}],"complexity_score":0.631621982176599}
{"id":8785,"query_id":"Q01757","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of exposed, dry ground composed of loose earth and rocks. The drone can fly over liquid surfaces, grassy or shrub-covered terrain, and other paved or hard-packed vehicle lanes. It must avoid any tall, solid vertical structures and dense vegetation that could obstruct its flight path. What is the shortest possible route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"exposed, dry ground composed of loose earth and rocks","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":11,"start_point":[360,766],"end_point":[958,243],"distance":794.438795628713},{"start_region_id":97,"end_region_id":17,"start_point":[360,766],"end_point":[914,352],"distance":691.6010410634154},{"start_region_id":97,"end_region_id":24,"start_point":[360,766],"end_point":[847,583],"distance":520.2480177761372},{"start_region_id":97,"end_region_id":21,"start_point":[360,766],"end_point":[611,362],"distance":475.6227496661614},{"start_region_id":97,"end_region_id":26,"start_point":[360,766],"end_point":[667,486],"distance":415.51052934913696}],"complexity_score":0.631621982176599}
{"id":9839,"query_id":"Q01968","question":"A quadcopter drone starts from a patch of loose, dry soil with scattered rocks and no vegetation, a quadcopter drone must navigate to a grassy, shrub-covered area. The drone can fly over open water bodies, cultivated fields with low crops, paved lanes used by vehicles, and individual or clustered tall woody plants, but it must avoid vertical structures and dense overhead obstacles. The goal is to minimize risk of collision, signal interference, or unpredictable hazards.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation","end_land_type":"and needing to reach a grassy, shrub-covered area","task_description":"What is the safest path for the drone to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,1,1,1,1,0],"cost_vector":[2,2,0,2,1,1,2,0],"image_name":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":38,"start_point":[100,635],"end_point":[920,53],"distance":1005.5466175170598},{"start_region_id":6,"end_region_id":84,"start_point":[64,96],"end_point":[721,665],"distance":869.1432563162416},{"start_region_id":24,"end_region_id":35,"start_point":[847,583],"end_point":[168,40],"distance":869.4193464606134},{"start_region_id":34,"end_region_id":35,"start_point":[561,809],"end_point":[168,40],"distance":863.6029180126709},{"start_region_id":6,"end_region_id":38,"start_point":[64,96],"end_point":[920,53],"distance":857.079342884893}],"complexity_score":0.631621982176599}
{"id":9844,"query_id":"Q01969","question":"An aerial survey drone is conducting a time-sensitive environmental assessment. It begins on loose, dry soil and scattered rocks, and needs to reach a location beneath a tall, leafy canopy. The drone can fly over open water bodies, cultivated fields with low crops, and paved lanes used by vehicles. However, it must navigate carefully around vertical structures and dense clusters of tall vegetation. What is the fastest path for the drone to take?","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":"and needs to reach a location beneath a tall, leafy 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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":164,"start_point":[64,96],"end_point":[888,797],"distance":1081.8396369148247},{"start_region_id":11,"end_region_id":163,"start_point":[958,243],"end_point":[140,722],"distance":947.9266849287449},{"start_region_id":24,"end_region_id":104,"start_point":[847,583],"end_point":[95,13],"distance":943.6122084839725},{"start_region_id":6,"end_region_id":126,"start_point":[64,96],"end_point":[925,442],"distance":927.9207940336287},{"start_region_id":34,"end_region_id":104,"start_point":[561,809],"end_point":[95,13],"distance":922.3730264919936}],"complexity_score":0.631621982176599}
{"id":12883,"query_id":"Q02577","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach a cultivated field with crops. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, as well as over liquid surfaces and vertical structures, but must avoid dense vegetation that could entangle its rotors. Which path minimizes the risk of collision or instability?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with crops","task_description":"Which path minimizes the risk of collision or instability?","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":184,"start_point":[958,243],"end_point":[71,901],"distance":1104.415229884123},{"start_region_id":17,"end_region_id":184,"start_point":[914,352],"end_point":[71,901],"distance":1006.006958226433},{"start_region_id":28,"end_region_id":185,"start_point":[100,635],"end_point":[1000,916],"distance":942.8472834982344},{"start_region_id":14,"end_region_id":185,"start_point":[296,370],"end_point":[1000,916],"distance":890.9163821594034},{"start_region_id":24,"end_region_id":184,"start_point":[847,583],"end_point":[71,901],"distance":838.6298349093001}],"complexity_score":0.631621982176599}
{"id":16210,"query_id":"Q03242","question":"An off-road vehicle is starting from a patch of loose, sandy ground and needs to reach a cultivated field. The vehicle can traverse hard, paved surfaces designed for vehicles, but these are currently blocked due to maintenance. It can also cross grassy or shrub-covered areas if necessary, though these are rougher. The goal is to find the fastest route to the field.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"loose, sandy ground","end_land_type":"cultivated field","task_description":"What is the fastest path from the sandy start to the cultivated field?","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":"pisco_18.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":184,"start_point":[561,809],"end_point":[71,901],"distance":498.56193196031325},{"start_region_id":34,"end_region_id":185,"start_point":[561,809],"end_point":[1000,916],"distance":451.8517455980446},{"start_region_id":34,"end_region_id":186,"start_point":[561,809],"end_point":[836,1000],"distance":334.82234095113785}],"complexity_score":0.631621982176599}
{"id":4888,"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":"buenos_aires_25.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":54,"start_point":[695,866],"end_point":[192,87],"distance":927.2809714428523},{"start_region_id":54,"end_region_id":136,"start_point":[192,87],"end_point":[695,866],"distance":927.2809714428523},{"start_region_id":134,"end_region_id":54,"start_point":[693,770],"end_point":[192,87],"distance":847.0478144709424},{"start_region_id":54,"end_region_id":134,"start_point":[192,87],"end_point":[693,770],"distance":847.0478144709424},{"start_region_id":136,"end_region_id":68,"start_point":[695,866],"end_point":[526,164],"distance":722.0560920039384}],"complexity_score":0.6316423221687045}
{"id":8714,"query_id":"Q01743","question":"A quadcopter drone starts from a grassy, open field and needs to reach a flat, paved area. The drone can fly over any surface except dense tree canopies and solid structures, which are blocked. The water surface is accessible for overflight. 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":"buenos_aires_25.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":54,"start_point":[933,981],"end_point":[192,87],"distance":1161.170530111749},{"start_region_id":44,"end_region_id":54,"start_point":[730,978],"end_point":[192,87],"distance":1040.8289965215226},{"start_region_id":10,"end_region_id":136,"start_point":[76,126],"end_point":[695,866],"distance":964.759555537026},{"start_region_id":45,"end_region_id":68,"start_point":[933,981],"end_point":[526,164],"distance":912.763934432118},{"start_region_id":10,"end_region_id":134,"start_point":[76,126],"end_point":[693,770],"distance":891.8660213283159}],"complexity_score":0.6316423221687045}
{"id":13157,"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":"buenos_aires_25.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":176,"start_point":[695,866],"end_point":[61,57],"distance":1027.8312118241984},{"start_region_id":134,"end_region_id":176,"start_point":[693,770],"end_point":[61,57],"distance":952.7817168690843},{"start_region_id":136,"end_region_id":180,"start_point":[695,866],"end_point":[352,82],"distance":855.748210632076},{"start_region_id":136,"end_region_id":198,"start_point":[695,866],"end_point":[121,253],"distance":839.7886638911007},{"start_region_id":54,"end_region_id":256,"start_point":[192,87],"end_point":[315,895],"distance":817.3083873300212}],"complexity_score":0.6316423221687045}
{"id":17402,"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":"buenos_aires_25.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":54,"start_point":[695,866],"end_point":[192,87],"distance":927.2809714428523},{"start_region_id":54,"end_region_id":136,"start_point":[192,87],"end_point":[695,866],"distance":927.2809714428523},{"start_region_id":134,"end_region_id":54,"start_point":[693,770],"end_point":[192,87],"distance":847.0478144709424},{"start_region_id":54,"end_region_id":134,"start_point":[192,87],"end_point":[693,770],"distance":847.0478144709424},{"start_region_id":136,"end_region_id":68,"start_point":[695,866],"end_point":[526,164],"distance":722.0560920039384}],"complexity_score":0.6316423221687045}
{"id":1030,"query_id":"Q00206","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved, flat surface like a sidewalk or parking lot. The drone can fly over grassy or shrub-covered areas and paved surfaces, but must avoid any trees, buildings, water bodies, bare rocky or sandy ground, and roads to ensure a smooth and comfortable flight. The goal is to find the most comfortable 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, flat surface like a sidewalk or parking lot","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","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":"al_qurnah_37.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":284,"end_region_id":66,"start_point":[585,661],"end_point":[279,33],"distance":698.5842826746104},{"start_region_id":284,"end_region_id":79,"start_point":[585,661],"end_point":[94,782],"distance":505.6896281317227},{"start_region_id":284,"end_region_id":67,"start_point":[585,661],"end_point":[418,329],"distance":371.63557418524937},{"start_region_id":284,"end_region_id":88,"start_point":[585,661],"end_point":[732,890],"distance":272.12129648375554}],"complexity_score":0.6316696622325136}
{"id":16958,"query_id":"Q03392","question":"A quadcopter drone is positioned in a densely vegetated area with tall, leafy canopies and needs to reach a cultivated field with low, uniform vegetation. The drone can fly over open, loose soil and rock surfaces, as well as the cultivated fields, but must navigate carefully through or around the tall vegetation due to potential navigation interference and collision risk. The tall vegetation areas are passable but require slower, more cautious flight. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a densely vegetated area with tall, leafy canopies","end_land_type":"a cultivated field with low, uniform vegetation","task_description":"What is the fastest route for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Tree","Agriculture land"],"traverse_vector":[1,0,0,0,1,0,1,0],"cost_vector":[2,0,0,0,1,0,2,0],"image_name":"al_qurnah_37.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":284,"start_point":[839,900],"end_point":[585,661],"distance":348.764963836679},{"start_region_id":161,"end_region_id":282,"start_point":[866,468],"end_point":[781,180],"distance":300.2815345638156},{"start_region_id":123,"end_region_id":283,"start_point":[817,186],"end_point":[811,438],"distance":252.07141845120006},{"start_region_id":121,"end_region_id":277,"start_point":[93,277],"end_point":[61,30],"distance":249.06424873915566}],"complexity_score":0.6316696622325136}
{"id":1255,"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_28.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":169,"start_point":[444,292],"end_point":[878,836],"distance":695.9109138388333},{"start_region_id":10,"end_region_id":169,"start_point":[816,283],"end_point":[878,836],"distance":556.4647338331514},{"start_region_id":67,"end_region_id":167,"start_point":[791,847],"end_point":[553,405],"distance":502.0039840479356},{"start_region_id":54,"end_region_id":167,"start_point":[935,681],"end_point":[553,405],"distance":471.2748667179271},{"start_region_id":69,"end_region_id":167,"start_point":[484,809],"end_point":[553,405],"distance":409.84997255093236}],"complexity_score":0.6317998606888001}
{"id":10254,"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_28.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":169,"start_point":[23,65],"end_point":[878,836],"distance":1151.2888429929303},{"start_region_id":102,"end_region_id":170,"start_point":[747,140],"end_point":[26,898],"distance":1046.13813619426},{"start_region_id":110,"end_region_id":169,"start_point":[32,309],"end_point":[878,836],"distance":996.7171113209605},{"start_region_id":157,"end_region_id":168,"start_point":[918,928],"end_point":[33,477],"distance":993.290491246141},{"start_region_id":140,"end_region_id":170,"start_point":[946,588],"end_point":[26,898],"distance":970.8243919473799}],"complexity_score":0.6317998606888001}
{"id":12653,"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_28.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":169,"start_point":[23,65],"end_point":[878,836],"distance":1151.2888429929303},{"start_region_id":102,"end_region_id":170,"start_point":[747,140],"end_point":[26,898],"distance":1046.13813619426},{"start_region_id":110,"end_region_id":169,"start_point":[32,309],"end_point":[878,836],"distance":996.7171113209605},{"start_region_id":157,"end_region_id":168,"start_point":[918,928],"end_point":[33,477],"distance":993.290491246141},{"start_region_id":140,"end_region_id":170,"start_point":[946,588],"end_point":[26,898],"distance":970.8243919473799}],"complexity_score":0.6317998606888001}
{"id":14930,"query_id":"Q02986","question":"A hiker is standing on grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard-surfaced lane. The hiker can traverse across loose, sandy or rocky ground without vegetation, as well as areas with cultivated crops or grazing vegetation, and can pass through wooded areas with individual trees or groups of trees. However, all water bodies and any structures with solid walls and roofs are completely impassable. 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":"a paved, hard-surfaced lane","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":"kitsap_28.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":170,"start_point":[845,133],"end_point":[26,898],"distance":1120.707812054507},{"start_region_id":3,"end_region_id":173,"start_point":[845,133],"end_point":[236,966],"distance":1031.876930646286},{"start_region_id":10,"end_region_id":170,"start_point":[816,283],"end_point":[26,898],"distance":1001.1618250812403},{"start_region_id":70,"end_region_id":168,"start_point":[942,829],"end_point":[33,477],"distance":974.7743328586365},{"start_region_id":54,"end_region_id":170,"start_point":[935,681],"end_point":[26,898],"distance":934.5426689028169}],"complexity_score":0.6317998606888001}
{"id":3477,"query_id":"Q00696","question":"A hiker starts from a paved, hard surface and needs to reach a loose, uneven ground of sand and rocks. The person seeks a smooth, stable walk to minimize fatigue and discomfort. Only paved, hard surfaces and loose, uneven ground of sand and rocks are accessible; all other terrain types, including grassy areas, water bodies, trees, buildings, and cultivated fields, are obstructed or off-limits.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a loose, uneven ground of sand and rocks","task_description":"What is the most comfortable path to reach the destination?","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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":5,"start_point":[641,476],"end_point":[377,783],"distance":404.90122252223443}],"complexity_score":0.6318296605609354}
{"id":7103,"query_id":"Q01421","question":"A quadcopter drone 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. The tall vertical obstacles are sparse enough to fly between, and solid vertical structures are accessible for low-altitude flight. What is the shortest path to the sidewalk?","agent_category":"Drone","specific_agent":"a quadcopter drone","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","Building"],"traverse_vector":[1,1,1,1,1,0,1,1],"cost_vector":[2,2,2,2,1,0,2,2],"image_name":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":135,"start_point":[805,820],"end_point":[115,500],"distance":760.5918747922568},{"start_region_id":6,"end_region_id":150,"start_point":[805,820],"end_point":[61,761],"distance":746.3357153453129},{"start_region_id":6,"end_region_id":144,"start_point":[805,820],"end_point":[253,592],"distance":597.2336226302066},{"start_region_id":5,"end_region_id":134,"start_point":[377,783],"end_point":[854,450],"distance":581.7370540029232},{"start_region_id":5,"end_region_id":143,"start_point":[377,783],"end_point":[828,530],"distance":517.117008035899}],"complexity_score":0.6318296605609354}
{"id":7373,"query_id":"Q01475","question":"An aerial survey drone is positioned on loose, dry, and rocky ground and needs to reach a hard, paved surface. The drone can fly over liquid areas and cultivated fields, but must avoid vertical obstacles like trees and structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Loose, dry, and rocky ground","end_land_type":"A hard, paved 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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":135,"start_point":[805,820],"end_point":[115,500],"distance":760.5918747922568},{"start_region_id":6,"end_region_id":150,"start_point":[805,820],"end_point":[61,761],"distance":746.3357153453129},{"start_region_id":6,"end_region_id":144,"start_point":[805,820],"end_point":[253,592],"distance":597.2336226302066},{"start_region_id":5,"end_region_id":134,"start_point":[377,783],"end_point":[854,450],"distance":581.7370540029232},{"start_region_id":5,"end_region_id":143,"start_point":[377,783],"end_point":[828,530],"distance":517.117008035899}],"complexity_score":0.6318296605609354}
{"id":11444,"query_id":"Q02289","question":"A quadcopter drone starts from a patch of loose, sandy soil and needs to reach another patch of loose, sandy soil. The drone can fly over hard, paved surfaces, grassy fields, cultivated plots, loose earth, and areas with standing water, but it must avoid flying through dense tree canopies or close to buildings due to navigation hazards. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy soil","end_land_type":"another patch of loose, sandy soil","task_description":"What is the most comfortable route 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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":6,"start_point":[377,783],"end_point":[805,820],"distance":429.5963221444057},{"start_region_id":6,"end_region_id":5,"start_point":[805,820],"end_point":[377,783],"distance":429.5963221444057}],"complexity_score":0.6318296605609354}
{"id":11656,"query_id":"Q02332","question":"An aerial surveillance drone starts from an area of loose, dry soil and scattered rocks and needs to reach another similar patch of exposed, vegetation-free ground. The drone can fly over flat, hard surfaces like parking lots or sports fields, and it can navigate around tall, vertical obstacles like groups of trees, but it must maintain a safe altitude to avoid collisions. The drone's priority is to complete its surveillance mission as quickly as possible. What is the fastest path for the drone?","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":"needs to reach another similar patch of exposed, vegetation-free ground","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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":6,"start_point":[377,783],"end_point":[805,820],"distance":429.5963221444057},{"start_region_id":6,"end_region_id":5,"start_point":[805,820],"end_point":[377,783],"distance":429.5963221444057}],"complexity_score":0.6318296605609354}
{"id":12889,"query_id":"Q02578","question":"An aerial surveillance drone starts from a paved lane and needs to reach an area of exposed, loose ground. The drone must prioritize a route that minimizes risk of collision, signal interference, or loss of control. It can fly over hard, flat surfaces, cultivated fields, and open water, but must avoid dense vertical obstacles and solid structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"exposed, loose 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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":5,"start_point":[906,992],"end_point":[377,783],"distance":568.7899436523118},{"start_region_id":173,"end_region_id":6,"start_point":[641,476],"end_point":[805,820],"distance":381.0931644624448},{"start_region_id":173,"end_region_id":5,"start_point":[641,476],"end_point":[377,783],"distance":404.90122252223443}],"complexity_score":0.6318296605609354}
{"id":13636,"query_id":"Q02728","question":"A quadcopter drone is positioned on a flat, artificial surface and needs to fly to a point above sandy, rocky ground. The drone can fly over paved areas, grassy fields, cultivated fields, and sandy terrain. However, the drone must avoid flying through dense tree canopies or close to buildings. What is the shortest path to reach the point?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"flat, artificial surface","end_land_type":"sandy, rocky ground","task_description":"What is the shortest path to reach the point?","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":"joplin_29.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":6,"start_point":[115,500],"end_point":[805,820],"distance":760.5918747922568},{"start_region_id":150,"end_region_id":6,"start_point":[61,761],"end_point":[805,820],"distance":746.3357153453129},{"start_region_id":144,"end_region_id":6,"start_point":[253,592],"end_point":[805,820],"distance":597.2336226302066},{"start_region_id":134,"end_region_id":5,"start_point":[854,450],"end_point":[377,783],"distance":581.7370540029232},{"start_region_id":143,"end_region_id":5,"start_point":[828,530],"end_point":[377,783],"distance":517.117008035899}],"complexity_score":0.6318296605609354}
{"id":1071,"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":"oklahoma_47.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":289,"start_point":[155,986],"end_point":[929,89],"distance":1184.7721299895604},{"start_region_id":181,"end_region_id":289,"start_point":[50,804],"end_point":[929,89],"distance":1133.078108516796},{"start_region_id":9,"end_region_id":294,"start_point":[967,48],"end_point":[107,824],"distance":1158.3505514307833},{"start_region_id":5,"end_region_id":294,"start_point":[761,31],"end_point":[107,824],"distance":1027.8934769712278},{"start_region_id":18,"end_region_id":294,"start_point":[758,108],"end_point":[107,824],"distance":967.7070837810376}],"complexity_score":0.6318508835198732}
{"id":3816,"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_47.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":289,"start_point":[155,986],"end_point":[929,89],"distance":1184.7721299895604},{"start_region_id":181,"end_region_id":289,"start_point":[50,804],"end_point":[929,89],"distance":1133.078108516796},{"start_region_id":9,"end_region_id":294,"start_point":[967,48],"end_point":[107,824],"distance":1158.3505514307833},{"start_region_id":5,"end_region_id":294,"start_point":[761,31],"end_point":[107,824],"distance":1027.8934769712278},{"start_region_id":18,"end_region_id":294,"start_point":[758,108],"end_point":[107,824],"distance":967.7070837810376}],"complexity_score":0.6318508835198732}
{"id":5356,"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_47.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":217,"start_point":[468,637],"end_point":[162,174],"distance":554.9819816894959},{"start_region_id":1,"end_region_id":283,"start_point":[468,637],"end_point":[820,970],"distance":484.55443450658873},{"start_region_id":1,"end_region_id":248,"start_point":[468,637],"end_point":[136,354],"distance":436.2487822332574},{"start_region_id":1,"end_region_id":287,"start_point":[468,637],"end_point":[561,1004],"distance":378.6000528261981},{"start_region_id":1,"end_region_id":280,"start_point":[468,637],"end_point":[758,838],"distance":352.8469923352047}],"complexity_score":0.6318508835198732}
{"id":8392,"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":"oklahoma_47.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":289,"start_point":[107,824],"end_point":[929,89],"distance":1102.682637933508},{"start_region_id":289,"end_region_id":294,"start_point":[929,89],"end_point":[107,824],"distance":1102.682637933508},{"start_region_id":293,"end_region_id":289,"start_point":[196,518],"end_point":[929,89],"distance":849.3114858519223},{"start_region_id":289,"end_region_id":293,"start_point":[929,89],"end_point":[196,518],"distance":849.3114858519223},{"start_region_id":292,"end_region_id":289,"start_point":[200,337],"end_point":[929,89],"distance":770.0292202247912}],"complexity_score":0.6318508835198732}
{"id":14657,"query_id":"Q02932","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields with crops, and wooded areas with trees, as these surfaces pose minimal risk for aerial navigation. However, the drone cannot fly over any liquid surfaces or approach any structures. What is the safest 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 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":"oklahoma_47.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":284,"end_region_id":190,"start_point":[119,928],"end_point":[946,79],"distance":1185.2130610147697},{"start_region_id":190,"end_region_id":284,"start_point":[946,79],"end_point":[119,928],"distance":1185.2130610147697},{"start_region_id":281,"end_region_id":190,"start_point":[264,902],"end_point":[946,79],"distance":1068.855930422805},{"start_region_id":190,"end_region_id":281,"start_point":[946,79],"end_point":[264,902],"distance":1068.855930422805},{"start_region_id":283,"end_region_id":217,"start_point":[820,970],"end_point":[162,174],"distance":1032.7536008167679}],"complexity_score":0.6318508835198732}
{"id":11915,"query_id":"Q02383","question":"An off-road vehicle starts from a paved lane and needs to reach another paved lane. The terrain includes areas of loose, dry soil and rock formations without vegetation, as well as flat, hard surfaces made of concrete or asphalt that are suitable for driving. The vehicle can traverse the loose soil and rock areas, but must avoid any vegetation, water bodies, or structures. What is the shortest path to the destination?","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 to the destination?","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_3.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":95,"start_point":[874,799],"end_point":[174,17],"distance":1049.535135190814}],"complexity_score":0.6318516678103206}
{"id":15848,"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_3.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":47,"start_point":[71,161],"end_point":[1007,917],"distance":1203.175797628925},{"start_region_id":47,"end_region_id":1,"start_point":[1007,917],"end_point":[71,161],"distance":1203.175797628925},{"start_region_id":6,"end_region_id":43,"start_point":[928,106],"end_point":[113,960],"distance":1180.4833755712107},{"start_region_id":43,"end_region_id":6,"start_point":[113,960],"end_point":[928,106],"distance":1180.4833755712107},{"start_region_id":3,"end_region_id":47,"start_point":[278,54],"end_point":[1007,917],"distance":1129.6946490091914}],"complexity_score":0.6318516678103206}
{"id":16007,"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_3.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":47,"start_point":[71,161],"end_point":[1007,917],"distance":1203.175797628925},{"start_region_id":47,"end_region_id":1,"start_point":[1007,917],"end_point":[71,161],"distance":1203.175797628925},{"start_region_id":6,"end_region_id":43,"start_point":[928,106],"end_point":[113,960],"distance":1180.4833755712107},{"start_region_id":43,"end_region_id":6,"start_point":[113,960],"end_point":[928,106],"distance":1180.4833755712107},{"start_region_id":3,"end_region_id":47,"start_point":[278,54],"end_point":[1007,917],"distance":1129.6946490091914}],"complexity_score":0.6318516678103206}
{"id":1485,"query_id":"Q00297","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard surface lane. The drone can fly over loose, sandy or rocky ground without vegetation, areas with herbaceous plants or bushes, liquid bodies, and cultivated crop fields, but must avoid tall, vertical obstacles like individual trees or groups of trees and solid, enclosed structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"paved, hard surface 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":"rotterdam_42.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":242,"start_point":[741,189],"end_point":[349,661],"distance":613.5535836420484},{"start_region_id":14,"end_region_id":242,"start_point":[791,443],"end_point":[349,661],"distance":492.83668694609173},{"start_region_id":4,"end_region_id":242,"start_point":[227,253],"end_point":[349,661],"distance":425.84973875769845},{"start_region_id":1,"end_region_id":229,"start_point":[741,189],"end_point":[455,521],"distance":438.20086718307624},{"start_region_id":4,"end_region_id":229,"start_point":[227,253],"end_point":[455,521],"distance":351.86360993998795}],"complexity_score":0.6318952194495008}
{"id":10495,"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_42.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":242,"end_region_id":1,"start_point":[349,661],"end_point":[741,189],"distance":613.5535836420484},{"start_region_id":242,"end_region_id":14,"start_point":[349,661],"end_point":[791,443],"distance":492.83668694609173},{"start_region_id":229,"end_region_id":1,"start_point":[455,521],"end_point":[741,189],"distance":438.20086718307624},{"start_region_id":229,"end_region_id":14,"start_point":[455,521],"end_point":[791,443],"distance":344.93477644331546},{"start_region_id":242,"end_region_id":15,"start_point":[349,661],"end_point":[495,455],"distance":252.4915840181609}],"complexity_score":0.6318952194495008}
{"id":12423,"query_id":"Q02485","question":"A hiker starts from a grassy, uneven ground and needs to reach a paved lane as quickly as possible. The area includes soft, vegetated surfaces that are passable on foot, as well as hard, flat surfaces like sidewalks and parking lots, and compacted soil paths used for crop growth. However, sandy or rocky expanses, individual trees or wooded patches, liquid bodies, and vertical structures are not accessible. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, uneven ground","end_land_type":"a paved lane","task_description":"What is the fastest route from the grassy, uneven ground to the paved lane?","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":"rotterdam_42.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":242,"start_point":[741,189],"end_point":[349,661],"distance":613.5535836420484},{"start_region_id":14,"end_region_id":242,"start_point":[791,443],"end_point":[349,661],"distance":492.83668694609173},{"start_region_id":1,"end_region_id":229,"start_point":[741,189],"end_point":[455,521],"distance":438.20086718307624},{"start_region_id":14,"end_region_id":229,"start_point":[791,443],"end_point":[455,521],"distance":344.93477644331546},{"start_region_id":15,"end_region_id":242,"start_point":[495,455],"end_point":[349,661],"distance":252.4915840181609}],"complexity_score":0.6318952194495008}
{"id":1023,"query_id":"Q00205","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface as quickly as possible. The area includes open grassy fields with low vegetation, liquid bodies, and paved lanes. The grassy fields are dry and firm enough for low-altitude flight, and the liquid bodies are calm and shallow, allowing safe overflight. All other terrain types, such as loose sandy or rocky ground, cultivated plots, tall dense vegetation, and vertical structures, are off-limits due to flight restrictions or obstruction risks. 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":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"baybay_25.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":185,"start_point":[493,113],"end_point":[30,847],"distance":867.8277478854891}],"complexity_score":0.6319220992991427}
{"id":8448,"query_id":"Q01690","question":"A quadcopter starts from a vegetated area with low bushes and grass and needs to reach a flat, hard surface. The drone requires a path that maximizes flight comfort, so it should avoid turbulent areas near tall vertical obstacles and prefer open spaces with stable air flow. The quadcopter cannot fly through dense foliage or enclosed structures.","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the most comfortable path for the quadcopter to take from the vegetated area to the flat hard 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":"baybay_25.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":185,"start_point":[958,452],"end_point":[343,416],"distance":616.0527574810457},{"start_region_id":86,"end_region_id":185,"start_point":[917,617],"end_point":[343,416],"distance":608.1751392485556},{"start_region_id":98,"end_region_id":185,"start_point":[665,929],"end_point":[343,416],"distance":605.6839109634661},{"start_region_id":99,"end_region_id":185,"start_point":[167,909],"end_point":[343,416],"distance":523.4739726099092},{"start_region_id":4,"end_region_id":185,"start_point":[576,100],"end_point":[343,416],"distance":392.6130410467793}],"complexity_score":0.6319220992991427}
{"id":14527,"query_id":"Q02906","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall vegetation. The terrain includes rough, loose ground, open areas with low vegetation, and the paved surface. The tall vegetation is traversable because the drone can fly through it with caution. The drone must avoid any liquid surfaces and vertical structures to minimize risk. What is the safest 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 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":"baybay_25.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":236,"start_point":[343,416],"end_point":[978,584],"distance":656.847775363516},{"start_region_id":185,"end_region_id":257,"start_point":[343,416],"end_point":[185,983],"distance":588.6025823932478},{"start_region_id":185,"end_region_id":240,"start_point":[343,416],"end_point":[844,595],"distance":532.0169170242616},{"start_region_id":185,"end_region_id":197,"start_point":[343,416],"end_point":[835,223],"distance":528.500709554869},{"start_region_id":185,"end_region_id":239,"start_point":[343,416],"end_point":[748,562],"distance":430.5124853009492}],"complexity_score":0.6319220992991427}
{"id":6631,"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_42.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":376,"end_region_id":132,"start_point":[988,72],"end_point":[89,454],"distance":976.7932227447117},{"start_region_id":376,"end_region_id":130,"start_point":[988,72],"end_point":[72,377],"distance":965.4434214390816},{"start_region_id":376,"end_region_id":197,"start_point":[988,72],"end_point":[347,705],"distance":900.8717999804412},{"start_region_id":378,"end_region_id":130,"start_point":[949,281],"end_point":[72,377],"distance":882.2386298502237},{"start_region_id":378,"end_region_id":132,"start_point":[949,281],"end_point":[89,454],"distance":877.2280205283002}],"complexity_score":0.6319259993114651}
{"id":12061,"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_42.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":3,"start_point":[260,861],"end_point":[946,102],"distance":1023.0723337086191},{"start_region_id":3,"end_region_id":87,"start_point":[946,102],"end_point":[260,861],"distance":1023.0723337086191},{"start_region_id":55,"end_region_id":3,"start_point":[104,682],"end_point":[946,102],"distance":1022.4304377315848},{"start_region_id":3,"end_region_id":55,"start_point":[946,102],"end_point":[104,682],"distance":1022.4304377315848},{"start_region_id":3,"end_region_id":38,"start_point":[946,102],"end_point":[36,559],"distance":1018.3069281901209}],"complexity_score":0.6319259993114651}
{"id":15388,"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_42.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":385,"start_point":[232,222],"end_point":[128,994],"distance":778.9736837660179},{"start_region_id":232,"end_region_id":376,"start_point":[232,222],"end_point":[988,72],"distance":770.7373093343801},{"start_region_id":232,"end_region_id":383,"start_point":[232,222],"end_point":[608,851],"distance":732.8144376307006},{"start_region_id":232,"end_region_id":378,"start_point":[232,222],"end_point":[949,281],"distance":719.4233802150163},{"start_region_id":231,"end_region_id":376,"start_point":[426,490],"end_point":[988,72],"distance":700.405596779466}],"complexity_score":0.6319259993114651}
{"id":3756,"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_51.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":190,"start_point":[28,481],"end_point":[882,201],"distance":898.7302153594259},{"start_region_id":108,"end_region_id":191,"start_point":[617,293],"end_point":[20,871],"distance":830.9590844319592},{"start_region_id":108,"end_region_id":193,"start_point":[617,293],"end_point":[194,957],"distance":787.2896544474594},{"start_region_id":105,"end_region_id":190,"start_point":[184,451],"end_point":[882,201],"distance":741.4202586927336},{"start_region_id":109,"end_region_id":192,"start_point":[28,481],"end_point":[593,922],"distance":716.7328651596772}],"complexity_score":0.631926798469057}
{"id":12760,"query_id":"Q02552","question":"A hiker starts from a paved area and needs to reach a cultivated field. You can walk on paved surfaces, vehicle lanes, grassy areas with shrubs, areas with individual trees, and cultivated fields. However, you cannot walk on water bodies or enter buildings. What is the shortest path to the cultivated field?","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 cultivated field?","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":"dortmund_51.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":191,"start_point":[791,200],"end_point":[20,871],"distance":1022.0968642941823},{"start_region_id":65,"end_region_id":192,"start_point":[161,55],"end_point":[593,922],"distance":968.6655769665814},{"start_region_id":68,"end_region_id":193,"start_point":[791,200],"end_point":[194,957],"distance":964.084021234664},{"start_region_id":66,"end_region_id":193,"start_point":[368,26],"end_point":[194,957],"distance":947.120372497604},{"start_region_id":89,"end_region_id":190,"start_point":[52,655],"end_point":[882,201],"distance":946.0528526461933}],"complexity_score":0.631926798469057}
{"id":795,"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_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":224,"start_point":[79,648],"end_point":[979,695],"distance":901.2263866532094},{"start_region_id":173,"end_region_id":239,"start_point":[79,648],"end_point":[935,902],"distance":892.8896908353238},{"start_region_id":173,"end_region_id":204,"start_point":[79,648],"end_point":[912,363],"distance":880.4055883511871},{"start_region_id":173,"end_region_id":213,"start_point":[79,648],"end_point":[812,510],"distance":745.8773357597079},{"start_region_id":164,"end_region_id":245,"start_point":[622,214],"end_point":[196,960],"distance":859.0646075819909}],"complexity_score":0.6319423685148369}
{"id":4060,"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_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":180,"start_point":[935,902],"end_point":[97,94],"distance":1164.091061730138},{"start_region_id":180,"end_region_id":239,"start_point":[97,94],"end_point":[935,902],"distance":1164.091061730138},{"start_region_id":180,"end_region_id":224,"start_point":[97,94],"end_point":[979,695],"distance":1067.2979902538934},{"start_region_id":224,"end_region_id":180,"start_point":[979,695],"end_point":[97,94],"distance":1067.2979902538934},{"start_region_id":239,"end_region_id":193,"start_point":[935,902],"end_point":[279,106],"distance":1031.4804893937646}],"complexity_score":0.6319423685148369}
{"id":4915,"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_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":134,"start_point":[898,123],"end_point":[573,222],"distance":339.7440212866151},{"start_region_id":134,"end_region_id":123,"start_point":[573,222],"end_point":[898,123],"distance":339.7440212866151}],"complexity_score":0.6319423685148369}
{"id":9803,"query_id":"Q01961","question":"An aerial survey drone, equipped with sensitive imaging equipment, is perched within a dense cluster of tall, vertical structures with complex branching and foliage. Its mission is to reach an open area covered with low, dense vegetation and shrubs for a calibration check. The drone's flight must prioritize a smooth and stable path to protect its delicate sensors from vibrations and sudden movements. The pilot can navigate over exposed, loose earth and rock surfaces, over areas of low vegetation, over hard, flat artificial surfaces, over the dense vertical structures, over liquid surfaces, and over cultivated fields with organized rows of crops. However, solid, enclosed vertical structures are strictly off-limits due to collision risk. Given the need for a vibration-minimizing, comfortable flight, what is the optimal route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with complex branching and foliage.","end_land_type":"An open area covered with low, dense vegetation and shrubs.","task_description":"What is the most comfortable path for the drone to take from its starting point to the destination?","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_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":245,"end_region_id":6,"start_point":[196,960],"end_point":[879,14],"distance":1166.7926122494948},{"start_region_id":248,"end_region_id":6,"start_point":[306,976],"end_point":[879,14],"distance":1119.7200542992878},{"start_region_id":239,"end_region_id":1,"start_point":[935,902],"end_point":[249,37],"distance":1104.0022644904311},{"start_region_id":225,"end_region_id":6,"start_point":[148,789],"end_point":[879,14],"distance":1065.3572170873017},{"start_region_id":245,"end_region_id":26,"start_point":[196,960],"end_point":[920,209],"distance":1043.1572268838481}],"complexity_score":0.6319423685148369}
{"id":13110,"query_id":"Q02622","question":"A quadcopter drone starts from a paved tennis court and needs to reach a paved runway. The terrain includes areas of loose soil and rocks, grassy or shrubby patches, cultivated fields with crops, and scattered tall vegetation. However. The path must avoid any liquid surfaces and vertical structures. What is the shortest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved tennis court","end_land_type":"a paved runway","task_description":"What is the shortest 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":"santiago_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":164,"start_point":[439,947],"end_point":[622,214],"distance":755.4985109184531},{"start_region_id":154,"end_region_id":173,"start_point":[469,726],"end_point":[79,648],"distance":397.7235220602372},{"start_region_id":124,"end_region_id":164,"start_point":[380,61],"end_point":[622,214],"distance":286.3092733391638},{"start_region_id":123,"end_region_id":164,"start_point":[898,123],"end_point":[622,214],"distance":290.61486541469276},{"start_region_id":151,"end_region_id":173,"start_point":[339,675],"end_point":[79,648],"distance":261.3981637272917}],"complexity_score":0.6319423685148369}
{"id":14293,"query_id":"Q02859","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of low, grassy vegetation as quickly as possible. The drone can fly over open, loose soil or sand, low grassy or shrubby vegetation, paved surfaces, and individual or clustered tall vertical obstacles, but must avoid liquid bodies, cultivated fields, and man-made structures. 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, grassy vegetation","task_description":"What is the fastest path for the drone to reach the grassy area from the paved 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":"santiago_70.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":6,"start_point":[79,648],"end_point":[879,14],"distance":1020.7624601247834},{"start_region_id":173,"end_region_id":26,"start_point":[79,648],"end_point":[920,209],"distance":948.6843521424815},{"start_region_id":164,"end_region_id":112,"start_point":[622,214],"end_point":[77,951],"distance":916.6209685578876},{"start_region_id":173,"end_region_id":58,"start_point":[79,648],"end_point":[837,750],"distance":764.8320076984227},{"start_region_id":173,"end_region_id":2,"start_point":[79,648],"end_point":[535,57],"distance":746.4696912802287}],"complexity_score":0.6319423685148369}
{"id":1513,"query_id":"Q00303","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. You can traverse grassy areas, paved lanes used by vehicles, and cultivated crop fields. The grassy areas are dry and firm, allowing stable footing. The paved lanes are smooth and hard, ideal for rapid movement. The crop fields are recently harvested, leaving the soil compact and flat, permitting efficient travel. Avoid all other terrain types, such as loose sandy or rocky ground, dense wooded areas, water bodies, and structures, as they are either impassable or would slow you down significantly. What is the fastest 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 fastest path from the starting grassy, open field to the destination grassy, open field?","task_type":"Fastest","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"pointenoire_9.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":79,"start_point":[354,124],"end_point":[935,964],"distance":1021.3525346323863},{"start_region_id":79,"end_region_id":5,"start_point":[935,964],"end_point":[354,124],"distance":1021.3525346323863},{"start_region_id":81,"end_region_id":5,"start_point":[823,985],"end_point":[354,124],"distance":980.4498967310874},{"start_region_id":5,"end_region_id":81,"start_point":[354,124],"end_point":[823,985],"distance":980.4498967310874},{"start_region_id":73,"end_region_id":5,"start_point":[782,890],"end_point":[354,124],"distance":877.462249900245}],"complexity_score":0.6320370328831474}
{"id":5668,"query_id":"Q01134","question":"A family sedan starts from a paved lane and needs to reach another paved lane while ensuring a smooth and comfortable ride. The vehicle requires surfaces that are firm, level, and free of loose material to minimize vibrations and provide stable handling. Avoid any terrain that is unpaved, uneven, or covered with vegetation.","agent_category":"Car","specific_agent":"A family sedan","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":[0,0,1,2,0,0,0,0],"image_name":"pointenoire_9.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":724,"end_region_id":731,"start_point":[525,510],"end_point":[83,923],"distance":604.9239621638409},{"start_region_id":731,"end_region_id":724,"start_point":[83,923],"end_point":[525,510],"distance":604.9239621638409}],"complexity_score":0.6320370328831474}
{"id":7509,"query_id":"Q01502","question":"An aerial surveillance drone starts from a paved, hard-surfaced lane and needs to reach a flat, artificial surface such as a parking lot or sidewalk. The drone can fly over loose, sandy or rocky ground without vegetation, liquid bodies, and cultivated fields with crops, but must avoid vertical structures like trees and buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A flat, artificial surface such as a parking lot or sidewalk","task_description":"What is the fastest path for the drone to reach the destination?","task_type":"Fastest","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":"pointenoire_9.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":731,"end_region_id":299,"start_point":[83,923],"end_point":[963,418],"distance":1014.605834794971},{"start_region_id":731,"end_region_id":108,"start_point":[83,923],"end_point":[604,60],"distance":1008.0724180335459},{"start_region_id":731,"end_region_id":132,"start_point":[83,923],"end_point":[772,193],"distance":1003.8032675778655},{"start_region_id":731,"end_region_id":566,"start_point":[83,923],"end_point":[984,887],"distance":901.7189140746689},{"start_region_id":731,"end_region_id":366,"start_point":[83,923],"end_point":[901,570],"distance":890.9169433791233}],"complexity_score":0.6320370328831474}
{"id":497,"query_id":"Q00100","question":"An aerial surveillance drone is positioned on a flat, hard, paved area and needs to reach a long, straight, paved lane. The drone can fly over open water bodies, cultivated fields with low vegetation, and areas with scattered trees or buildings, but must avoid dense tree canopies and vertical structures to prevent collisions. Which path minimizes the risk of accidents or damage?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, paved area","end_land_type":"A long, straight, paved lane","task_description":"Which path minimizes the risk of accidents or damage?","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":"sechura_28.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":102,"start_point":[984,954],"end_point":[472,534],"distance":662.2265473385977},{"start_region_id":51,"end_region_id":102,"start_point":[868,71],"end_point":[472,534],"distance":609.2495383666696},{"start_region_id":86,"end_region_id":102,"start_point":[83,954],"end_point":[472,534],"distance":572.4692131459997},{"start_region_id":93,"end_region_id":102,"start_point":[865,944],"end_point":[472,534],"distance":567.933975035831},{"start_region_id":46,"end_region_id":102,"start_point":[240,98],"end_point":[472,534],"distance":493.88257713752165}],"complexity_score":0.6321206404326223}
{"id":4704,"query_id":"Q00941","question":"A hiker starts from a paved lane and needs to reach another paved lane. The hiker can traverse hard, flat surfaces like sidewalks and roads, and can also cross areas with loose soil and rocks, patches of grass and shrubs, cultivated fields with crops, and wooded areas with tall vegetation, but cannot enter buildings or water bodies. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"another paved lane","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":"sechura_28.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":102,"start_point":[766,993],"end_point":[141,52],"distance":1129.648617933913}],"complexity_score":0.6321206404326223}
{"id":13732,"query_id":"Q02747","question":"A quadcopter drone starts from a grassy field and needs to reach a paved parking lot. Your drone can fly over all types of terrain, including cultivated crop fields, natural grassy or shrubby areas, paved surfaces, vehicle lanes, and liquid surfaces. However, you must avoid flying through wooded areas or near any vertical structures. What is the shortest route to your destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy field","end_land_type":"paved parking lot","task_description":"What is the shortest route 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":"sechura_28.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":86,"start_point":[769,251],"end_point":[83,954],"distance":982.2448778181539},{"start_region_id":19,"end_region_id":86,"start_point":[870,577],"end_point":[83,954],"distance":872.6385276848599},{"start_region_id":19,"end_region_id":61,"start_point":[870,577],"end_point":[71,236],"distance":868.7243521393883},{"start_region_id":7,"end_region_id":87,"start_point":[769,251],"end_point":[249,894],"distance":826.9516309918012},{"start_region_id":19,"end_region_id":66,"start_point":[870,577],"end_point":[76,401],"distance":813.2724020892385}],"complexity_score":0.6321206404326223}
{"id":4148,"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_5.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":285,"start_point":[427,297],"end_point":[634,433],"distance":247.67922803497268},{"start_region_id":285,"end_region_id":264,"start_point":[634,433],"end_point":[427,297],"distance":247.67922803497268}],"complexity_score":0.6321230157384942}
{"id":17431,"query_id":"Q03487","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 vertical obstacles like tall structures, but must avoid dense vegetation that could entangle its rotors. The path must prioritize safety by minimizing risks such as collisions, signal interference, or unstable flight conditions.","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 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":"niamey_5.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":17,"start_point":[581,160],"end_point":[197,860],"distance":798.4084167893021},{"start_region_id":210,"end_region_id":13,"start_point":[581,160],"end_point":[89,762],"distance":777.4754015401387},{"start_region_id":210,"end_region_id":15,"start_point":[581,160],"end_point":[784,817],"distance":687.6467116186916},{"start_region_id":209,"end_region_id":13,"start_point":[561,507],"end_point":[89,762],"distance":536.478331342469},{"start_region_id":209,"end_region_id":17,"start_point":[561,507],"end_point":[197,860],"distance":507.05522381689354}],"complexity_score":0.6321230157384942}
{"id":1398,"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_39.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":176,"start_point":[64,70],"end_point":[288,459],"distance":448.8841721424359},{"start_region_id":176,"end_region_id":150,"start_point":[288,459],"end_point":[64,70],"distance":448.8841721424359},{"start_region_id":150,"end_region_id":165,"start_point":[64,70],"end_point":[300,253],"distance":298.63857754817946},{"start_region_id":165,"end_region_id":150,"start_point":[300,253],"end_point":[64,70],"distance":298.63857754817946},{"start_region_id":164,"end_region_id":176,"start_point":[93,235],"end_point":[288,459],"distance":296.98653168115214}],"complexity_score":0.6321835520743191}
{"id":7867,"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":"austin_39.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":147,"start_point":[145,996],"end_point":[945,339],"distance":1035.2048106534282}],"complexity_score":0.6321835520743191}
{"id":15143,"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":"austin_39.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":147,"end_region_id":54,"start_point":[485,520],"end_point":[136,40],"distance":593.4652475082261},{"start_region_id":147,"end_region_id":56,"start_point":[485,520],"end_point":[898,106],"distance":584.7777355542873},{"start_region_id":147,"end_region_id":142,"start_point":[485,520],"end_point":[61,914],"distance":578.8022114677863},{"start_region_id":147,"end_region_id":145,"start_point":[485,520],"end_point":[771,953],"distance":518.926777108293},{"start_region_id":147,"end_region_id":87,"start_point":[485,520],"end_point":[987,633],"distance":514.5609779219564}],"complexity_score":0.6321835520743191}
{"id":5730,"query_id":"Q01146","question":"A delivery drone needs to fly quickly between two paved lanes. The drone can traverse most surfaces but must avoid areas with tall vertical obstacles or dense overhead obstructions. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the fastest route between the two paved lanes?","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_37.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":237,"start_point":[325,631],"end_point":[915,66],"distance":816.899626637202},{"start_region_id":237,"end_region_id":236,"start_point":[915,66],"end_point":[325,631],"distance":816.899626637202}],"complexity_score":0.6323228625112796}
{"id":6844,"query_id":"Q01369","question":"A quadcopter drone is currently positioned over a cultivated field with rows of crops and needs to reach a cluster of tall, leafy trees. The drone can fly over open, dry ground with loose soil and rocks, as well as over flat, hard artificial surfaces like paved areas and compacted soil. However, the drone's flight speed is significantly reduced when navigating through dense foliage and branches. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","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","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_37.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":432,"end_region_id":405,"start_point":[347,243],"end_point":[755,903],"distance":775.9278316957061},{"start_region_id":432,"end_region_id":400,"start_point":[347,243],"end_point":[792,867],"distance":766.4209026377087},{"start_region_id":432,"end_region_id":357,"start_point":[347,243],"end_point":[978,633],"distance":741.7957940026351},{"start_region_id":432,"end_region_id":393,"start_point":[347,243],"end_point":[818,816],"distance":741.734453831019},{"start_region_id":432,"end_region_id":403,"start_point":[347,243],"end_point":[118,909],"distance":704.2705446062614}],"complexity_score":0.6323228625112796}
{"id":10727,"query_id":"Q02146","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field while prioritizing minimal risk. The drone can fly over loose, dry earth surfaces; hard, paved surfaces; areas with tall vertical obstacles; liquid surfaces; and other cultivated fields. However. The drone must avoid any areas with tall vertical obstacles that could cause collisions or unstable flight conditions. What is the safest path 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 path for the drone?","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":"monrovia_37.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":432,"end_region_id":432,"start_point":[239,283],"end_point":[458,246],"distance":222.10357943986403}],"complexity_score":0.6323228625112796}
{"id":4314,"query_id":"Q00863","question":"A quadcopter drone starts from a grassy, open area with low vegetation and needs to reach another grassy, open area with low vegetation. The drone can fly over water bodies, but must avoid trees and buildings to ensure stable flight. The drone can also traverse cultivated fields with crops, but these may have uneven growth. The objective is to find a path that maximizes ride comfort by prioritizing smooth, predictable surfaces and avoiding turbulence or obstacles that could cause vibrations.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open area with low vegetation","end_land_type":"another grassy, open area with low 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":"daressalaam_117.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":5,"start_point":[116,352],"end_point":[811,72],"distance":749.2829905983452},{"start_region_id":5,"end_region_id":15,"start_point":[811,72],"end_point":[116,352],"distance":749.2829905983452},{"start_region_id":15,"end_region_id":24,"start_point":[116,352],"end_point":[754,374],"distance":638.379197656064},{"start_region_id":24,"end_region_id":15,"start_point":[754,374],"end_point":[116,352],"distance":638.379197656064},{"start_region_id":23,"end_region_id":5,"start_point":[416,407],"end_point":[811,72],"distance":517.9285665031424}],"complexity_score":0.6323268645053552}
{"id":4774,"query_id":"Q00955","question":"An aerial survey drone starts from a paved lane and needs to reach a paved area while ensuring smooth, stable flight. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical obstacles like trees and structures. The flight path should prioritize surfaces that minimize vibration and turbulence.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved 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":"daressalaam_117.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":100,"start_point":[875,167],"end_point":[34,329],"distance":856.4607404896035},{"start_region_id":144,"end_region_id":79,"start_point":[196,55],"end_point":[961,224],"distance":783.4449565859749},{"start_region_id":144,"end_region_id":51,"start_point":[196,55],"end_point":[964,70],"distance":768.1464704078253},{"start_region_id":144,"end_region_id":86,"start_point":[196,55],"end_point":[913,236],"distance":739.4930696091749},{"start_region_id":144,"end_region_id":102,"start_point":[196,55],"end_point":[783,490],"distance":730.6120721696295}],"complexity_score":0.6323268645053552}
{"id":7367,"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_34.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":48,"start_point":[943,511],"end_point":[2,821],"distance":990.74769744875}],"complexity_score":0.6323814041862035}
{"id":10642,"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_34.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":48,"start_point":[79,78],"end_point":[499,486],"distance":585.5458991402809},{"start_region_id":45,"end_region_id":48,"start_point":[150,919],"end_point":[499,486],"distance":556.138471965391},{"start_region_id":17,"end_region_id":48,"start_point":[935,136],"end_point":[499,486],"distance":559.1028527918634},{"start_region_id":39,"end_region_id":48,"start_point":[18,725],"end_point":[499,486],"distance":537.10520384744},{"start_region_id":42,"end_region_id":48,"start_point":[877,845],"end_point":[499,486],"distance":521.3108477674333}],"complexity_score":0.6323814041862035}
{"id":15394,"query_id":"Q03079","question":"A quadcopter drone starts from an area with tall vertical obstacles and needs to reach a paved, hard-surfaced area. The drone's flight path should prioritize comfort by avoiding vibrations and turbulence, favoring open, stable airspaces. The drone can fly over grassy fields, loose soil, cultivated fields, hard surfaces, and liquid areas. However, flying near tall vertical obstacles or structures is only possible if careful navigation is exercised to avoid collisions. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"an area with tall vertical obstacles","end_land_type":"a paved, hard-surfaced area","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":"chicago_34.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":45,"start_point":[734,88],"end_point":[150,919],"distance":1015.685482814439},{"start_region_id":55,"end_region_id":39,"start_point":[734,88],"end_point":[18,725],"distance":958.3449274660977},{"start_region_id":55,"end_region_id":44,"start_point":[734,88],"end_point":[745,909],"distance":821.0736873143603},{"start_region_id":55,"end_region_id":43,"start_point":[734,88],"end_point":[545,847],"distance":782.177729163903},{"start_region_id":55,"end_region_id":33,"start_point":[734,88],"end_point":[85,549],"distance":796.0665801300793}],"complexity_score":0.6323814041862035}
{"id":2271,"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_24.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":157,"start_point":[613,648],"end_point":[986,330],"distance":490.15609758524886},{"start_region_id":292,"end_region_id":148,"start_point":[613,648],"end_point":[853,276],"distance":442.7008018967212},{"start_region_id":292,"end_region_id":154,"start_point":[613,648],"end_point":[408,327],"distance":380.87530767956065},{"start_region_id":292,"end_region_id":240,"start_point":[613,648],"end_point":[455,968],"distance":356.88093252512107},{"start_region_id":292,"end_region_id":189,"start_point":[613,648],"end_point":[349,785],"distance":297.4306641891518}],"complexity_score":0.6323820480193835}
{"id":6653,"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_24.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":129,"start_point":[986,330],"end_point":[42,1003],"distance":1159.3381732695598},{"start_region_id":148,"end_region_id":129,"start_point":[853,276],"end_point":[42,1003],"distance":1089.1510455395983},{"start_region_id":157,"end_region_id":115,"start_point":[986,330],"end_point":[163,934],"distance":1020.8550337829558},{"start_region_id":157,"end_region_id":71,"start_point":[986,330],"end_point":[45,636],"distance":989.5034108076636},{"start_region_id":240,"end_region_id":8,"start_point":[455,968],"end_point":[956,140],"distance":967.7732172363524}],"complexity_score":0.6323820480193835}
{"id":11162,"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_24.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":292,"start_point":[42,1003],"end_point":[613,648],"distance":672.3585353068703},{"start_region_id":8,"end_region_id":292,"start_point":[956,140],"end_point":[613,648],"distance":612.9543212997197},{"start_region_id":71,"end_region_id":292,"start_point":[45,636],"end_point":[613,648],"distance":568.1267464219582},{"start_region_id":19,"end_region_id":292,"start_point":[1000,250],"end_point":[613,648],"distance":555.1333173211639},{"start_region_id":115,"end_region_id":292,"start_point":[163,934],"end_point":[613,648],"distance":533.1941485050263}],"complexity_score":0.6323820480193835}
{"id":15946,"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_24.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":297,"end_region_id":515,"start_point":[939,52],"end_point":[25,858],"distance":1218.6188903836999},{"start_region_id":515,"end_region_id":297,"start_point":[25,858],"end_point":[939,52],"distance":1218.6188903836999},{"start_region_id":297,"end_region_id":537,"start_point":[939,52],"end_point":[85,910],"distance":1210.5701136241553},{"start_region_id":537,"end_region_id":297,"start_point":[85,910],"end_point":[939,52],"distance":1210.5701136241553},{"start_region_id":515,"end_region_id":307,"start_point":[25,858],"end_point":[999,155],"distance":1201.201481850568}],"complexity_score":0.6323820480193835}
{"id":3844,"query_id":"Q00769","question":"A quadcopter drone is hovering above a field of crops. It needs to reach a patch of wild grass with shrubs as quickly as possible. The drone can fly over most surfaces including dry ground, grassy areas, paved zones, roads, and cultivated fields. However, it should avoid flying through dense tree canopies and close to vertical structures. What is the fastest flight path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a field of crops","end_land_type":"a patch of wild grass with shrubs","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":"zanzibar_52.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":2,"start_point":[892,759],"end_point":[123,20],"distance":1066.5280118215367},{"start_region_id":201,"end_region_id":2,"start_point":[1006,580],"end_point":[123,20],"distance":1045.6046097832584},{"start_region_id":200,"end_region_id":64,"start_point":[61,509],"end_point":[933,945],"distance":974.9256381899083},{"start_region_id":200,"end_region_id":15,"start_point":[61,509],"end_point":[971,241],"distance":948.6432416878329},{"start_region_id":203,"end_region_id":4,"start_point":[892,759],"end_point":[304,80],"distance":898.2121130334416}],"complexity_score":0.632395539499539}
{"id":4998,"query_id":"Q01000","question":"An agricultural drone starts from a paved road and needs to fly to a cultivated field as quickly as possible. The drone can fly over hard surfaces, liquid areas, and vegetated ground, but it must avoid flying through dense tree canopies or close to vertical structures because they pose collision risks. What is the fastest flight path to the field?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest flight path to the 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":"zanzibar_52.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":203,"start_point":[127,53],"end_point":[892,759],"distance":1040.990393807743},{"start_region_id":99,"end_region_id":201,"start_point":[127,53],"end_point":[1006,580],"distance":1024.8756022074094},{"start_region_id":107,"end_region_id":201,"start_point":[81,665],"end_point":[1006,580],"distance":928.8971956034748},{"start_region_id":99,"end_region_id":199,"start_point":[127,53],"end_point":[916,443],"distance":880.1255592243643},{"start_region_id":107,"end_region_id":199,"start_point":[81,665],"end_point":[916,443],"distance":864.0075231153951}],"complexity_score":0.632395539499539}
{"id":17300,"query_id":"Q03460","question":"A hiker starts from grassy, uneven terrain with scattered shrubs and needs to reach a paved vehicle lane. The hiker can only traverse areas with firm, stable footing that minimize the risk of slips or falls. Hard, paved surfaces are available, as are compacted gravel or dirt areas that provide good traction. The hiker must avoid any loose, sandy ground or rocky surfaces without vegetation, cultivated fields with crops, densely wooded areas with trees, bodies of water, and any structures or buildings. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"a paved vehicle lane","task_description":"What is the safest path 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":"zanzibar_52.tif","subfolder":"zanzibar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":99,"start_point":[933,945],"end_point":[127,53],"distance":1202.2063050907693},{"start_region_id":60,"end_region_id":99,"start_point":[556,951],"end_point":[127,53],"distance":995.2110328970434},{"start_region_id":57,"end_region_id":99,"start_point":[603,792],"end_point":[127,53],"distance":879.0318538028073},{"start_region_id":15,"end_region_id":99,"start_point":[971,241],"end_point":[127,53],"distance":864.6849137113472},{"start_region_id":38,"end_region_id":99,"start_point":[756,613],"end_point":[127,53],"distance":842.164473247358}],"complexity_score":0.632395539499539}
{"id":1834,"query_id":"Q00367","question":"An aerial survey drone begins its mission on a hard, paved surface and needs to reach a cultivated field with crops. The flight path must prioritize smooth, stable travel to protect sensitive onboard equipment from vibrations. The drone can fly over open sandy or rocky expanses, grassy or shrub-covered areas, paved surfaces, water bodies, and cultivated fields. However, it must avoid flying directly through dense tree canopies or between buildings, as these require careful navigation and increase turbulence. The water surface is less stable for maintaining a smooth flight path compared to solid ground. What is the most comfortable route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, paved surface","end_land_type":"A cultivated field with crops","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":"dolnoslaskie_33.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":86,"start_point":[842,147],"end_point":[312,696],"distance":763.0864957526113},{"start_region_id":49,"end_region_id":86,"start_point":[811,191],"end_point":[312,696],"distance":709.9478854113166},{"start_region_id":50,"end_region_id":87,"start_point":[842,147],"end_point":[859,752],"distance":605.2387958483824},{"start_region_id":49,"end_region_id":87,"start_point":[811,191],"end_point":[859,752],"distance":563.0497313737038},{"start_region_id":48,"end_region_id":87,"start_point":[562,377],"end_point":[859,752],"distance":478.3659686892453}],"complexity_score":0.6324467659783958}
{"id":11505,"query_id":"Q02301","question":"A family sedan starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes rough, uneven ground composed of loose earth and rocks; areas dominated by natural herbaceous vegetation or bushes; cultivated fields with crops; and other paved, hard surfaces. The vehicle requires a smooth, stable, and predictable surface to maximize ride comfort. Which path should you take?","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","task_description":"What is the most comfortable route to reach the destination?","task_type":"Comfort","input_classes":["Developed space","Road"],"traverse_vector":[0,0,1,1,0,0,0,0],"cost_vector":[0,0,1,2,0,0,0,0],"image_name":"dolnoslaskie_33.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":48,"start_point":[688,595],"end_point":[562,377],"distance":251.79356624028344}],"complexity_score":0.6324467659783958}
{"id":15809,"query_id":"Q03162","question":"A delivery drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over most surfaces but must prioritize areas that minimize turbulence and vibration for stable flight. Hard, paved surfaces and open grassy areas are preferred. Water bodies can be flown over but may cause instability. Wooded areas with trees are accessible but may require careful navigation. Structures and buildings are not allowed to be entered. Loose, sandy areas are prohibited. What is the most comfortable path to take?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the most comfortable path for the delivery drone from the cultivated field to the grassy meadow?","task_type":"Comfort","input_classes":["Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[0,1,1,1,1,1,1,0],"cost_vector":[0,3,3,3,1,2,3,0],"image_name":"dolnoslaskie_33.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":1,"start_point":[859,752],"end_point":[48,186],"distance":988.9777550582218},{"start_region_id":87,"end_region_id":2,"start_point":[859,752],"end_point":[171,108],"distance":942.3799658311927},{"start_region_id":86,"end_region_id":9,"start_point":[312,696],"end_point":[1008,63],"distance":940.8001913265111},{"start_region_id":86,"end_region_id":7,"start_point":[312,696],"end_point":[900,111],"distance":829.4389670132457},{"start_region_id":87,"end_region_id":3,"start_point":[859,752],"end_point":[440,78],"distance":793.6227063283912}],"complexity_score":0.6324467659783958}
{"id":15825,"query_id":"Q03165","question":"A delivery drone starts from a paved, hard surface area and needs to reach a cultivated field with planted crops. The drone can fly over areas with natural grass and shrubs, loose soil surfaces, and vertical structures, but it must avoid liquid surfaces and dense vegetation to minimize risk. What is the safest path to take?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"A paved, hard surface area","end_land_type":"A cultivated field with planted crops","task_description":"What is the safest path to take?","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":"dolnoslaskie_33.tif","subfolder":"dolnoslaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":86,"start_point":[857,133],"end_point":[312,696],"distance":783.5776923828294},{"start_region_id":31,"end_region_id":87,"start_point":[857,133],"end_point":[859,752],"distance":619.0032310093382},{"start_region_id":46,"end_region_id":86,"start_point":[808,567],"end_point":[312,696],"distance":512.5007317067947},{"start_region_id":40,"end_region_id":86,"start_point":[688,595],"end_point":[312,696],"distance":389.32890979222185},{"start_region_id":40,"end_region_id":87,"start_point":[688,595],"end_point":[859,752],"distance":232.14219780126146}],"complexity_score":0.6324467659783958}
{"id":321,"query_id":"Q00065","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, liquid bodies, cultivated fields, and vertical obstacles, but it must avoid dense overhead vegetation that could entangle its rotors. What is the shortest path?","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?","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":"khartoum_23.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":41,"start_point":[46,571],"end_point":[536,78],"distance":695.0892029085188}],"complexity_score":0.6324731110764368}
{"id":4586,"query_id":"Q00918","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall vegetation with distinct vertical structures. The hiker can traverse areas with loose, unconsolidated earth and rocks, as well as cultivated fields with planted crops, but cannot cross any liquid surfaces or enter any enclosed structures. Which path should the hiker take to minimize the total travel distance?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall vegetation with distinct vertical structures","task_description":"Which path should the hiker take to minimize the total travel distance?","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_23.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":70,"start_point":[211,32],"end_point":[232,363],"distance":331.6654941352808},{"start_region_id":25,"end_region_id":70,"start_point":[471,420],"end_point":[232,363],"distance":245.70307283385773},{"start_region_id":39,"end_region_id":70,"start_point":[161,610],"end_point":[232,363],"distance":257.00194551792794}],"complexity_score":0.6324731110764368}
{"id":13361,"query_id":"Q02673","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over open, loose soil or sand; grassy or shrub-covered areas; paved or compacted surfaces like sidewalks and parking lots; lanes used by vehicles; cultivated fields with crops; and liquid bodies. However, it must avoid vertical structures and dense overhead obstacles unless explicitly permitted. For this mission, the drone is authorized to fly close to vertical structures and dense overhead obstacles to minimize detours. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation","end_land_type":"A flat, hard, artificial surface","task_description":"What is the fastest path for the aerial surveillance drone to reach the flat, hard, artificial surface from the dense cluster of tall, leafy vegetation?","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":"khartoum_23.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":1,"start_point":[232,363],"end_point":[211,32],"distance":331.6654941352808},{"start_region_id":70,"end_region_id":25,"start_point":[232,363],"end_point":[471,420],"distance":245.70307283385773},{"start_region_id":70,"end_region_id":39,"start_point":[232,363],"end_point":[161,610],"distance":257.00194551792794}],"complexity_score":0.6324731110764368}
{"id":3138,"query_id":"Q00628","question":"A farmer is standing on a paved road surface and needs to get to a cultivated field as quickly as possible. The person can walk on paved surfaces like sidewalks and roads, and is allowed to cross the cultivated field because the crops are low and the ground is even. However, the farmer cannot traverse loose sandy or rocky terrain, through areas with tall grass or shrubs, across any liquid bodies, or through any vertical structures. Given these constraints, what is the fastest route to the field?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"paved road surface","end_land_type":"cultivated field","task_description":"What is the fastest route for the farmer 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":[0,0,3,2,0,0,1,0],"image_name":"ngaoundere_37.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":178,"start_point":[515,791],"end_point":[21,257],"distance":727.4558405841553},{"start_region_id":77,"end_region_id":180,"start_point":[540,244],"end_point":[751,823],"distance":616.248326569736},{"start_region_id":77,"end_region_id":178,"start_point":[540,244],"end_point":[21,257],"distance":519.162787572453},{"start_region_id":79,"end_region_id":180,"start_point":[515,791],"end_point":[751,823],"distance":238.15961034566715}],"complexity_score":0.6324794516403802}
{"id":5293,"query_id":"Q01059","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a paved lane used by vehicles. The drone can fly over areas with loose soil and vegetation, liquid surfaces, and vertical structures, but must avoid dense overhead obstacles that could entangle its rotors. Which path should it take to reach the destination in the shortest possible way?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"A paved lane used by vehicles","task_description":"Which path should it take to reach the destination in the shortest possible way?","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":"ngaoundere_37.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":79,"start_point":[21,257],"end_point":[515,791],"distance":727.4558405841553},{"start_region_id":180,"end_region_id":77,"start_point":[751,823],"end_point":[540,244],"distance":616.248326569736},{"start_region_id":178,"end_region_id":77,"start_point":[21,257],"end_point":[540,244],"distance":519.162787572453},{"start_region_id":180,"end_region_id":79,"start_point":[751,823],"end_point":[515,791],"distance":238.15961034566715}],"complexity_score":0.6324794516403802}
{"id":9697,"query_id":"Q01940","question":"A hiker is standing on a paved path and needs to reach a cultivated field. The hiker can walk across loose, sandy ground and has been granted access to cross the field, but cannot enter wooded areas, water, or structures. What is the shortest way to the field?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved path","end_land_type":"cultivated field","task_description":"What is the shortest way 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":"ngaoundere_37.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":178,"start_point":[515,791],"end_point":[21,257],"distance":727.4558405841553},{"start_region_id":77,"end_region_id":180,"start_point":[540,244],"end_point":[751,823],"distance":616.248326569736},{"start_region_id":77,"end_region_id":178,"start_point":[540,244],"end_point":[21,257],"distance":519.162787572453},{"start_region_id":79,"end_region_id":180,"start_point":[515,791],"end_point":[751,823],"distance":238.15961034566715}],"complexity_score":0.6324794516403802}
{"id":12511,"query_id":"Q02503","question":"An off-road vehicle is positioned in a cultivated field with soft, tilled soil and must get to a paved, hard-surfaced area as quickly as possible. The vehicle can use vehicle lanes, paved surfaces, grassy or shrub-covered areas, and cultivated fields, but cannot go through wooded areas, water bodies, or structures. The grassy or shrub-covered areas are flat and dry, and the cultivated fields are passable because the crops are short and the ground is firm. 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, hard-surfaced 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":"ngaoundere_37.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":38,"start_point":[21,257],"end_point":[962,902],"distance":1140.8356586292348},{"start_region_id":178,"end_region_id":68,"start_point":[21,257],"end_point":[858,983],"distance":1107.9914259596055},{"start_region_id":178,"end_region_id":72,"start_point":[21,257],"end_point":[698,1000],"distance":1005.1756065484279},{"start_region_id":178,"end_region_id":49,"start_point":[21,257],"end_point":[691,909],"distance":934.8818107119209},{"start_region_id":178,"end_region_id":34,"start_point":[21,257],"end_point":[760,769],"distance":899.0355944010225}],"complexity_score":0.6324794516403802}
{"id":11104,"query_id":"Q02221","question":"A delivery drone is starting from grassy, uneven terrain and needs to reach a paved, hard surface. The drone can traverse grassy areas, paved pedestrian zones, vehicle lanes, wooded patches, and water bodies. Wooded patches are traversable as the drone can fly above the tree canopy. Vertical structures are traversable as the drone can fly over them. The drone must prioritize the safest route.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"grassy, uneven terrain","end_land_type":"a paved, 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","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_2.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":57,"start_point":[20,957],"end_point":[964,15],"distance":1333.604139165742},{"start_region_id":43,"end_region_id":60,"start_point":[20,957],"end_point":[955,171],"distance":1221.48311490581},{"start_region_id":52,"end_region_id":57,"start_point":[327,981],"end_point":[964,15],"distance":1157.1192678371578},{"start_region_id":2,"end_region_id":72,"start_point":[975,56],"end_point":[71,725],"distance":1124.623047958737},{"start_region_id":2,"end_region_id":111,"start_point":[975,56],"end_point":[420,998],"distance":1093.3384654351094}],"complexity_score":0.6325968516328866}
{"id":15829,"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":"tuscaloosa_2.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":2,"start_point":[20,957],"end_point":[975,56],"distance":1312.9455434251643},{"start_region_id":2,"end_region_id":43,"start_point":[975,56],"end_point":[20,957],"distance":1312.9455434251643},{"start_region_id":52,"end_region_id":2,"start_point":[327,981],"end_point":[975,56],"distance":1129.3931999086944},{"start_region_id":2,"end_region_id":52,"start_point":[975,56],"end_point":[327,981],"distance":1129.3931999086944},{"start_region_id":5,"end_region_id":43,"start_point":[782,135],"end_point":[20,957],"distance":1120.860383812364}],"complexity_score":0.6325968516328866}
{"id":521,"query_id":"Q00105","question":"An aerial surveillance drone starts from a paved, flat, hard surface area and needs to reach another paved, flat, hard surface area. The drone can fly over liquid surfaces and cultivated fields with low vegetation, but must avoid tall vertical obstacles that could cause collisions. Paved lanes and other hard surfaces are also available for flight. The drone's primary concern is minimizing risk of damage or loss of control.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, hard surface area","end_land_type":"Another paved, flat, 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":"sechura_45.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":23,"start_point":[985,930],"end_point":[66,50],"distance":1272.3839829233941},{"start_region_id":23,"end_region_id":72,"start_point":[66,50],"end_point":[985,930],"distance":1272.3839829233941},{"start_region_id":62,"end_region_id":23,"start_point":[712,976],"end_point":[66,50],"distance":1129.0668713588225},{"start_region_id":23,"end_region_id":62,"start_point":[66,50],"end_point":[712,976],"distance":1129.0668713588225},{"start_region_id":56,"end_region_id":23,"start_point":[995,673],"end_point":[66,50],"distance":1118.5571062757592}],"complexity_score":0.6326197090456747}
{"id":4731,"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":"sechura_45.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":23,"start_point":[625,910],"end_point":[66,50],"distance":1025.7099980013843},{"start_region_id":87,"end_region_id":25,"start_point":[625,910],"end_point":[379,110],"distance":836.9683387082214},{"start_region_id":87,"end_region_id":27,"start_point":[625,910],"end_point":[746,154],"distance":765.6219693817569},{"start_region_id":87,"end_region_id":31,"start_point":[625,910],"end_point":[949,261],"distance":725.3805897596103},{"start_region_id":75,"end_region_id":72,"start_point":[637,348],"end_point":[985,930],"distance":678.1061863749659}],"complexity_score":0.6326197090456747}
{"id":9526,"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":"sechura_45.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":31,"start_point":[64,971],"end_point":[949,261],"distance":1134.6034549568408},{"start_region_id":18,"end_region_id":44,"start_point":[64,971],"end_point":[972,349],"distance":1100.6125567155773},{"start_region_id":14,"end_region_id":23,"start_point":[730,913],"end_point":[66,50],"distance":1088.882454629516},{"start_region_id":18,"end_region_id":27,"start_point":[64,971],"end_point":[746,154],"distance":1064.2429233967214},{"start_region_id":19,"end_region_id":23,"start_point":[524,968],"end_point":[66,50],"distance":1025.9083779753435}],"complexity_score":0.6326197090456747}
{"id":13317,"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":"sechura_45.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":23,"start_point":[625,910],"end_point":[66,50],"distance":1025.7099980013843},{"start_region_id":87,"end_region_id":25,"start_point":[625,910],"end_point":[379,110],"distance":836.9683387082214},{"start_region_id":87,"end_region_id":27,"start_point":[625,910],"end_point":[746,154],"distance":765.6219693817569},{"start_region_id":87,"end_region_id":31,"start_point":[625,910],"end_point":[949,261],"distance":725.3805897596103},{"start_region_id":75,"end_region_id":72,"start_point":[637,348],"end_point":[985,930],"distance":678.1061863749659}],"complexity_score":0.6326197090456747}
{"id":9818,"query_id":"Q01964","question":"An aerial surveillance drone 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 drone can fly over areas with loose, dry soil and rocks; areas with low vegetation like grass and shrubs; paved lanes used by vehicles; liquid surfaces; and cultivated fields with crops. However, the tall vertical obstacles themselves can only be traversed if there is sufficient clearance between them for safe flight. The drone's primary concern is minimizing risk of collision, signal interference, or loss of control. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a location with tall vertical obstacles that provide overhead cover.","end_land_type":"The destination is another location with similar tall vertical obstacles that provide overhead cover.","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Bareland","Rangeland","Road","Tree","Water","Agriculture land","Building"],"traverse_vector":[1,1,0,1,1,1,1,1],"cost_vector":[2,2,0,2,1,1,2,1],"image_name":"kujawsko-pomorskie_17.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":320,"start_point":[257,566],"end_point":[691,950],"distance":579.4928817509323},{"start_region_id":320,"end_region_id":298,"start_point":[691,950],"end_point":[257,566],"distance":579.4928817509323}],"complexity_score":0.6326468536095636}
{"id":7467,"query_id":"Q01494","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated crop field as quickly as possible. The drone can fly over open sandy or rocky ground, other paved areas, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying through dense vegetation or near vertical structures due to collision risks. What is the fastest path?","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 fastest path for the aerial survey drone to reach the cultivated crop field from the paved, hard surface?","task_type":"Fastest","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":"kyoto_14.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":744,"start_point":[496,42],"end_point":[996,994],"distance":1075.3157675771336},{"start_region_id":519,"end_region_id":733,"start_point":[1001,862],"end_point":[60,391],"distance":1052.29368524191},{"start_region_id":514,"end_region_id":733,"start_point":[943,896],"end_point":[60,391],"distance":1017.2089264256384},{"start_region_id":396,"end_region_id":734,"start_point":[64,721],"end_point":[988,318],"distance":1008.0600180544807},{"start_region_id":249,"end_region_id":744,"start_point":[284,316],"end_point":[996,994],"distance":983.1724162119277}],"complexity_score":0.632993310895661}
{"id":9191,"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_14.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":542,"end_region_id":744,"start_point":[69,49],"end_point":[996,994],"distance":1323.765084899885},{"start_region_id":542,"end_region_id":741,"start_point":[69,49],"end_point":[810,921],"distance":1144.3185745237206},{"start_region_id":542,"end_region_id":742,"start_point":[69,49],"end_point":[708,870],"distance":1040.3662816527649},{"start_region_id":542,"end_region_id":734,"start_point":[69,49],"end_point":[988,318],"distance":957.5604419565378},{"start_region_id":542,"end_region_id":738,"start_point":[69,49],"end_point":[870,496],"distance":917.284034528019}],"complexity_score":0.632993310895661}
{"id":12826,"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_14.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":732,"end_region_id":519,"start_point":[68,135],"end_point":[1001,862],"distance":1182.8009130872363},{"start_region_id":732,"end_region_id":514,"start_point":[68,135],"end_point":[943,896],"distance":1159.6318381279466},{"start_region_id":732,"end_region_id":512,"start_point":[68,135],"end_point":[894,847],"distance":1090.5136404465559},{"start_region_id":744,"end_region_id":99,"start_point":[996,994],"end_point":[496,42],"distance":1075.3157675771336},{"start_region_id":733,"end_region_id":519,"start_point":[60,391],"end_point":[1001,862],"distance":1052.29368524191}],"complexity_score":0.632993310895661}
{"id":17586,"query_id":"Q03518","question":"A hiker starts from a paved lane and needs to reach a cultivated field. The hiker can traverse grassy areas and shrubs, as well as wooded patches, provided there are no dense thickets blocking passage. The hiker cannot cross water bodies or enter structures. What is the shortest path to the cultivated field?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path to the cultivated field?","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_14.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":543,"end_region_id":744,"start_point":[464,518],"end_point":[996,994],"distance":713.8627319029898},{"start_region_id":543,"end_region_id":732,"start_point":[464,518],"end_point":[68,135],"distance":550.9128787748567},{"start_region_id":543,"end_region_id":734,"start_point":[464,518],"end_point":[988,318],"distance":560.870751599689},{"start_region_id":543,"end_region_id":741,"start_point":[464,518],"end_point":[810,921],"distance":531.1544031635245},{"start_region_id":543,"end_region_id":733,"start_point":[464,518],"end_point":[60,391],"distance":423.49144029130036}],"complexity_score":0.632993310895661}
{"id":5653,"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_35.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":27,"start_point":[752,148],"end_point":[34,475],"distance":788.9569063009716},{"start_region_id":27,"end_region_id":15,"start_point":[34,475],"end_point":[752,148],"distance":788.9569063009716},{"start_region_id":23,"end_region_id":27,"start_point":[797,410],"end_point":[34,475],"distance":765.7636711153121},{"start_region_id":27,"end_region_id":23,"start_point":[34,475],"end_point":[797,410],"distance":765.7636711153121},{"start_region_id":27,"end_region_id":12,"start_point":[34,475],"end_point":[629,238],"distance":640.4638943765683}],"complexity_score":0.6330316202491537}
{"id":7564,"query_id":"Q01513","question":"An aerial survey drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard, flat surfaces like parking lots and sidewalks, as well as over loose, dry soil areas and cultivated fields. It can also cross over liquid surfaces. The drone must avoid any vertical structures and dense vegetation clusters. What is the shortest path to the destination?","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 to the destination?","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":"rotterdam_35.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":33,"start_point":[772,655],"end_point":[46,116],"distance":904.2107055327315}],"complexity_score":0.6330316202491537}
{"id":12419,"query_id":"Q02484","question":"A quadcopter drone starts from a paved surface and needs to reach a grassy area. The drone requires a stable flight with minimal turbulence and must avoid liquid surfaces that could cause signal interference or damage if splashed. The drone can fly over hard surfaces, grassy terrain, and areas with vegetation, but dense clusters of tall vegetation that could cause buffeting should be avoided unless they are sparse. Vertical structures should also be avoided to prevent collision. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"What is the most comfortable path for the quadcopter drone to take from the paved surface to the grassy 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":"rotterdam_35.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":9,"start_point":[365,437],"end_point":[706,715],"distance":439.9602254749854},{"start_region_id":33,"end_region_id":7,"start_point":[365,437],"end_point":[789,434],"distance":424.0106130747201},{"start_region_id":33,"end_region_id":2,"start_point":[365,437],"end_point":[745,264],"distance":417.52724462003675},{"start_region_id":33,"end_region_id":4,"start_point":[365,437],"end_point":[166,149],"distance":350.06427981157975},{"start_region_id":33,"end_region_id":8,"start_point":[365,437],"end_point":[508,703],"distance":302.00165562460086}],"complexity_score":0.6330316202491537}
{"id":16668,"query_id":"Q03334","question":"A quadcopter starts from a grassy, uneven field and needs to reach another grassy, uneven field while prioritizing flight comfort. You seek stable airspace with minimal turbulence or obstacles. You can traverse loose, sandy or rocky ground without vegetation, as well as cultivated fields with crops or grazing vegetation. Paved lanes and streets are also available. However, you cannot travel through areas with dense vertical obstacles or liquid surfaces, and solid structures are restricted unless explicitly permitted. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven field","end_land_type":"grassy, uneven field","task_description":"What is the most comfortable path from the starting grassy, uneven field to the destination grassy, uneven field?","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":"rotterdam_35.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":4,"start_point":[508,703],"end_point":[166,149],"distance":651.0606730558989},{"start_region_id":4,"end_region_id":8,"start_point":[166,149],"end_point":[508,703],"distance":651.0606730558989},{"start_region_id":6,"end_region_id":8,"start_point":[187,477],"end_point":[508,703],"distance":392.577380907255},{"start_region_id":8,"end_region_id":6,"start_point":[508,703],"end_point":[187,477],"distance":392.577380907255},{"start_region_id":3,"end_region_id":4,"start_point":[487,363],"end_point":[166,149],"distance":385.79398647464683}],"complexity_score":0.6330316202491537}
{"id":6592,"query_id":"Q01319","question":"A farm vehicle starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose soil. The area contains only two types of surfaces: hard, paved surfaces that are smooth and stable, and loose, cultivated soil that is uneven and soft. The hard surfaces allow for much higher and more consistent travel speeds compared to the loose soil. What is the fastest route?","agent_category":"Car","specific_agent":"farm vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route from the starting cultivated field to the destination 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":"tokyo_12.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":365,"end_region_id":377,"start_point":[75,29],"end_point":[850,599],"distance":962.0420988709382},{"start_region_id":377,"end_region_id":365,"start_point":[850,599],"end_point":[75,29],"distance":962.0420988709382},{"start_region_id":365,"end_region_id":372,"start_point":[75,29],"end_point":[991,266],"distance":946.163305143462},{"start_region_id":372,"end_region_id":365,"start_point":[991,266],"end_point":[75,29],"distance":946.163305143462},{"start_region_id":381,"end_region_id":365,"start_point":[596,792],"end_point":[75,29],"distance":923.9101687934818}],"complexity_score":0.6331055232798266}
{"id":11842,"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":"tokyo_12.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":227,"end_region_id":97,"start_point":[215,995],"end_point":[972,59],"distance":1203.804386102659},{"start_region_id":97,"end_region_id":227,"start_point":[972,59],"end_point":[215,995],"distance":1203.804386102659},{"start_region_id":99,"end_region_id":221,"start_point":[95,135],"end_point":[973,893],"distance":1159.9344809082968},{"start_region_id":221,"end_region_id":99,"start_point":[973,893],"end_point":[95,135],"distance":1159.9344809082968},{"start_region_id":221,"end_region_id":94,"start_point":[973,893],"end_point":[206,75],"distance":1121.3442825466227}],"complexity_score":0.6331055232798266}
{"id":15441,"query_id":"Q03089","question":"A quadcopter drone starts from cultivated fields with rows of crops and needs to reach a flat, hard, artificial surface such as a parking lot or paved area. The drone can fly over areas with loose soil and low vegetation, as well as liquid surfaces, but must avoid tall vertical obstacles like trees and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated fields with rows of crops","end_land_type":"a flat, hard, artificial surface such as a parking lot or 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":"tokyo_12.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":365,"end_region_id":226,"start_point":[75,29],"end_point":[959,997],"distance":1310.908082208665},{"start_region_id":365,"end_region_id":221,"start_point":[75,29],"end_point":[973,893],"distance":1246.1540835707276},{"start_region_id":365,"end_region_id":222,"start_point":[75,29],"end_point":[781,918],"distance":1135.234337042357},{"start_region_id":372,"end_region_id":227,"start_point":[991,266],"end_point":[215,995],"distance":1064.7145157271032},{"start_region_id":365,"end_region_id":180,"start_point":[75,29],"end_point":[1003,545],"distance":1061.809775807324}],"complexity_score":0.6331055232798266}
{"id":13362,"query_id":"Q02673","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over open, loose soil or sand; grassy or shrub-covered areas; paved or compacted surfaces like sidewalks and parking lots; lanes used by vehicles; cultivated fields with crops; and liquid bodies. However, it must avoid vertical structures and dense overhead obstacles unless explicitly permitted. For this mission, the drone is authorized to fly close to vertical structures and dense overhead obstacles to minimize detours. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation","end_land_type":"A flat, hard, artificial surface","task_description":"What is the fastest path for the aerial surveillance drone to reach the flat, hard, artificial surface from the dense cluster of tall, leafy vegetation?","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_45.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":27,"start_point":[958,924],"end_point":[188,163],"distance":1082.5991871417602},{"start_region_id":156,"end_region_id":27,"start_point":[792,981],"end_point":[188,163],"distance":1016.8284024357306},{"start_region_id":144,"end_region_id":59,"start_point":[958,924],"end_point":[48,685],"distance":940.8618389540518},{"start_region_id":156,"end_region_id":28,"start_point":[792,981],"end_point":[623,139],"distance":858.7927573052767},{"start_region_id":144,"end_region_id":28,"start_point":[958,924],"end_point":[623,139],"distance":853.4928236370824}],"complexity_score":0.6331217877181194}
{"id":13721,"query_id":"Q02745","question":"A delivery drone starts from a flat concrete landing pad and needs to reach a grassy clearing. The drone can fly over grassy areas, paved zones, cultivated land, and water bodies, but must avoid dense tree canopies and structures. The drone seeks the most comfortable flight, prioritizing stable, open airspace that minimizes turbulence and abrupt maneuvers.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"flat concrete landing pad","end_land_type":"grassy clearing","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":"duesseldorf_45.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":21,"start_point":[473,624],"end_point":[940,952],"distance":570.6776673394536},{"start_region_id":61,"end_region_id":21,"start_point":[514,637],"end_point":[940,952],"distance":529.8122308893973},{"start_region_id":58,"end_region_id":20,"start_point":[473,624],"end_point":[859,901],"distance":475.10525149697094},{"start_region_id":56,"end_region_id":21,"start_point":[857,490],"end_point":[940,952],"distance":469.3964209492867},{"start_region_id":61,"end_region_id":20,"start_point":[514,637],"end_point":[859,901],"distance":434.42030339292387}],"complexity_score":0.6331217877181194}
{"id":14935,"query_id":"Q02987","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow. The terrain includes areas of loose earth and rocks without vegetation, patches of low bushes and wild grasses, hard paved surfaces like sidewalks and parking lots, individual trees or groups of trees with visible trunks and canopies, and the cultivated fields themselves. However, all water bodies such as rivers and lakes are completely impassable, and all structures like houses and buildings are strictly blocked. What is the shortest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path to the grassy meadow?","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_80.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":279,"end_region_id":6,"start_point":[332,955],"end_point":[857,449],"distance":729.1508760194971},{"start_region_id":279,"end_region_id":12,"start_point":[332,955],"end_point":[890,685],"distance":619.8903128780123},{"start_region_id":279,"end_region_id":2,"start_point":[332,955],"end_point":[463,369],"distance":600.463987263183},{"start_region_id":279,"end_region_id":10,"start_point":[332,955],"end_point":[784,579],"distance":587.9455757125825},{"start_region_id":279,"end_region_id":5,"start_point":[332,955],"end_point":[527,401],"distance":587.3167799407744}],"complexity_score":0.6332291064800306}
{"id":6176,"query_id":"Q01236","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over hard surfaces, loose soil, grassy fields, cultivated areas, and liquid surfaces, but cannot pass through dense vertical obstacles. What is the shortest path?","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 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_39.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":35,"start_point":[138,29],"end_point":[909,823],"distance":1106.7416139280208},{"start_region_id":50,"end_region_id":35,"start_point":[38,232],"end_point":[909,823],"distance":1052.5787381474129},{"start_region_id":39,"end_region_id":25,"start_point":[138,29],"end_point":[925,654],"distance":1004.984576996085},{"start_region_id":50,"end_region_id":25,"start_point":[38,232],"end_point":[925,654],"distance":982.2693113398178},{"start_region_id":54,"end_region_id":19,"start_point":[971,652],"end_point":[18,353],"distance":998.8042851329784}],"complexity_score":0.6333017907079811}
{"id":6551,"query_id":"Q01311","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an area covered with natural, low-growing vegetation. The drone must avoid any vertical structures or dense tree canopies that could pose collision risks. The mission prioritizes minimizing operational hazards, so the drone should favor open, unobstructed areas where it can maintain stable flight and clear visibility. 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 covered with natural, low-growing 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":"little_rock_39.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":35,"start_point":[97,194],"end_point":[909,823],"distance":1027.1246272969995},{"start_region_id":57,"end_region_id":25,"start_point":[97,194],"end_point":[925,654],"distance":947.197972970804},{"start_region_id":58,"end_region_id":35,"start_point":[538,42],"end_point":[909,823],"distance":864.6398094004231},{"start_region_id":57,"end_region_id":33,"start_point":[97,194],"end_point":[717,768],"distance":844.9118297195276},{"start_region_id":57,"end_region_id":24,"start_point":[97,194],"end_point":[880,560],"distance":864.3176499412701}],"complexity_score":0.6333017907079811}
{"id":11725,"query_id":"Q02345","question":"An aerial survey drone is positioned within a dense cluster of tall, vertical structures with complex branching patterns that create significant overhead obstacles. It needs to reach a wide, flat, hard-surfaced area with no vertical obstructions. The drone can fly over open, exposed ground composed of loose earth and rocks, as well as the flat hard-surfaced area. However, the tall vertical structures are only traversable if the drone maintains a safe altitude to avoid collisions. What is the fastest 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 that create significant overhead obstacles.","end_land_type":"A wide, flat, hard-surfaced area with no vertical obstructions.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Developed space","Tree"],"traverse_vector":[1,0,1,0,1,0,0,0],"cost_vector":[2,0,2,0,1,0,0,0],"image_name":"little_rock_39.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":45,"start_point":[246,770],"end_point":[342,371],"distance":410.3864032835396},{"start_region_id":84,"end_region_id":54,"start_point":[803,897],"end_point":[971,652],"distance":297.06733243492124},{"start_region_id":63,"end_region_id":42,"start_point":[875,209],"end_point":[771,23],"distance":213.10091506138588}],"complexity_score":0.6333017907079811}
{"id":15897,"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_39.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":85,"start_point":[978,82],"end_point":[45,908],"distance":1246.0999157370968},{"start_region_id":42,"end_region_id":85,"start_point":[771,23],"end_point":[45,908],"distance":1144.6837991340665},{"start_region_id":39,"end_region_id":84,"start_point":[138,29],"end_point":[803,897],"distance":1093.4573608513504},{"start_region_id":39,"end_region_id":88,"start_point":[138,29],"end_point":[528,1000],"distance":1046.39428515259},{"start_region_id":44,"end_region_id":85,"start_point":[649,72],"end_point":[45,908],"distance":1031.3641451979995}],"complexity_score":0.6333017907079811}
{"id":6218,"query_id":"Q01244","question":"An aerial surveillance drone starts from a flat, hard, artificial surface and needs to reach a long, paved lane designed for vehicles as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks; areas covered with natural, uncultivated grass and shrubs; all other flat, hard artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles with complex branching structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A long, paved lane designed for vehicles","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":"tyrolw_49.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":219,"start_point":[918,100],"end_point":[68,478],"distance":930.2601786597124},{"start_region_id":206,"end_region_id":219,"start_point":[901,847],"end_point":[68,478],"distance":911.0707985661707},{"start_region_id":192,"end_region_id":219,"start_point":[934,678],"end_point":[68,478],"distance":888.7946894530818},{"start_region_id":160,"end_region_id":219,"start_point":[937,517],"end_point":[68,478],"distance":869.8747036211595},{"start_region_id":98,"end_region_id":219,"start_point":[842,177],"end_point":[68,478],"distance":830.4679403806025}],"complexity_score":0.6333229072337985}
{"id":3467,"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_16.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":75,"start_point":[980,175],"end_point":[113,894],"distance":1126.3436420560113},{"start_region_id":75,"end_region_id":42,"start_point":[113,894],"end_point":[980,175],"distance":1126.3436420560113},{"start_region_id":42,"end_region_id":78,"start_point":[980,175],"end_point":[185,949],"distance":1109.5499087467854},{"start_region_id":78,"end_region_id":42,"start_point":[185,949],"end_point":[980,175],"distance":1109.5499087467854},{"start_region_id":45,"end_region_id":75,"start_point":[862,151],"end_point":[113,894],"distance":1055.0118482747007}],"complexity_score":0.6333328270063466}
{"id":10336,"query_id":"Q02068","question":"An off-road vehicle starts from a paved street and needs to reach a flat, hard surface like a parking lot or construction site. The vehicle can drive on paved surfaces, loose or rocky ground, and grassy or shrub-covered areas, but cannot pass through water, buildings, or wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a flat, hard surface like a parking lot or construction site","task_description":"What is the shortest path for the off-road vehicle to take?","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":"austin_16.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":75,"start_point":[648,594],"end_point":[113,894],"distance":613.3718285020922},{"start_region_id":86,"end_region_id":78,"start_point":[648,594],"end_point":[185,949],"distance":583.4329438761579},{"start_region_id":86,"end_region_id":62,"start_point":[648,594],"end_point":[71,707],"distance":587.9608830526058},{"start_region_id":86,"end_region_id":42,"start_point":[648,594],"end_point":[980,175],"distance":534.5886268898731},{"start_region_id":86,"end_region_id":38,"start_point":[648,594],"end_point":[399,97],"distance":555.8866790992568}],"complexity_score":0.6333328270063466}
{"id":15075,"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_16.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":75,"start_point":[980,175],"end_point":[113,894],"distance":1126.3436420560113},{"start_region_id":75,"end_region_id":42,"start_point":[113,894],"end_point":[980,175],"distance":1126.3436420560113},{"start_region_id":42,"end_region_id":78,"start_point":[980,175],"end_point":[185,949],"distance":1109.5499087467854},{"start_region_id":78,"end_region_id":42,"start_point":[185,949],"end_point":[980,175],"distance":1109.5499087467854},{"start_region_id":45,"end_region_id":75,"start_point":[862,151],"end_point":[113,894],"distance":1055.0118482747007}],"complexity_score":0.6333328270063466}
{"id":547,"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_29.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":123,"start_point":[871,938],"end_point":[59,78],"distance":1182.7696309932885},{"start_region_id":123,"end_region_id":177,"start_point":[59,78],"end_point":[871,938],"distance":1182.7696309932885},{"start_region_id":179,"end_region_id":123,"start_point":[751,952],"end_point":[59,78],"distance":1114.7824899952457},{"start_region_id":123,"end_region_id":179,"start_point":[59,78],"end_point":[751,952],"distance":1114.7824899952457},{"start_region_id":168,"end_region_id":123,"start_point":[907,805],"end_point":[59,78],"distance":1116.9749325745856}],"complexity_score":0.6333600537246323}
{"id":4730,"query_id":"Q00946","question":"A jogger starts from a paved street and needs to reach a smooth, hard-surfaced area like a sidewalk or parking lot as quickly as possible. The jogger can also cross cultivated fields if necessary, but these are rougher and slower. The jogger cannot traverse water bodies, buildings, bare sand or rock areas, natural grassy or shrub-covered areas, or wooded zones.","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 take?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"duesseldorf_29.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":123,"start_point":[491,509],"end_point":[59,78],"distance":610.2335618433323},{"start_region_id":190,"end_region_id":177,"start_point":[491,509],"end_point":[871,938],"distance":573.097722905963},{"start_region_id":190,"end_region_id":186,"start_point":[491,509],"end_point":[195,972],"distance":549.5316187445451},{"start_region_id":190,"end_region_id":125,"start_point":[491,509],"end_point":[267,24],"distance":534.2293514961528},{"start_region_id":190,"end_region_id":179,"start_point":[491,509],"end_point":[751,952],"distance":513.6623404533372}],"complexity_score":0.6333600537246323}
{"id":5710,"query_id":"Q01142","question":"An off-road vehicle starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, paved area. The terrain includes only grassy, uneven ground with scattered shrubs and flat, paved surfaces; all other surfaces, such as water bodies, buildings, bare sand or rocks, agricultural fields, trees, and roads, are not traversable due to safety hazards or physical barriers. The off-road vehicle must find a path that minimizes risk.","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, paved area","task_description":"What is the safest path for the off-road vehicle to take?","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":"monrovia_12.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":156,"start_point":[812,71],"end_point":[148,788],"distance":977.2333395868154},{"start_region_id":83,"end_region_id":98,"start_point":[334,970],"end_point":[591,37],"distance":967.7489343832934},{"start_region_id":6,"end_region_id":169,"start_point":[812,71],"end_point":[438,960],"distance":964.467210432786},{"start_region_id":8,"end_region_id":163,"start_point":[487,74],"end_point":[884,916],"distance":930.8990278220297},{"start_region_id":83,"end_region_id":119,"start_point":[334,970],"end_point":[961,342],"distance":887.4192921049215}],"complexity_score":0.633411641176035}
{"id":12260,"query_id":"Q02452","question":"A hiker is starting from a densely vegetated area with tall, upright structures providing shade and cover and needs to reach a flat, hard, and stable paved surface. The terrain includes areas of loose, dry earth and rocks without vegetation, which are firm enough to walk on. The hiker must avoid any liquid surfaces and cannot pass through solid, enclosed structures. The goal is to find a path that provides the smoothest and most stable walking experience, minimizing vibrations and uneven footing.","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, and stable paved surface.","task_description":"What is the most comfortable path for the hiker to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,4,3,1,0,0,0],"image_name":"monrovia_12.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":301,"end_region_id":98,"start_point":[190,956],"end_point":[591,37],"distance":1002.6774157225244},{"start_region_id":285,"end_region_id":98,"start_point":[73,803],"end_point":[591,37],"distance":924.7053584791212},{"start_region_id":208,"end_region_id":156,"start_point":[719,194],"end_point":[148,788],"distance":823.939924994535},{"start_region_id":274,"end_region_id":98,"start_point":[80,675],"end_point":[591,37],"distance":817.4136039973888},{"start_region_id":284,"end_region_id":98,"start_point":[268,733],"end_point":[591,37],"distance":767.2972044781604}],"complexity_score":0.633411641176035}
{"id":15161,"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_12.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":318,"start_point":[334,970],"end_point":[924,42],"distance":1099.6744972945403},{"start_region_id":49,"end_region_id":318,"start_point":[37,571],"end_point":[924,42],"distance":1032.7681249922462},{"start_region_id":83,"end_region_id":322,"start_point":[334,970],"end_point":[907,198],"distance":961.4119824508118},{"start_region_id":83,"end_region_id":321,"start_point":[334,970],"end_point":[810,135],"distance":961.1456705411516},{"start_region_id":49,"end_region_id":322,"start_point":[37,571],"end_point":[907,198],"distance":946.5880835928582}],"complexity_score":0.633411641176035}
{"id":3828,"query_id":"Q00766","question":"A hiker starts from a grassy, uneven terrain with scattered shrubs and needs to reach a paved lane for vehicles. The area contains various surfaces: loose sandy or rocky ground without vegetation, additional grassy or shrub-covered areas, hard artificial surfaces like sidewalks and parking lots, other paved lanes, individual or clustered tall vegetation with distinct height and shadow, and cultivated fields with crops. All these surfaces are accessible for traversal. 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":"a paved lane for vehicles","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":"oklahoma_26.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":202,"start_point":[897,100],"end_point":[94,977],"distance":1189.0912496524395},{"start_region_id":5,"end_region_id":202,"start_point":[645,133],"end_point":[94,977],"distance":1007.9370019996289},{"start_region_id":18,"end_region_id":202,"start_point":[627,199],"end_point":[94,977],"distance":943.0657453221382},{"start_region_id":3,"end_region_id":202,"start_point":[303,88],"end_point":[94,977],"distance":913.2370995530131},{"start_region_id":48,"end_region_id":202,"start_point":[974,953],"end_point":[94,977],"distance":880.3272118933959}],"complexity_score":0.6334446071876543}
{"id":10007,"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":"oklahoma_26.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":202,"start_point":[897,100],"end_point":[94,977],"distance":1189.0912496524395},{"start_region_id":5,"end_region_id":202,"start_point":[645,133],"end_point":[94,977],"distance":1007.9370019996289},{"start_region_id":18,"end_region_id":202,"start_point":[627,199],"end_point":[94,977],"distance":943.0657453221382},{"start_region_id":3,"end_region_id":202,"start_point":[303,88],"end_point":[94,977],"distance":913.2370995530131},{"start_region_id":48,"end_region_id":202,"start_point":[974,953],"end_point":[94,977],"distance":880.3272118933959}],"complexity_score":0.6334446071876543}
{"id":12918,"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":"oklahoma_26.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":63,"start_point":[699,954],"end_point":[615,94],"distance":864.0925876316727},{"start_region_id":63,"end_region_id":195,"start_point":[615,94],"end_point":[699,954],"distance":864.0925876316727},{"start_region_id":175,"end_region_id":63,"start_point":[966,896],"end_point":[615,94],"distance":875.4456008228038},{"start_region_id":63,"end_region_id":175,"start_point":[615,94],"end_point":[966,896],"distance":875.4456008228038},{"start_region_id":195,"end_region_id":100,"start_point":[699,954],"end_point":[963,206],"distance":793.2212806020776}],"complexity_score":0.6334446071876543}
{"id":14555,"query_id":"Q02911","question":"A delivery drone starts from a paved road surface and needs to reach another paved road surface while prioritizing safety. The drone can fly over surfaces that minimize collision risks and environmental hazards. It is allowed to fly over open, dry ground with minimal obstacles, as well as over cultivated fields with low, uniform vegetation. However, the drone cannot fly over areas with dense tree canopies or near buildings where signal interference or physical collisions might occur, nor over liquid surfaces where a crash could be catastrophic, nor over any other vegetated or constructed areas not explicitly permitted. What is the safest 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 safest path for the delivery drone to travel from the starting paved road to the destination paved road?","task_type":"Safest","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,1,0,0,1,0],"image_name":"oklahoma_26.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":202,"start_point":[639,508],"end_point":[94,977],"distance":719.0173850471211},{"start_region_id":202,"end_region_id":201,"start_point":[94,977],"end_point":[639,508],"distance":719.0173850471211}],"complexity_score":0.6334446071876543}
{"id":17233,"query_id":"Q03447","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 and shrub-covered terrain, as these are open areas with no overhead obstacles. It can also fly over wooded areas, but must maintain a safe altitude to avoid tree canopies, as flying through dense trees is restricted. However, the drone cannot fly over water bodies or near buildings, as these areas are off-limits due to safety regulations. 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?","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":"oklahoma_26.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":63,"start_point":[699,954],"end_point":[615,94],"distance":864.0925876316727},{"start_region_id":63,"end_region_id":195,"start_point":[615,94],"end_point":[699,954],"distance":864.0925876316727},{"start_region_id":175,"end_region_id":63,"start_point":[966,896],"end_point":[615,94],"distance":875.4456008228038},{"start_region_id":63,"end_region_id":175,"start_point":[615,94],"end_point":[966,896],"distance":875.4456008228038},{"start_region_id":195,"end_region_id":100,"start_point":[699,954],"end_point":[963,206],"distance":793.2212806020776}],"complexity_score":0.6334446071876543}
{"id":303,"query_id":"Q00061","question":"An aerial surveillance drone starts from a dense cluster of tall, leafy vegetation and needs to reach a wide, paved lane. The drone can fly over open, loose soil and rocky patches, as well as hard, flat surfaces like sidewalks and parking lots, but must navigate carefully through vertical obstacles like trees and buildings. The objective is to find the fastest path to the destination.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, leafy vegetation","end_land_type":"A wide, paved lane","task_description":"What is the fastest path from the starting vegetation to the destination 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":"khartoum_62.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":6,"start_point":[185,424],"end_point":[394,161],"distance":335.9315406448165},{"start_region_id":15,"end_region_id":7,"start_point":[185,424],"end_point":[356,631],"distance":268.49581002317336}],"complexity_score":0.6334583048882432}
{"id":4424,"query_id":"Q00885","question":"A delivery drone is positioned on a concrete platform and needs to reach another concrete platform across the region. The drone can fly over most surfaces, including liquid areas and hard surfaces, without restriction. However, the drone must avoid any areas with tall vertical obstacles that could interfere with flight. The objective is to identify the route that enables the drone to complete the delivery in the minimum possible time.","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"concrete platform","end_land_type":"concrete platform","task_description":"What is the fastest path for the delivery drone to travel from the starting concrete platform to the destination concrete platform?","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_62.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":2,"start_point":[324,393],"end_point":[544,31],"distance":423.60830964465276},{"start_region_id":2,"end_region_id":3,"start_point":[544,31],"end_point":[324,393],"distance":423.60830964465276},{"start_region_id":3,"end_region_id":1,"start_point":[324,393],"end_point":[262,99],"distance":300.4663042672173},{"start_region_id":1,"end_region_id":3,"start_point":[262,99],"end_point":[324,393],"distance":300.4663042672173},{"start_region_id":1,"end_region_id":2,"start_point":[262,99],"end_point":[544,31],"distance":290.08274681545606}],"complexity_score":0.6334583048882432}
{"id":9312,"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":"khartoum_62.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":15,"start_point":[394,161],"end_point":[185,424],"distance":335.9315406448165},{"start_region_id":7,"end_region_id":15,"start_point":[356,631],"end_point":[185,424],"distance":268.49581002317336}],"complexity_score":0.6334583048882432}
{"id":13403,"query_id":"Q02681","question":"An aerial survey drone starts from a paved surface and needs to reach another paved surface while maintaining stable flight. The drone can fly over open grassy areas, hard artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid areas with dense vertical obstacles that could cause turbulence and instability. The drone should prioritize surfaces that provide the smoothest and most predictable flight conditions to ensure stable sensor operation and minimize vibration.","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 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_62.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":6,"start_point":[356,631],"end_point":[394,161],"distance":471.53366793899244},{"start_region_id":6,"end_region_id":7,"start_point":[394,161],"end_point":[356,631],"distance":471.53366793899244}],"complexity_score":0.6334583048882432}
{"id":13874,"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":"khartoum_62.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":2,"start_point":[324,393],"end_point":[544,31],"distance":423.60830964465276},{"start_region_id":2,"end_region_id":3,"start_point":[544,31],"end_point":[324,393],"distance":423.60830964465276},{"start_region_id":3,"end_region_id":1,"start_point":[324,393],"end_point":[262,99],"distance":300.4663042672173},{"start_region_id":1,"end_region_id":3,"start_point":[262,99],"end_point":[324,393],"distance":300.4663042672173},{"start_region_id":1,"end_region_id":2,"start_point":[262,99],"end_point":[544,31],"distance":290.08274681545606}],"complexity_score":0.6334583048882432}
{"id":8763,"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_7.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":9,"start_point":[892,797],"end_point":[44,141],"distance":1072.119396336061},{"start_region_id":9,"end_region_id":38,"start_point":[44,141],"end_point":[892,797],"distance":1072.119396336061},{"start_region_id":9,"end_region_id":54,"start_point":[44,141],"end_point":[571,995],"distance":1003.5163177547239},{"start_region_id":54,"end_region_id":9,"start_point":[571,995],"end_point":[44,141],"distance":1003.5163177547239},{"start_region_id":3,"end_region_id":38,"start_point":[250,124],"end_point":[892,797],"distance":930.1037576528761}],"complexity_score":0.6334611506928651}
{"id":2265,"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_16.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":104,"start_point":[473,868],"end_point":[873,625],"distance":468.0267086395818},{"start_region_id":104,"end_region_id":103,"start_point":[873,625],"end_point":[473,868],"distance":468.0267086395818},{"start_region_id":103,"end_region_id":105,"start_point":[473,868],"end_point":[623,596],"distance":310.61873736141547},{"start_region_id":105,"end_region_id":103,"start_point":[623,596],"end_point":[473,868],"distance":310.61873736141547},{"start_region_id":105,"end_region_id":104,"start_point":[623,596],"end_point":[873,625],"distance":251.67637950352037}],"complexity_score":0.6334994947044488}
{"id":6147,"query_id":"Q01230","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation as quickly as possible. The drone can fly over open ground with loose soil or rocks, areas with low vegetation, all paved or compacted surfaces, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or structures, as these require careful navigation and slow down travel. 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":"area of natural, uncultivated 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":"little_rock_16.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":6,"start_point":[873,625],"end_point":[39,596],"distance":834.5040443281267},{"start_region_id":104,"end_region_id":25,"start_point":[873,625],"end_point":[100,933],"distance":832.1015563018735},{"start_region_id":104,"end_region_id":11,"start_point":[873,625],"end_point":[88,754],"distance":795.5287549799818},{"start_region_id":104,"end_region_id":2,"start_point":[873,625],"end_point":[99,523],"distance":780.6920007275596},{"start_region_id":104,"end_region_id":24,"start_point":[873,625],"end_point":[281,953],"distance":676.7924349458998}],"complexity_score":0.6334994947044488}
{"id":11201,"query_id":"Q02241","question":"A trail runner starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area as quickly as possible. The runner can traverse grassy or shrub-covered areas, but these are rougher and slower than paved surfaces. The runner can also use compacted dirt lanes and cleared pathways, which provide good traction and speed. Areas with tall, dense vegetation are passable but significantly slow movement due to obstacles and uneven footing. Cultivated fields with planted crops are accessible but have soft soil that reduces running efficiency. All other surface types are completely impassable for this runner.","agent_category":"Pedestrian","specific_agent":"a trail runner","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 trail runner to take?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"little_rock_16.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":71,"start_point":[917,798],"end_point":[205,526],"distance":762.1863289248896},{"start_region_id":71,"end_region_id":84,"start_point":[205,526],"end_point":[917,798],"distance":762.1863289248896},{"start_region_id":79,"end_region_id":71,"start_point":[938,659],"end_point":[205,526],"distance":744.9684557080253},{"start_region_id":71,"end_region_id":79,"start_point":[205,526],"end_point":[938,659],"distance":744.9684557080253},{"start_region_id":71,"end_region_id":86,"start_point":[205,526],"end_point":[566,841],"distance":479.10959080360726}],"complexity_score":0.6334994947044488}
{"id":15911,"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":"little_rock_16.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":6,"start_point":[873,625],"end_point":[39,596],"distance":834.5040443281267},{"start_region_id":104,"end_region_id":25,"start_point":[873,625],"end_point":[100,933],"distance":832.1015563018735},{"start_region_id":104,"end_region_id":11,"start_point":[873,625],"end_point":[88,754],"distance":795.5287549799818},{"start_region_id":104,"end_region_id":2,"start_point":[873,625],"end_point":[99,523],"distance":780.6920007275596},{"start_region_id":104,"end_region_id":24,"start_point":[873,625],"end_point":[281,953],"distance":676.7924349458998}],"complexity_score":0.6334994947044488}
{"id":3937,"query_id":"Q00788","question":"A quadcopter drone starts from a grassy, shrub-covered area and needs to reach a paved vehicle lane. The terrain includes loose, sandy or rocky ground; natural grassy or shrub-covered areas; artificial hard surfaces; paved vehicle lanes; areas with trees; and cultivated fields. You must avoid any liquid bodies and any constructed buildings. Given that you prioritize a smooth and stable flight with minimal vibration or discomfort, what is the most comfortable flight path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the most comfortable flight 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":"dhaka_25.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":107,"start_point":[821,847],"end_point":[541,480],"distance":461.6156409828419},{"start_region_id":10,"end_region_id":107,"start_point":[662,177],"end_point":[541,480],"distance":326.266762021509},{"start_region_id":12,"end_region_id":107,"start_point":[406,236],"end_point":[541,480],"distance":278.85659396901485}],"complexity_score":0.633506415484263}
{"id":8637,"query_id":"Q01728","question":"A delivery drone starts from a grassy field and needs to return to another grassy field while ensuring a smooth and stable flight. The drone can fly over various surfaces including loose soil, grassy areas, paved zones, roads, and tree canopies. However, flying directly through dense tree foliage or close to buildings is restricted due to navigation risks, and flying over water is less comfortable due to potential turbulence. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"grassy 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","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":"dhaka_25.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":3,"start_point":[821,847],"end_point":[921,19],"distance":834.0167864018085},{"start_region_id":3,"end_region_id":15,"start_point":[921,19],"end_point":[821,847],"distance":834.0167864018085},{"start_region_id":12,"end_region_id":15,"start_point":[406,236],"end_point":[821,847],"distance":738.6108583009053},{"start_region_id":15,"end_region_id":12,"start_point":[821,847],"end_point":[406,236],"distance":738.6108583009053},{"start_region_id":15,"end_region_id":10,"start_point":[821,847],"end_point":[662,177],"distance":688.6080162182255}],"complexity_score":0.633506415484263}
{"id":14344,"query_id":"Q02869","question":"A sedan 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 smooth and stable surfaces to minimize vibration and discomfort during travel.","agent_category":"Car","specific_agent":"a sedan","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":[1,2,4,5,0,0,3,0],"image_name":"dhaka_25.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":18,"start_point":[881,987],"end_point":[450,49],"distance":1032.2814538680814},{"start_region_id":18,"end_region_id":104,"start_point":[450,49],"end_point":[881,987],"distance":1032.2814538680814},{"start_region_id":17,"end_region_id":104,"start_point":[389,213],"end_point":[881,987],"distance":917.1368491124975},{"start_region_id":104,"end_region_id":17,"start_point":[881,987],"end_point":[389,213],"distance":917.1368491124975},{"start_region_id":104,"end_region_id":23,"start_point":[881,987],"end_point":[736,113],"distance":885.9463866397334}],"complexity_score":0.633506415484263}
{"id":14359,"query_id":"Q02872","question":"A quadcopter drone starts from a grassy, uneven field and needs to reach another grassy, uneven field. You can only travel through airspace above surfaces that are either grassy and uneven, loose and rocky, paved and hard, or cultivated and soft. All other surfaces, including those with tall vegetation, vertical structures, or liquid bodies, are not allowed for overflight. You want to minimize turbulence and maintain stable flight.","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 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":"ulaanbaatar_14.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":122,"start_point":[166,127],"end_point":[927,1005],"distance":1161.8971555176474},{"start_region_id":122,"end_region_id":17,"start_point":[927,1005],"end_point":[166,127],"distance":1161.8971555176474},{"start_region_id":3,"end_region_id":122,"start_point":[322,56],"end_point":[927,1005],"distance":1125.4448009564928},{"start_region_id":122,"end_region_id":3,"start_point":[927,1005],"end_point":[322,56],"distance":1125.4448009564928},{"start_region_id":28,"end_region_id":122,"start_point":[108,238],"end_point":[927,1005],"distance":1122.0739726060845}],"complexity_score":0.633533325120296}
{"id":2931,"query_id":"Q00587","question":"An agricultural drone starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field across the area. The terrain consists entirely of soft, tilled earth used for crop production. You must stay on these cultivated surfaces and cannot fly over any trees, structures, water bodies, paved areas, roads, natural vegetation areas, or rocky ground. What is the fastest path to the destination field?","agent_category":"Drone","specific_agent":"agricultural drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path to the destination field?","task_type":"Fastest","input_classes":["Agriculture land"],"traverse_vector":[0,0,0,0,0,0,1,0],"cost_vector":[0,0,0,0,0,0,1,0],"image_name":"muenster_21.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":704,"end_region_id":704,"start_point":[898,951],"end_point":[689,936],"distance":209.53758612716717}],"complexity_score":0.6336471136123606}
{"id":6924,"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":"muenster_21.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":704,"end_region_id":231,"start_point":[779,944],"end_point":[214,78],"distance":1034.0120889041868},{"start_region_id":704,"end_region_id":242,"start_point":[779,944],"end_point":[339,154],"distance":904.267659490264},{"start_region_id":704,"end_region_id":238,"start_point":[779,944],"end_point":[946,128],"distance":832.91356094135},{"start_region_id":704,"end_region_id":284,"start_point":[779,944],"end_point":[124,438],"distance":827.6841184896566},{"start_region_id":704,"end_region_id":282,"start_point":[779,944],"end_point":[531,398],"distance":599.6832497243857}],"complexity_score":0.6336471136123606}
{"id":16749,"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":"muenster_21.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":704,"start_point":[399,109],"end_point":[779,944],"distance":917.4012208406963},{"start_region_id":44,"end_region_id":704,"start_point":[316,248],"end_point":[779,944],"distance":835.9336098040322},{"start_region_id":19,"end_region_id":704,"start_point":[822,159],"end_point":[779,944],"distance":786.1768248937385},{"start_region_id":32,"end_region_id":704,"start_point":[689,190],"end_point":[779,944],"distance":759.3523556294535},{"start_region_id":113,"end_region_id":704,"start_point":[235,538],"end_point":[779,944],"distance":678.8018856779937}],"complexity_score":0.6336471136123606}
{"id":1453,"query_id":"Q00291","question":"A hiker begins on a grassy meadow with scattered shrubs and aims to reach a cultivated field with crop rows. The person needs to avoid areas with hard, paved surfaces due to safety concerns about vehicle traffic. Only natural, vegetated ground is considered safe for walking. What is the safest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy meadow with scattered shrubs","end_land_type":"cultivated field with crop rows","task_description":"What is the safest route to the destination?","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":"pedrogao_grande_65.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":242,"start_point":[922,845],"end_point":[961,409],"distance":437.7407908797168},{"start_region_id":1,"end_region_id":238,"start_point":[202,173],"end_point":[491,217],"distance":292.3302926485724},{"start_region_id":26,"end_region_id":243,"start_point":[871,342],"end_point":[894,619],"distance":277.95323347642494},{"start_region_id":16,"end_region_id":240,"start_point":[57,266],"end_point":[110,499],"distance":238.9518780005715},{"start_region_id":49,"end_region_id":243,"start_point":[922,845],"end_point":[894,619],"distance":227.72790781983662}],"complexity_score":0.6337708335295238}
{"id":5903,"query_id":"Q01181","question":"An off-road vehicle starts from a grassy, uneven area with scattered shrubs and needs to reach a cultivated field with soft, tilled soil. The terrain consists only of natural, unpaved surfaces that are passable by vehicle, with no roads or paved areas available. What is the safest path to take?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated field with soft, tilled soil","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":[1,2,0,0,0,0,3,0],"image_name":"pedrogao_grande_65.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":242,"start_point":[922,845],"end_point":[961,409],"distance":437.7407908797168},{"start_region_id":1,"end_region_id":238,"start_point":[202,173],"end_point":[491,217],"distance":292.3302926485724},{"start_region_id":26,"end_region_id":243,"start_point":[871,342],"end_point":[894,619],"distance":277.95323347642494},{"start_region_id":16,"end_region_id":240,"start_point":[57,266],"end_point":[110,499],"distance":238.9518780005715},{"start_region_id":49,"end_region_id":243,"start_point":[922,845],"end_point":[894,619],"distance":227.72790781983662}],"complexity_score":0.6337708335295238}
{"id":11905,"query_id":"Q02381","question":"A sedan starts from a paved, hard surface area and needs to reach a vehicle lane. The sedan can traverse hard, compacted surfaces like parking lots and sidewalks, as well as loose, sandy or rocky ground without vegetation, and vehicle lanes. The sedan cannot traverse areas with standing liquid, vertical structures, cultivated crops, dense vegetation, or grassy fields. What is the shortest path?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved, hard surface area","end_land_type":"a vehicle lane","task_description":"What is the shortest path for the sedan 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":"pedrogao_grande_65.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":113,"start_point":[254,384],"end_point":[513,435],"distance":263.97348351681086}],"complexity_score":0.6337708335295238}
{"id":13517,"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":"pisco_49.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":127,"start_point":[27,941],"end_point":[949,180],"distance":1195.4936218985026},{"start_region_id":114,"end_region_id":127,"start_point":[125,983],"end_point":[949,180],"distance":1150.5585600046613},{"start_region_id":103,"end_region_id":127,"start_point":[91,879],"end_point":[949,180],"distance":1106.6910137884015},{"start_region_id":110,"end_region_id":122,"start_point":[27,941],"end_point":[754,161],"distance":1066.2687278542871},{"start_region_id":114,"end_region_id":122,"start_point":[125,983],"end_point":[754,161],"distance":1035.0483080513682}],"complexity_score":0.6338319933884001}
{"id":13588,"query_id":"Q02718","question":"A delivery drone starts from a paved surface and needs to reach another paved surface as quickly as possible. The drone can fly over any solid or liquid surfaces, including hard paved areas, loose sandy or rocky ground without vegetation, and areas with tall vertical structures like trees, as long as it maintains a safe altitude to avoid collisions. The goal is to minimize travel time while ensuring a direct and unobstructed route.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"paved surface","end_land_type":"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","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":"pisco_49.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":219,"start_point":[956,710],"end_point":[7,420],"distance":992.3210166070252}],"complexity_score":0.6338319933884001}
{"id":2678,"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":"kagera_35.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":279,"start_point":[139,392],"end_point":[549,1003],"distance":735.8131556312377},{"start_region_id":279,"end_region_id":254,"start_point":[549,1003],"end_point":[139,392],"distance":735.8131556312377},{"start_region_id":254,"end_region_id":278,"start_point":[139,392],"end_point":[249,983],"distance":601.149731764059},{"start_region_id":278,"end_region_id":254,"start_point":[249,983],"end_point":[139,392],"distance":601.149731764059},{"start_region_id":254,"end_region_id":275,"start_point":[139,392],"end_point":[359,810],"distance":472.36003217884553}],"complexity_score":0.6338821672223593}
{"id":5808,"query_id":"Q01162","question":"An aerial surveillance drone starts from a vegetated area with tall, leafy structures and needs to reach a paved, linear surface. The drone can fly over most surfaces, but dense overhead vegetation may require careful navigation to avoid collisions. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a paved, linear surface","task_description":"What is the shortest path from the vegetated area to the paved surface?","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":"kagera_35.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":124,"start_point":[801,18],"end_point":[287,945],"distance":1059.9646220511324},{"start_region_id":132,"end_region_id":124,"start_point":[917,312],"end_point":[287,945],"distance":893.0783840178867},{"start_region_id":135,"end_region_id":124,"start_point":[532,115],"end_point":[287,945],"distance":865.4045296853951},{"start_region_id":134,"end_region_id":124,"start_point":[313,215],"end_point":[287,945],"distance":730.4628669549193},{"start_region_id":210,"end_region_id":106,"start_point":[148,716],"end_point":[685,195],"distance":748.2045174950496}],"complexity_score":0.6338821672223593}
{"id":2226,"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_11.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":95,"start_point":[139,1001],"end_point":[968,486],"distance":975.9436459140456},{"start_region_id":113,"end_region_id":95,"start_point":[610,445],"end_point":[968,486],"distance":360.34011711159775}],"complexity_score":0.6339030759362344}
{"id":6177,"query_id":"Q01236","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, vegetated area. The drone can fly over hard surfaces, loose soil, grassy fields, cultivated areas, and liquid surfaces, but cannot pass through dense vertical obstacles. What is the shortest path?","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 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_11.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":10,"start_point":[968,486],"end_point":[14,166],"distance":1006.2385403074163},{"start_region_id":95,"end_region_id":1,"start_point":[968,486],"end_point":[128,24],"distance":958.6678256831195},{"start_region_id":95,"end_region_id":77,"start_point":[968,486],"end_point":[142,943],"distance":943.9941737108338},{"start_region_id":95,"end_region_id":19,"start_point":[968,486],"end_point":[100,186],"distance":918.38118447625},{"start_region_id":95,"end_region_id":46,"start_point":[968,486],"end_point":[85,631],"distance":894.8262401159233}],"complexity_score":0.6339030759362344}
{"id":6552,"query_id":"Q01311","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an area covered with natural, low-growing vegetation. The drone must avoid any vertical structures or dense tree canopies that could pose collision risks. The mission prioritizes minimizing operational hazards, so the drone should favor open, unobstructed areas where it can maintain stable flight and clear visibility. 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 covered with natural, low-growing 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":"little_rock_11.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":20,"start_point":[139,1001],"end_point":[1000,204],"distance":1173.2561527646042},{"start_region_id":129,"end_region_id":18,"start_point":[139,1001],"end_point":[931,199],"distance":1127.150389256021},{"start_region_id":129,"end_region_id":17,"start_point":[139,1001],"end_point":[808,182],"distance":1057.507446782291},{"start_region_id":129,"end_region_id":2,"start_point":[139,1001],"end_point":[386,28],"distance":1003.8615442380489},{"start_region_id":129,"end_region_id":1,"start_point":[139,1001],"end_point":[128,24],"distance":977.0619222956137}],"complexity_score":0.6339030759362344}
{"id":11261,"query_id":"Q02253","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane while prioritizing safety. The drone can fly over hard, stable surfaces; vehicle lanes; grassy or shrub-covered areas; calm water bodies; and wooded areas, as these terrains pose minimal risk to aerial navigation. However, the drone cannot fly close to any structures or buildings, as they create unpredictable wind patterns and collision hazards that are too dangerous for safe flight.","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 for the quadcopter drone to take from the paved area to the vehicle lane?","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_11.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":129,"start_point":[968,486],"end_point":[139,1001],"distance":975.9436459140456},{"start_region_id":95,"end_region_id":113,"start_point":[968,486],"end_point":[610,445],"distance":360.34011711159775}],"complexity_score":0.6339030759362344}
{"id":15907,"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_11.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":129,"start_point":[1000,204],"end_point":[139,1001],"distance":1173.2561527646042},{"start_region_id":18,"end_region_id":129,"start_point":[931,199],"end_point":[139,1001],"distance":1127.150389256021},{"start_region_id":17,"end_region_id":129,"start_point":[808,182],"end_point":[139,1001],"distance":1057.507446782291},{"start_region_id":2,"end_region_id":129,"start_point":[386,28],"end_point":[139,1001],"distance":1003.8615442380489},{"start_region_id":1,"end_region_id":129,"start_point":[128,24],"end_point":[139,1001],"distance":977.0619222956137}],"complexity_score":0.6339030759362344}
{"id":6342,"query_id":"Q01269","question":"A farm vehicle starts from a cultivated field with loose soil and crops and needs to reach a paved area with a hard, flat surface. The only traversable surfaces are the cultivated field and the paved area; all other surfaces, such as water bodies, buildings, trees, bare sand or rock, grassy or shrubby areas, and vehicle lanes, are not allowed. What is the shortest path?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"cultivated field with loose soil and crops","end_land_type":"paved area with a hard, flat surface","task_description":"What is the shortest path?","task_type":"Shortest","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":"san_tome_50.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":263,"end_region_id":119,"start_point":[890,889],"end_point":[569,878],"distance":321.18841822207725}],"complexity_score":0.6339596612621846}
{"id":6347,"query_id":"Q01270","question":"An agricultural drone starts from a cultivated field with loose soil and crops and needs to reach a paved area with a hard, flat surface. The only traversable surfaces are the cultivated field and the paved area; all other surfaces, such as water bodies, buildings, trees, bare sand or rock, grassy or shrubby areas, and vehicle lanes, are not allowed. What is the shortest path?","agent_category":"Drone","specific_agent":"an agricultural drone","start_land_type":"cultivated field with loose soil and crops","end_land_type":"paved area with a hard, flat surface","task_description":"What is the shortest path?","task_type":"Shortest","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":"san_tome_50.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":263,"end_region_id":119,"start_point":[890,889],"end_point":[569,878],"distance":321.18841822207725}],"complexity_score":0.6339596612621846}
{"id":1217,"query_id":"Q00244","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field. An aerial survey drone must navigate while minimizing risk. The drone can fly over areas with low vegetation, cultivated crops, and water surfaces, but must avoid flying through dense tree canopies or near vertical structures. The drone's flight path should prioritize terrain that minimizes the risk of collision or loss of control.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with low vegetation","end_land_type":"and needing to reach a cultivated crop field","task_description":"What is the safest path for the drone to take?","task_type":"Safest","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":"chincha_5.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":255,"start_point":[306,184],"end_point":[60,55],"distance":277.77148881769705},{"start_region_id":16,"end_region_id":256,"start_point":[173,213],"end_point":[332,28],"distance":243.93851684389654},{"start_region_id":14,"end_region_id":259,"start_point":[465,357],"end_point":[507,134],"distance":226.92069099136816}],"complexity_score":0.6341755450892729}
{"id":3024,"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":"chincha_5.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":255,"start_point":[969,935],"end_point":[60,55],"distance":1265.1802243158877},{"start_region_id":100,"end_region_id":255,"start_point":[805,962],"end_point":[60,55],"distance":1173.743583582036},{"start_region_id":108,"end_region_id":258,"start_point":[969,935],"end_point":[201,91],"distance":1141.1222546248057},{"start_region_id":96,"end_region_id":255,"start_point":[927,770],"end_point":[60,55],"distance":1123.7944651937025},{"start_region_id":108,"end_region_id":256,"start_point":[969,935],"end_point":[332,28],"distance":1108.3402004799789}],"complexity_score":0.6341755450892729}
{"id":5384,"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":"chincha_5.tif","subfolder":"chincha","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":262,"start_point":[60,55],"end_point":[321,636],"distance":636.9317074851903},{"start_region_id":262,"end_region_id":255,"start_point":[321,636],"end_point":[60,55],"distance":636.9317074851903},{"start_region_id":256,"end_region_id":262,"start_point":[332,28],"end_point":[321,636],"distance":608.0994984375501},{"start_region_id":262,"end_region_id":256,"start_point":[321,636],"end_point":[332,28],"distance":608.0994984375501},{"start_region_id":262,"end_region_id":258,"start_point":[321,636],"end_point":[201,91],"distance":558.0546568213547}],"complexity_score":0.6341755450892729}
{"id":3550,"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":"abancay_32.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":250,"end_region_id":366,"start_point":[982,907],"end_point":[78,97],"distance":1213.8022903257352},{"start_region_id":50,"end_region_id":369,"start_point":[948,58],"end_point":[78,821],"distance":1157.1814896549288},{"start_region_id":251,"end_region_id":366,"start_point":[742,946],"end_point":[78,97],"distance":1077.820485980852},{"start_region_id":91,"end_region_id":369,"start_point":[954,239],"end_point":[78,821],"distance":1051.7128885774862},{"start_region_id":166,"end_region_id":369,"start_point":[1006,403],"end_point":[78,821],"distance":1017.7956572907943}],"complexity_score":0.6341918374502978}
{"id":5168,"query_id":"Q01034","question":"A passenger vehicle starts from a paved street and needs to reach a crop field while prioritizing safety. The vehicle is permitted to drive on crop fields because the soil is dry and compacted. The vehicle must avoid any loose, sandy, or rocky terrain; any grassy or shrub-covered areas; any areas with trees or vertical obstacles; any liquid surfaces; and any vertical structures. The vehicle should use only hard, paved surfaces and firm, cultivated ground.","agent_category":"Car","specific_agent":"a passenger vehicle","start_land_type":"a paved street","end_land_type":"a crop field","task_description":"What is the safest path for the passenger vehicle to take?","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":"abancay_32.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":259,"end_region_id":366,"start_point":[605,647],"end_point":[78,97],"distance":761.7276416147704},{"start_region_id":258,"end_region_id":366,"start_point":[295,189],"end_point":[78,97],"distance":235.69683918118207}],"complexity_score":0.6341918374502978}
{"id":9452,"query_id":"Q01891","question":"A quadcopter drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over most terrain types but must avoid dense vegetation and vertical structures to ensure stable and comfortable flight. It can traverse loose soil, hard surfaces, liquid areas, and agricultural areas, but flying through trees or buildings is prohibited due to collision risk and turbulence. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved surface","end_land_type":"a cultivated field","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":"abancay_32.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":259,"end_region_id":366,"start_point":[605,647],"end_point":[78,97],"distance":761.7276416147704},{"start_region_id":258,"end_region_id":369,"start_point":[295,189],"end_point":[78,821],"distance":668.2162823517548},{"start_region_id":259,"end_region_id":369,"start_point":[605,647],"end_point":[78,821],"distance":554.9819816894959},{"start_region_id":258,"end_region_id":366,"start_point":[295,189],"end_point":[78,97],"distance":235.69683918118207}],"complexity_score":0.6341918374502978}
{"id":2115,"query_id":"Q00423","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated crop field while minimizing operational risks. The drone can fly over open liquid surfaces, but must avoid any areas with tall vertical obstacles or solid structures that could cause collisions. The drone should prioritize stable, predictable surfaces that allow for controlled flight and clear visibility. Which path minimizes risk?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated crop 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":"tyrolw_45.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":288,"start_point":[931,968],"end_point":[321,223],"distance":962.8733042306241},{"start_region_id":157,"end_region_id":289,"start_point":[39,575],"end_point":[859,256],"distance":879.8641940663343},{"start_region_id":159,"end_region_id":289,"start_point":[931,968],"end_point":[859,256],"distance":715.6311899295614},{"start_region_id":157,"end_region_id":288,"start_point":[39,575],"end_point":[321,223],"distance":451.02993248785606},{"start_region_id":153,"end_region_id":289,"start_point":[525,455],"end_point":[859,256],"distance":388.78914593902954}],"complexity_score":0.6343566984061777}
{"id":6217,"query_id":"Q01244","question":"An aerial surveillance drone starts from a flat, hard, artificial surface and needs to reach a long, paved lane designed for vehicles as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks; areas covered with natural, uncultivated grass and shrubs; all other flat, hard artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles with complex branching structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A long, paved lane designed for vehicles","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":"tyrolw_45.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":159,"start_point":[41,183],"end_point":[931,968],"distance":1186.7286968806307},{"start_region_id":85,"end_region_id":159,"start_point":[170,225],"end_point":[931,968],"distance":1063.5647606046375},{"start_region_id":78,"end_region_id":159,"start_point":[251,138],"end_point":[931,968],"distance":1072.9864864013898},{"start_region_id":80,"end_region_id":157,"start_point":[952,193],"end_point":[39,575],"distance":989.6933868628203},{"start_region_id":84,"end_region_id":159,"start_point":[478,138],"end_point":[931,968],"distance":945.5733710294511}],"complexity_score":0.6343566984061777}
{"id":16080,"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_41.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":27,"start_point":[863,396],"end_point":[42,830],"distance":928.6533260587613},{"start_region_id":27,"end_region_id":4,"start_point":[42,830],"end_point":[863,396],"distance":928.6533260587613},{"start_region_id":25,"end_region_id":27,"start_point":[892,859],"end_point":[42,830],"distance":850.4945620049549},{"start_region_id":27,"end_region_id":25,"start_point":[42,830],"end_point":[892,859],"distance":850.4945620049549},{"start_region_id":6,"end_region_id":27,"start_point":[686,396],"end_point":[42,830],"distance":776.5899819080852}],"complexity_score":0.6344375258525979}
{"id":9698,"query_id":"Q01940","question":"A hiker is standing on a paved path and needs to reach a cultivated field. The hiker can walk across loose, sandy ground and has been granted access to cross the field, but cannot enter wooded areas, water, or structures. What is the shortest way to the field?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved path","end_land_type":"cultivated field","task_description":"What is the shortest way 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":"ngaoundere_27.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":352,"end_region_id":597,"start_point":[724,551],"end_point":[919,829],"distance":339.57178916983077}],"complexity_score":0.6345395527300689}
{"id":12512,"query_id":"Q02503","question":"An off-road vehicle is positioned in a cultivated field with soft, tilled soil and must get to a paved, hard-surfaced area as quickly as possible. The vehicle can use vehicle lanes, paved surfaces, grassy or shrub-covered areas, and cultivated fields, but cannot go through wooded areas, water bodies, or structures. The grassy or shrub-covered areas are flat and dry, and the cultivated fields are passable because the crops are short and the ground is firm. 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, hard-surfaced 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":"ngaoundere_27.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":597,"end_region_id":128,"start_point":[919,829],"end_point":[89,43],"distance":1143.108043887366},{"start_region_id":597,"end_region_id":194,"start_point":[919,829],"end_point":[38,450],"distance":959.0630844735919},{"start_region_id":597,"end_region_id":141,"start_point":[919,829],"end_point":[207,426],"distance":818.1399635759153},{"start_region_id":597,"end_region_id":298,"start_point":[919,829],"end_point":[117,890],"distance":804.3164800002546},{"start_region_id":597,"end_region_id":132,"start_point":[919,829],"end_point":[776,61],"distance":781.1997183819257}],"complexity_score":0.6345395527300689}
{"id":14856,"query_id":"Q02972","question":"A delivery drone starts from a paved, hard-surfaced lane and needs to reach a cultivated field with soft, tilled soil while ensuring a smooth and stable flight. The drone must avoid any areas with dense vertical obstacles that could cause turbulence or instability, and it cannot pass through areas with standing liquid. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a cultivated field with soft, tilled soil","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":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_27.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":352,"end_region_id":597,"start_point":[724,551],"end_point":[919,829],"distance":339.57178916983077}],"complexity_score":0.6345395527300689}
{"id":10564,"query_id":"Q02113","question":"A quadcopter drone starts from a paved road surface and needs to reach a flat, hard-surfaced area like a sidewalk or paved lot as quickly as possible. The drone can fly over bare, sandy or rocky ground, grassy or shrub-covered terrain, and hard-surfaced areas, but must avoid trees and buildings unless specified otherwise; here, trees and buildings are not allowed. The path must also avoid water bodies. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road surface","end_land_type":"a flat, hard-surfaced area like a sidewalk or paved lot","task_description":"What is the fastest route?","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":"vegas_27.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":10,"start_point":[254,330],"end_point":[551,64],"distance":398.7041509691114},{"start_region_id":30,"end_region_id":23,"start_point":[254,330],"end_point":[47,545],"distance":298.4526763156933},{"start_region_id":30,"end_region_id":8,"start_point":[254,330],"end_point":[174,60],"distance":281.60255680657446},{"start_region_id":30,"end_region_id":17,"start_point":[254,330],"end_point":[39,224],"distance":239.71024175032656},{"start_region_id":30,"end_region_id":22,"start_point":[254,330],"end_point":[541,503],"distance":335.1089375113711}],"complexity_score":0.6346032197249541}
{"id":15344,"query_id":"Q03069","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a paved lane used by vehicles. The drone can fly over most surfaces including soft ground with vegetation, loose soil, cultivated fields, and liquid bodies. However. The drone must avoid flying through dense vertical obstacles like trees or close to solid vertical structures to prevent collisions. The operator seeks the most comfortable route, prioritizing flight over surfaces that are open and predictable, and avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"paved lane used by vehicles","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":"vegas_27.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":30,"start_point":[551,64],"end_point":[254,330],"distance":398.7041509691114},{"start_region_id":23,"end_region_id":30,"start_point":[47,545],"end_point":[254,330],"distance":298.4526763156933},{"start_region_id":8,"end_region_id":30,"start_point":[174,60],"end_point":[254,330],"distance":281.60255680657446},{"start_region_id":17,"end_region_id":30,"start_point":[39,224],"end_point":[254,330],"distance":239.71024175032656},{"start_region_id":22,"end_region_id":30,"start_point":[541,503],"end_point":[254,330],"distance":335.1089375113711}],"complexity_score":0.6346032197249541}
{"id":7225,"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":"piura_44.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":156,"start_point":[425,509],"end_point":[860,757],"distance":500.7284693324317},{"start_region_id":88,"end_region_id":104,"start_point":[425,509],"end_point":[189,86],"distance":484.38104834933415}],"complexity_score":0.6346183253825656}
{"id":1199,"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":"accra_14.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":241,"start_point":[863,864],"end_point":[434,49],"distance":921.0135721041248},{"start_region_id":19,"end_region_id":243,"start_point":[863,864],"end_point":[750,47],"distance":824.7775457661296},{"start_region_id":17,"end_region_id":244,"start_point":[502,809],"end_point":[857,70],"distance":819.8451073221088},{"start_region_id":17,"end_region_id":243,"start_point":[502,809],"end_point":[750,47],"distance":801.3413754449473},{"start_region_id":19,"end_region_id":244,"start_point":[863,864],"end_point":[857,70],"distance":794.0226697015646}],"complexity_score":0.6347240773172289}
{"id":8187,"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_14.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":220,"end_region_id":220,"start_point":[143,854],"end_point":[976,51],"distance":1157.0211752599864}],"complexity_score":0.6347240773172289}
{"id":12723,"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":"accra_14.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":22,"start_point":[863,864],"end_point":[98,28],"distance":1133.1906282704601},{"start_region_id":19,"end_region_id":38,"start_point":[863,864],"end_point":[143,121],"distance":1034.6250528573141},{"start_region_id":19,"end_region_id":24,"start_point":[863,864],"end_point":[300,83],"distance":962.7720394776741},{"start_region_id":18,"end_region_id":22,"start_point":[687,750],"end_point":[98,28],"distance":931.7751874781814},{"start_region_id":17,"end_region_id":30,"start_point":[502,809],"end_point":[960,25],"distance":907.9757706018371}],"complexity_score":0.6347240773172289}
{"id":294,"query_id":"Q00059","question":"A hiker is starting from a grassy field and needs to reach a sandy clearing. The terrain includes areas with loose soil and rocks, patches of dense vegetation, and cultivated fields with soft earth. The hiker wants to minimize physical strain and maintain stable footing throughout the journey. Which path provides the most comfortable route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy field","end_land_type":"sandy clearing","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":[2,3,6,5,1,0,4,0],"image_name":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":2,"start_point":[646,92],"end_point":[39,765],"distance":906.299067637168},{"start_region_id":46,"end_region_id":2,"start_point":[835,450],"end_point":[39,765],"distance":856.0613295786699},{"start_region_id":6,"end_region_id":2,"start_point":[434,59],"end_point":[39,765],"distance":808.987638966134},{"start_region_id":14,"end_region_id":2,"start_point":[556,196],"end_point":[39,765],"distance":768.7977627438831},{"start_region_id":99,"end_region_id":2,"start_point":[753,852],"end_point":[39,765],"distance":719.2808908903392}],"complexity_score":0.6348211311172696}
{"id":2816,"query_id":"Q00564","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dry, sandy area as quickly as possible. The drone can fly over open liquid surfaces and areas with tall, dense vegetation, but must avoid any vertical structures or obstacles. 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 dry, sandy 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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":2,"start_point":[746,473],"end_point":[39,765],"distance":764.9267938829179},{"start_region_id":155,"end_region_id":2,"start_point":[651,332],"end_point":[39,765],"distance":749.6886020208657},{"start_region_id":212,"end_region_id":2,"start_point":[752,1001],"end_point":[39,765],"distance":751.0426086448092},{"start_region_id":125,"end_region_id":2,"start_point":[70,70],"end_point":[39,765],"distance":695.6910233717264},{"start_region_id":139,"end_region_id":2,"start_point":[230,191],"end_point":[39,765],"distance":604.9437990425226}],"complexity_score":0.6348211311172696}
{"id":3286,"query_id":"Q00658","question":"An aerial survey drone starts from a patch of rough, loose ground and needs to reach a cluster of tall vertical structures while maintaining stable flight. The drone can fly over open areas with minimal obstacles, hard flat surfaces, liquid expanses, and cultivated fields, but must navigate carefully around the vertical structures. The drone's flight controller prioritizes smooth, vibration-free operation to protect its sensitive imaging equipment. Which path should the drone take to reach the vertical structures with maximum ride comfort?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"rough, loose ground","end_land_type":"a cluster of tall vertical structures","task_description":"Which path should the drone take to reach the vertical structures with maximum ride comfort?","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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":240,"start_point":[39,765],"end_point":[839,158],"distance":1004.215614298045},{"start_region_id":2,"end_region_id":279,"start_point":[39,765],"end_point":[931,380],"distance":971.5394999689925},{"start_region_id":2,"end_region_id":312,"start_point":[39,765],"end_point":[991,803],"distance":952.7581015137054},{"start_region_id":2,"end_region_id":298,"start_point":[39,765],"end_point":[900,604],"distance":875.9235126425137},{"start_region_id":2,"end_region_id":318,"start_point":[39,765],"end_point":[838,938],"distance":817.5145258648314}],"complexity_score":0.6348211311172696}
{"id":3551,"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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":240,"start_point":[39,765],"end_point":[839,158],"distance":1004.215614298045},{"start_region_id":2,"end_region_id":279,"start_point":[39,765],"end_point":[931,380],"distance":971.5394999689925},{"start_region_id":2,"end_region_id":312,"start_point":[39,765],"end_point":[991,803],"distance":952.7581015137054},{"start_region_id":2,"end_region_id":298,"start_point":[39,765],"end_point":[900,604],"distance":875.9235126425137},{"start_region_id":2,"end_region_id":318,"start_point":[39,765],"end_point":[838,938],"distance":817.5145258648314}],"complexity_score":0.6348211311172696}
{"id":7618,"query_id":"Q01524","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and overhead canopy and needs to reach an open area of loose, dry soil and scattered rocks without vegetation. The drone must maintain stable flight and avoid vibrations. The drone can fly over liquid surfaces, but these may cause turbulence and sensor interference. The drone can navigate between vertical structures and overhead obstacles only when flying at low altitude with careful maneuvering. Hard, paved surfaces are not available for this mission. The drone cannot use areas with dense ground-level vegetation or cultivated fields. The drone cannot enter or pass through solid enclosed structures.","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":"An open area of loose, dry soil and scattered rocks without vegetation","task_description":"What is the most comfortable path for the aerial survey drone to take?","task_type":"Comfort","input_classes":["Bareland","Tree","Water"],"traverse_vector":[1,0,0,0,1,1,0,0],"cost_vector":[3,0,0,0,1,2,0,0],"image_name":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":290,"end_region_id":2,"start_point":[674,437],"end_point":[39,765],"distance":714.7090317045112},{"start_region_id":284,"end_region_id":2,"start_point":[307,676],"end_point":[39,765],"distance":282.39157211220027}],"complexity_score":0.6348211311172696}
{"id":9016,"query_id":"Q01804","question":"A delivery drone is starting from an open area of dry, rocky ground, aiming to reach a flat, hard surface. The drone can fly over loose soil and rocks, grassy or shrub-covered areas, cultivated fields, all paved surfaces, and vertical structures. The drone has sufficient altitude clearance to avoid obstacles. What is the fastest route to reach the hard surface?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the fastest route to reach the 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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":177,"start_point":[39,765],"end_point":[746,473],"distance":764.9267938829179},{"start_region_id":2,"end_region_id":155,"start_point":[39,765],"end_point":[651,332],"distance":749.6886020208657},{"start_region_id":2,"end_region_id":212,"start_point":[39,765],"end_point":[752,1001],"distance":751.0426086448092},{"start_region_id":2,"end_region_id":125,"start_point":[39,765],"end_point":[70,70],"distance":695.6910233717264},{"start_region_id":2,"end_region_id":139,"start_point":[39,765],"end_point":[230,191],"distance":604.9437990425226}],"complexity_score":0.6348211311172696}
{"id":9656,"query_id":"Q01932","question":"A hiker starts from a paved road and needs to reach a patch of loose, sandy ground. The hiker can traverse bare, sandy areas, paved surfaces, vegetated fields, and wooded patches, but cannot cross water bodies or buildings. What is the shortest path to the sandy ground?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Road","end_land_type":"Bareland","task_description":"What is the shortest path to the sandy 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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":229,"end_region_id":2,"start_point":[849,652],"end_point":[39,765],"distance":817.8441171763724},{"start_region_id":236,"end_region_id":2,"start_point":[751,969],"end_point":[39,765],"distance":740.6483646103595},{"start_region_id":227,"end_region_id":2,"start_point":[576,352],"end_point":[39,765],"distance":677.449629123819}],"complexity_score":0.6348211311172696}
{"id":11466,"query_id":"Q02294","question":"A quadcopter drone is positioned on a flat, hard rooftop and needs to fly to a dry, sandy patch. The drone prioritizes smooth, unobstructed airspace for stable flight comfort. It can always fly over open sandy ground, grassy areas, paved surfaces, roads, and cultivated fields. It can also fly near vertical structures and over water, but these may cause turbulence or moisture issues. Flying through dense tree canopies is allowed only if necessary, as it increases vibration risk. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard rooftop","end_land_type":"a dry, sandy patch","task_description":"What is the most comfortable flight path for the drone to take from the flat, hard rooftop to the dry, sandy patch?","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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":2,"start_point":[746,473],"end_point":[39,765],"distance":764.9267938829179},{"start_region_id":155,"end_region_id":2,"start_point":[651,332],"end_point":[39,765],"distance":749.6886020208657},{"start_region_id":212,"end_region_id":2,"start_point":[752,1001],"end_point":[39,765],"distance":751.0426086448092},{"start_region_id":125,"end_region_id":2,"start_point":[70,70],"end_point":[39,765],"distance":695.6910233717264},{"start_region_id":139,"end_region_id":2,"start_point":[230,191],"end_point":[39,765],"distance":604.9437990425226}],"complexity_score":0.6348211311172696}
{"id":14613,"query_id":"Q02923","question":"A hiker starts from an area covered with natural grass and shrubs and needs to reach a destination on loose, sandy ground. You can traverse areas with natural vegetation, loose sandy or rocky surfaces, paved hard surfaces, individual trees or groups of trees, and cultivated crop fields. However, you cannot travel on liquid surfaces or through solid vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Rangeland","end_land_type":"Bareland","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_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":2,"start_point":[646,92],"end_point":[39,765],"distance":906.299067637168},{"start_region_id":46,"end_region_id":2,"start_point":[835,450],"end_point":[39,765],"distance":856.0613295786699},{"start_region_id":6,"end_region_id":2,"start_point":[434,59],"end_point":[39,765],"distance":808.987638966134},{"start_region_id":14,"end_region_id":2,"start_point":[556,196],"end_point":[39,765],"distance":768.7977627438831},{"start_region_id":99,"end_region_id":2,"start_point":[753,852],"end_point":[39,765],"distance":719.2808908903392}],"complexity_score":0.6348211311172696}
{"id":15266,"query_id":"Q03054","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cluster of tall, leafy plants with thick trunks and branches. The drone can fly over open liquid surfaces, but must avoid any solid, enclosed structures. It can traverse grassy or shrub-covered areas, hard paved lanes, and the leafy plant clusters themselves, though flying through dense foliage may slow it down. 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, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a cluster of tall, leafy plants with thick trunks and branches.","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"],"traverse_vector":[1,1,1,1,1,1,1,0],"cost_vector":[2,2,2,2,1,2,2,0],"image_name":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":240,"start_point":[39,765],"end_point":[839,158],"distance":1004.215614298045},{"start_region_id":2,"end_region_id":279,"start_point":[39,765],"end_point":[931,380],"distance":971.5394999689925},{"start_region_id":2,"end_region_id":312,"start_point":[39,765],"end_point":[991,803],"distance":952.7581015137054},{"start_region_id":2,"end_region_id":298,"start_point":[39,765],"end_point":[900,604],"distance":875.9235126425137},{"start_region_id":2,"end_region_id":318,"start_point":[39,765],"end_point":[838,938],"distance":817.5145258648314}],"complexity_score":0.6348211311172696}
{"id":16427,"query_id":"Q03286","question":"An aerial survey drone is deployed from a dry, sandy area with loose soil and scattered rocks to reach a grassy field with low vegetation and shrubs. The drone can fly over open sandy expanses, grassy fields, wooded areas with tall trees, and water surfaces like rivers or lakes. However, flying through dense tree canopies is restricted due to collision risk, and built structures are off-limits. The drone must avoid paved surfaces and cultivated fields. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks.","end_land_type":"The destination is a grassy field with low vegetation and shrubs.","task_description":"What is the fastest route for the aerial survey drone to reach the grassy field from the sandy area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Water"],"traverse_vector":[1,1,0,0,1,1,0,0],"cost_vector":[2,2,0,0,1,2,0,0],"image_name":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":46,"start_point":[39,765],"end_point":[835,450],"distance":856.0613295786699},{"start_region_id":2,"end_region_id":99,"start_point":[39,765],"end_point":[753,852],"distance":719.2808908903392},{"start_region_id":2,"end_region_id":19,"start_point":[39,765],"end_point":[67,222],"distance":543.721436031356},{"start_region_id":2,"end_region_id":119,"start_point":[39,765],"end_point":[443,1007],"distance":470.9352397092407},{"start_region_id":2,"end_region_id":23,"start_point":[39,765],"end_point":[140,312],"distance":464.1228285701965}],"complexity_score":0.6348211311172696}
{"id":16884,"query_id":"Q03377","question":"An aerial survey drone starts from a densely vegetated area with tall, leafy canopies and needs to reach an open, dry expanse of loose soil and scattered rocks. The drone can fly over all terrain types except vertical structures and dense tree clusters, which require careful navigation to avoid collisions. The drone must avoid any liquid surfaces and built structures entirely. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"a densely vegetated area with tall, leafy canopies","end_land_type":"an open, dry expanse of loose soil and scattered rocks","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":"mahe_69.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":2,"start_point":[839,158],"end_point":[39,765],"distance":1004.215614298045},{"start_region_id":279,"end_region_id":2,"start_point":[931,380],"end_point":[39,765],"distance":971.5394999689925},{"start_region_id":312,"end_region_id":2,"start_point":[991,803],"end_point":[39,765],"distance":952.7581015137054},{"start_region_id":298,"end_region_id":2,"start_point":[900,604],"end_point":[39,765],"distance":875.9235126425137},{"start_region_id":318,"end_region_id":2,"start_point":[838,938],"end_point":[39,765],"distance":817.5145258648314}],"complexity_score":0.6348211311172696}
{"id":3836,"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_22.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":683,"end_region_id":220,"start_point":[34,413],"end_point":[956,881],"distance":1033.9767889077589},{"start_region_id":683,"end_region_id":211,"start_point":[34,413],"end_point":[955,826],"distance":1009.3611841159734},{"start_region_id":684,"end_region_id":6,"start_point":[44,533],"end_point":[886,26],"distance":982.8596034022356},{"start_region_id":684,"end_region_id":220,"start_point":[44,533],"end_point":[956,881],"distance":976.1393343165719},{"start_region_id":684,"end_region_id":211,"start_point":[44,533],"end_point":[955,826],"distance":956.9587242927461}],"complexity_score":0.6348436916767528}
{"id":4988,"query_id":"Q00998","question":"A delivery van starts from a paved road and needs to reach a cultivated field where crops are grown. The van can only travel on hard, stable surfaces like paved areas and compacted parking lots, and it is permitted to drive over the cultivated field because the soil is firm and dry enough to support vehicle weight without getting stuck. What is the fastest path to the field?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest path to the 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":"kyoto_22.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":360,"end_region_id":683,"start_point":[469,569],"end_point":[34,413],"distance":462.12660602912706},{"start_region_id":360,"end_region_id":684,"start_point":[469,569],"end_point":[44,533],"distance":426.5219806762601}],"complexity_score":0.6348436916767528}
{"id":14028,"query_id":"Q02806","question":"A hiker starts from a paved area and needs to reach a cultivated field. The terrain includes loose, sandy ground; grassy, uneven surfaces; hard, flat surfaces; and soft, tilled soil. You must avoid any vertical structures, liquid areas, and dense vegetation that could block your path. What is the shortest route 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 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":"kyoto_22.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":336,"end_region_id":683,"start_point":[977,646],"end_point":[34,413],"distance":971.3588420352182},{"start_region_id":279,"end_region_id":684,"start_point":[907,101],"end_point":[44,533],"distance":965.0870427065115},{"start_region_id":292,"end_region_id":684,"start_point":[993,375],"end_point":[44,533],"distance":962.062887757344},{"start_region_id":292,"end_region_id":683,"start_point":[993,375],"end_point":[34,413],"distance":959.752572281002},{"start_region_id":336,"end_region_id":684,"start_point":[977,646],"end_point":[44,533],"distance":939.8180675003008}],"complexity_score":0.6348436916767528}
{"id":3021,"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":"monrovia_66.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":418,"start_point":[301,17],"end_point":[570,839],"distance":864.8959474988884},{"start_region_id":119,"end_region_id":418,"start_point":[976,95],"end_point":[570,839],"distance":847.5682863344995},{"start_region_id":122,"end_region_id":418,"start_point":[266,117],"end_point":[570,839],"distance":783.3900688673555},{"start_region_id":112,"end_region_id":418,"start_point":[630,153],"end_point":[570,839],"distance":688.618907669547},{"start_region_id":119,"end_region_id":417,"start_point":[976,95],"end_point":[484,583],"distance":692.9704178390301}],"complexity_score":0.6348733342644112}
{"id":5382,"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":"monrovia_66.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":417,"end_region_id":418,"start_point":[484,583],"end_point":[570,839],"distance":270.05925275761246},{"start_region_id":418,"end_region_id":417,"start_point":[570,839],"end_point":[484,583],"distance":270.05925275761246}],"complexity_score":0.6348733342644112}
{"id":12405,"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":"monrovia_66.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":418,"start_point":[914,63],"end_point":[570,839],"distance":848.8297827008663},{"start_region_id":11,"end_region_id":418,"start_point":[917,144],"end_point":[570,839],"distance":776.8101441150212},{"start_region_id":12,"end_region_id":418,"start_point":[354,173],"end_point":[570,839],"distance":700.151412195962},{"start_region_id":6,"end_region_id":417,"start_point":[914,63],"end_point":[484,583],"distance":674.7592163134935},{"start_region_id":11,"end_region_id":417,"start_point":[917,144],"end_point":[484,583],"distance":616.6117092628067}],"complexity_score":0.6348733342644112}
{"id":3910,"query_id":"Q00782","question":"A hiker starts from a paved road surface and needs to reach a grassy field while prioritizing safety. The terrain includes areas of loose soil and rocks, hard artificial surfaces like sidewalks and parking lots, cultivated crop fields, and wooded areas with individual trees. The hiker can traverse grassy areas and cultivated fields as long as the vegetation is not too dense, and can cross loose soil and rocky areas if they are stable enough to walk on without slipping. Wooded areas can be entered if there are clear paths between trees. However, all water bodies and buildings are completely impassable obstacles that must be avoided. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"grassy field","task_description":"What is the safest path for the hiker to take from the paved road surface to the grassy field?","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_9.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":55,"start_point":[744,456],"end_point":[105,784],"distance":718.2652713308643},{"start_region_id":219,"end_region_id":9,"start_point":[744,456],"end_point":[83,201],"distance":708.4814747048789},{"start_region_id":219,"end_region_id":5,"start_point":[744,456],"end_point":[938,20],"distance":477.2127408190188},{"start_region_id":219,"end_region_id":1,"start_point":[744,456],"end_point":[318,44],"distance":592.6381695436095},{"start_region_id":219,"end_region_id":8,"start_point":[744,456],"end_point":[223,143],"distance":607.7910825275409}],"complexity_score":0.6350743825671004}
{"id":3517,"query_id":"Q00704","question":"A delivery drone starts above a grassy, uneven field and needs to reach a paved, hard surface. The drone can fly over loose soil, rocky terrain, cultivated fields, and liquid areas, but must avoid dense vegetation clusters and cannot pass through vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"paved, hard surface","task_description":"What is the fastest route for the delivery drone to travel from above the grassy, uneven field to 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":"monrovia_63.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":203,"start_point":[12,78],"end_point":[969,917],"distance":1272.7018503954491},{"start_region_id":8,"end_region_id":262,"start_point":[855,51],"end_point":[86,984],"distance":1209.069890452988},{"start_region_id":2,"end_region_id":203,"start_point":[132,78],"end_point":[969,917],"distance":1185.1118090711948},{"start_region_id":1,"end_region_id":197,"start_point":[12,78],"end_point":[884,829],"distance":1150.819273387442},{"start_region_id":3,"end_region_id":203,"start_point":[221,67],"end_point":[969,917],"distance":1132.2561547635764}],"complexity_score":0.6350840607645559}
{"id":5549,"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":"monrovia_63.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":281,"end_region_id":1,"start_point":[911,855],"end_point":[12,78],"distance":1188.2466074010058},{"start_region_id":281,"end_region_id":2,"start_point":[911,855],"end_point":[132,78],"distance":1100.2590604035033},{"start_region_id":281,"end_region_id":3,"start_point":[911,855],"end_point":[221,67],"distance":1047.3986824509566},{"start_region_id":281,"end_region_id":9,"start_point":[911,855],"end_point":[465,71],"distance":901.9822614663772},{"start_region_id":281,"end_region_id":91,"start_point":[911,855],"end_point":[26,820],"distance":885.6918199915815}],"complexity_score":0.6350840607645559}
{"id":8097,"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_63.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":281,"end_region_id":281,"start_point":[659,903],"end_point":[1009,699],"distance":405.1123301011708}],"complexity_score":0.6350840607645559}
{"id":10310,"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":"monrovia_63.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":203,"end_region_id":1,"start_point":[969,917],"end_point":[12,78],"distance":1272.7018503954491},{"start_region_id":262,"end_region_id":8,"start_point":[86,984],"end_point":[855,51],"distance":1209.069890452988},{"start_region_id":203,"end_region_id":2,"start_point":[969,917],"end_point":[132,78],"distance":1185.1118090711948},{"start_region_id":197,"end_region_id":1,"start_point":[884,829],"end_point":[12,78],"distance":1150.819273387442},{"start_region_id":203,"end_region_id":3,"start_point":[969,917],"end_point":[221,67],"distance":1132.2561547635764}],"complexity_score":0.6350840607645559}
{"id":2945,"query_id":"Q00589","question":"A passenger sedan is parked on a paved parking area and needs to reach a dry, open area of loose soil and rocks. The vehicle can only travel on surfaces that provide a smooth, stable ride: paved surfaces like roads and parking lots are always available, while cultivated fields with firm, level soil are accessible because they have been recently harvested and compacted. Rough, uneven ground composed of loose earth and rocks is also passable but less desirable. All other terrain types, including areas with standing water, dense vegetation, or vertical structures, are completely impassable. What is the most comfortable path to reach the destination?","agent_category":"Car","specific_agent":"a passenger sedan","start_land_type":"a paved parking area","end_land_type":"a dry, open area of loose soil and rocks","task_description":"What is the most comfortable path to reach the destination?","task_type":"Comfort","input_classes":["Bareland","Developed space","Road","Agriculture land"],"traverse_vector":[1,0,1,1,0,0,1,0],"cost_vector":[1,0,3,4,0,0,2,0],"image_name":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":3,"start_point":[856,80],"end_point":[439,935],"distance":951.2696778516595},{"start_region_id":93,"end_region_id":3,"start_point":[320,145],"end_point":[439,935],"distance":798.9123856844378},{"start_region_id":94,"end_region_id":3,"start_point":[492,114],"end_point":[439,935],"distance":822.7089400267873},{"start_region_id":118,"end_region_id":3,"start_point":[953,310],"end_point":[439,935],"distance":809.2101086862423},{"start_region_id":93,"end_region_id":2,"start_point":[320,145],"end_point":[673,818],"distance":759.9592094316641}],"complexity_score":0.6351010706000011}
{"id":7625,"query_id":"Q01525","question":"A quadcopter drone starts from a cultivated field with loose soil and vegetation and needs to reach an area of exposed sandy or rocky ground. The drone can fly over open liquid surfaces, hard paved surfaces, and vehicle lanes, but must avoid dense vertical obstacles and structures. Which route allows the drone to reach the destination most quickly?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"exposed sandy or rocky ground","task_description":"Which route allows the drone to reach the destination most quickly?","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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":3,"start_point":[235,71],"end_point":[439,935],"distance":887.7567234327206},{"start_region_id":273,"end_region_id":2,"start_point":[235,71],"end_point":[673,818],"distance":865.9405291358062},{"start_region_id":274,"end_region_id":2,"start_point":[96,211],"end_point":[673,818],"distance":837.4831341585334},{"start_region_id":274,"end_region_id":3,"start_point":[96,211],"end_point":[439,935],"distance":801.1398130164297},{"start_region_id":275,"end_region_id":2,"start_point":[74,430],"end_point":[673,818],"distance":713.6841037882236}],"complexity_score":0.6351010706000011}
{"id":8857,"query_id":"Q01772","question":"An aerial survey drone starts from a grassy field and needs to reach a destination on sandy, rocky ground. The drone must maintain stable flight and avoid vibrations that could disrupt its sensors. The drone can fly over open water surfaces, but must avoid flying through dense vegetation or near vertical structures. The drone can use paved areas and vehicle lanes for navigation, but these surfaces are not required for flight. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy field","end_land_type":"sandy, 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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":3,"start_point":[360,162],"end_point":[439,935],"distance":777.026383078464},{"start_region_id":15,"end_region_id":2,"start_point":[360,162],"end_point":[673,818],"distance":726.8459259017691},{"start_region_id":52,"end_region_id":3,"start_point":[273,303],"end_point":[439,935],"distance":653.4370665947869},{"start_region_id":52,"end_region_id":2,"start_point":[273,303],"end_point":[673,818],"distance":652.0927848090331},{"start_region_id":71,"end_region_id":3,"start_point":[881,487],"end_point":[439,935],"distance":629.3393361295638}],"complexity_score":0.6351010706000011}
{"id":11831,"query_id":"Q02367","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy ground area. The vehicle can traverse paved surfaces, compacted gravel paths, and loose, sandy ground, but cannot cross water bodies, enter buildings, or drive through wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved, hard surface","end_land_type":"loose, sandy ground","task_description":"What is the shortest path for the off-road vehicle to reach the loose, sandy ground from the paved, hard surface?","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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":3,"start_point":[856,80],"end_point":[439,935],"distance":951.2696778516595},{"start_region_id":93,"end_region_id":3,"start_point":[320,145],"end_point":[439,935],"distance":798.9123856844378},{"start_region_id":94,"end_region_id":3,"start_point":[492,114],"end_point":[439,935],"distance":822.7089400267873},{"start_region_id":118,"end_region_id":3,"start_point":[953,310],"end_point":[439,935],"distance":809.2101086862423},{"start_region_id":93,"end_region_id":2,"start_point":[320,145],"end_point":[673,818],"distance":759.9592094316641}],"complexity_score":0.6351010706000011}
{"id":11853,"query_id":"Q02371","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved, hard-surfaced area. The terrain includes only loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces. The hiker can traverse loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Bareland","end_land_type":"Developed space","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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":96,"start_point":[439,935],"end_point":[856,80],"distance":951.2696778516595},{"start_region_id":3,"end_region_id":93,"start_point":[439,935],"end_point":[320,145],"distance":798.9123856844378},{"start_region_id":3,"end_region_id":94,"start_point":[439,935],"end_point":[492,114],"distance":822.7089400267873},{"start_region_id":3,"end_region_id":118,"start_point":[439,935],"end_point":[953,310],"distance":809.2101086862423},{"start_region_id":2,"end_region_id":93,"start_point":[673,818],"end_point":[320,145],"distance":759.9592094316641}],"complexity_score":0.6351010706000011}
{"id":13709,"query_id":"Q02742","question":"A quadcopter is starting from a cultivated field and needs to reach a destination on sandy, rocky ground. The drone can fly over hard, paved surfaces, cultivated fields, and sandy, rocky ground, but must avoid dense vegetation and structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"sandy, rocky ground","task_description":"What is the fastest path to the destination?","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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":273,"end_region_id":3,"start_point":[235,71],"end_point":[439,935],"distance":887.7567234327206},{"start_region_id":273,"end_region_id":2,"start_point":[235,71],"end_point":[673,818],"distance":865.9405291358062},{"start_region_id":274,"end_region_id":2,"start_point":[96,211],"end_point":[673,818],"distance":837.4831341585334},{"start_region_id":274,"end_region_id":3,"start_point":[96,211],"end_point":[439,935],"distance":801.1398130164297},{"start_region_id":273,"end_region_id":1,"start_point":[235,71],"end_point":[581,682],"distance":702.1659348045873}],"complexity_score":0.6351010706000011}
{"id":13914,"query_id":"Q02783","question":"A hiker starts from a patch of rough, sandy ground and needs to reach a cultivated field. The hiker can traverse hard, paved surfaces and cultivated fields, but cannot cross water bodies or buildings. The hiker is allowed to walk on the sandy ground, the paved surfaces, and the cultivated field. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rough, sandy ground","end_land_type":"cultivated field","task_description":"What is the shortest path for the hiker to travel from the sandy ground to the cultivated 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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":273,"start_point":[439,935],"end_point":[235,71],"distance":887.7567234327206},{"start_region_id":2,"end_region_id":273,"start_point":[673,818],"end_point":[235,71],"distance":865.9405291358062},{"start_region_id":2,"end_region_id":274,"start_point":[673,818],"end_point":[96,211],"distance":837.4831341585334},{"start_region_id":3,"end_region_id":274,"start_point":[439,935],"end_point":[96,211],"distance":801.1398130164297},{"start_region_id":1,"end_region_id":273,"start_point":[581,682],"end_point":[235,71],"distance":702.1659348045873}],"complexity_score":0.6351010706000011}
{"id":14573,"query_id":"Q02915","question":"An aerial drone starts from a sandy, rocky terrain and needs to reach a cultivated field with soft soil. The drone can fly over paved lanes and cultivated areas, but avoid vertical structures and dense vegetation. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"sandy, rocky terrain","end_land_type":"cultivated field with soft 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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":273,"start_point":[439,935],"end_point":[235,71],"distance":887.7567234327206},{"start_region_id":2,"end_region_id":273,"start_point":[673,818],"end_point":[235,71],"distance":865.9405291358062},{"start_region_id":2,"end_region_id":274,"start_point":[673,818],"end_point":[96,211],"distance":837.4831341585334},{"start_region_id":3,"end_region_id":274,"start_point":[439,935],"end_point":[96,211],"distance":801.1398130164297},{"start_region_id":2,"end_region_id":275,"start_point":[673,818],"end_point":[74,430],"distance":713.6841037882236}],"complexity_score":0.6351010706000011}
{"id":16265,"query_id":"Q03253","question":"An aerial drone is on a paved surface and needs to reach a sandy or rocky area. The drone can fly over hard surfaces, cultivated fields, and grassy or shrub-covered areas, as these are open and unobstructed. However, it must avoid flying through dense tree canopies or near buildings, as these pose collision risks and are only passable if explicitly permitted, which they are not in this case. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"paved surface","end_land_type":"sandy or rocky 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":"chiclayo_7.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":3,"start_point":[516,161],"end_point":[439,935],"distance":777.8206734202943},{"start_region_id":151,"end_region_id":2,"start_point":[516,161],"end_point":[673,818],"distance":675.4983345649343},{"start_region_id":151,"end_region_id":1,"start_point":[516,161],"end_point":[581,682],"distance":525.0390461670446}],"complexity_score":0.6351010706000011}
{"id":6041,"query_id":"Q01209","question":"A person walking with a stroller starts from a paved, flat area with artificial grass and tennis courts and needs to reach a vehicle lane with asphalt surface. The stroller requires smooth, stable surfaces to minimize vibration and ensure a comfortable ride for the passenger. Only hard, paved surfaces are accessible for this journey.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"A paved, flat area with artificial grass and tennis courts","end_land_type":"A vehicle lane with asphalt surface","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":"vienna_1.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":116,"start_point":[110,932],"end_point":[602,559],"distance":617.4082927852525},{"start_region_id":40,"end_region_id":116,"start_point":[835,217],"end_point":[602,559],"distance":413.8272586478566},{"start_region_id":108,"end_region_id":116,"start_point":[816,958],"end_point":[602,559],"distance":452.76594394896796},{"start_region_id":65,"end_region_id":116,"start_point":[889,254],"end_point":[602,559],"distance":418.8006685763527},{"start_region_id":80,"end_region_id":116,"start_point":[182,703],"end_point":[602,559],"distance":444.0}],"complexity_score":0.6352489408330332}
{"id":743,"query_id":"Q00149","question":"An aerial photography drone starts from a dense cluster of tall, vertical structures with branching patterns and foliage and needs to reach a large, open area of cultivated vegetation with organized rows of crops. The drone's flight path must prioritize smooth, stable travel to ensure clear, vibration-free footage. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, as well as liquid surfaces like rivers and lakes. However, it must avoid flying through dense clusters of tall, vertical structures with branching patterns unless absolutely necessary, as navigating through them requires careful maneuvering and causes turbulence. Similarly, flying directly over liquid surfaces should be minimized as wind gusts and spray can create instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A dense cluster of tall, vertical structures with branching patterns and foliage","end_land_type":"A large, open area of cultivated vegetation with organized rows of crops","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","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":"kujawsko-pomorskie_12.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":222,"start_point":[160,819],"end_point":[954,73],"distance":1089.4732672259563},{"start_region_id":210,"end_region_id":223,"start_point":[160,819],"end_point":[949,210],"distance":996.6955402729561},{"start_region_id":220,"end_region_id":222,"start_point":[868,898],"end_point":[954,73],"distance":829.4703129105948},{"start_region_id":220,"end_region_id":223,"start_point":[868,898],"end_point":[949,210],"distance":692.7517592904402},{"start_region_id":202,"end_region_id":222,"start_point":[772,273],"end_point":[954,73],"distance":270.4144966528237}],"complexity_score":0.6353294235400088}
{"id":9208,"query_id":"Q01842","question":"A delivery van starts from a cultivated field with loose soil and needs to reach a paved parking lot with a hard, smooth surface. The delivery van can use paved lanes and hard artificial surfaces, and is also permitted to cross cultivated areas, grassy fields, and dry, rocky ground if necessary. However, it cannot pass through dense vegetation, liquid areas, or solid structures. What is the fastest route?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"cultivated field","end_land_type":"paved parking lot","task_description":"What is the fastest route for the delivery van to travel from the cultivated field to the paved parking lot?","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":"kujawsko-pomorskie_12.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":184,"start_point":[954,73],"end_point":[598,998],"distance":991.1412613749868},{"start_region_id":222,"end_region_id":176,"start_point":[954,73],"end_point":[397,881],"distance":981.383207518857},{"start_region_id":222,"end_region_id":182,"start_point":[954,73],"end_point":[729,1004],"distance":957.8026936692129},{"start_region_id":222,"end_region_id":132,"start_point":[954,73],"end_point":[26,239],"distance":942.7300780180932},{"start_region_id":222,"end_region_id":138,"start_point":[954,73],"end_point":[117,490],"distance":935.1245906295054}],"complexity_score":0.6353294235400088}
{"id":14033,"query_id":"Q02807","question":"An off-road vehicle starts from a hard, flat surface and needs to reach an area of soft, tilled soil. The available terrain includes loose, sandy ground; grassy, uneven surfaces; hard, flat surfaces; and cultivated soil. You must avoid any vertical obstacles, liquid areas, and dense vegetation. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard, flat surface","end_land_type":"soft, tilled soil","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":"kujawsko-pomorskie_12.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":222,"start_point":[598,998],"end_point":[954,73],"distance":991.1412613749868},{"start_region_id":176,"end_region_id":222,"start_point":[397,881],"end_point":[954,73],"distance":981.383207518857},{"start_region_id":182,"end_region_id":222,"start_point":[729,1004],"end_point":[954,73],"distance":957.8026936692129},{"start_region_id":132,"end_region_id":222,"start_point":[26,239],"end_point":[954,73],"distance":942.7300780180932},{"start_region_id":138,"end_region_id":222,"start_point":[117,490],"end_point":[954,73],"distance":935.1245906295054}],"complexity_score":0.6353294235400088}
{"id":3042,"query_id":"Q00609","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface across a stretch of rough, loose ground composed of sand and rocks. The hiker is allowed to walk on the paved surfaces and the rough ground. 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 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":"labuhan_36.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":81,"start_point":[212,948],"end_point":[292,133],"distance":818.91696770796},{"start_region_id":81,"end_region_id":199,"start_point":[292,133],"end_point":[212,948],"distance":818.91696770796},{"start_region_id":171,"end_region_id":81,"start_point":[301,856],"end_point":[292,133],"distance":723.0560144276513},{"start_region_id":81,"end_region_id":171,"start_point":[292,133],"end_point":[301,856],"distance":723.0560144276513},{"start_region_id":199,"end_region_id":145,"start_point":[212,948],"end_point":[825,557],"distance":727.0832139445938}],"complexity_score":0.6353518203670588}
{"id":16650,"query_id":"Q03330","question":"An aerial survey drone starts from a grassy, open field, you need to return to another grassy, open field. The area includes hard, flat surfaces suitable for vehicles, tall vertical obstacles with dense foliage, liquid bodies, and cultivated plots with soft, tilled soil. The drone can fly over most surfaces, but must avoid dense foliage areas unless absolutely necessary due to navigation risks. 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?","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_36.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":1,"start_point":[629,665],"end_point":[44,21],"distance":870.0350567649559},{"start_region_id":1,"end_region_id":69,"start_point":[44,21],"end_point":[629,665],"distance":870.0350567649559},{"start_region_id":24,"end_region_id":1,"start_point":[836,238],"end_point":[44,21],"distance":821.1899901971528},{"start_region_id":1,"end_region_id":24,"start_point":[44,21],"end_point":[836,238],"distance":821.1899901971528},{"start_region_id":10,"end_region_id":69,"start_point":[88,96],"end_point":[629,665],"distance":785.1382043946148}],"complexity_score":0.6353518203670588}
{"id":17569,"query_id":"Q03514","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 paved areas, vegetated terrain with soft ground, and cultivated fields, but must avoid dense vertical obstacles that could entangle its rotors. What route should the drone take?","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 reach the destination paved surface?","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":"kyoto_66.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":121,"end_region_id":121,"start_point":[1016,120],"end_point":[153,862],"distance":1138.1269700696844}],"complexity_score":0.6355680831215779}
{"id":5410,"query_id":"Q01082","question":"An off-road vehicle starts from a paved lane and needs to reach a grassy field. The vehicle can drive on paved lanes and grassy fields, but cannot go through trees, water bodies, or buildings. What is the shortest path?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the shortest path from the paved lane to the grassy field?","task_type":"Shortest","input_classes":["Rangeland","Road"],"traverse_vector":[0,1,0,1,0,0,0,0],"cost_vector":[0,1,0,1,0,0,0,0],"image_name":"mahe_26.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":75,"start_point":[663,715],"end_point":[973,578],"distance":338.92329515688357},{"start_region_id":160,"end_region_id":49,"start_point":[260,565],"end_point":[558,409],"distance":336.3628992620916}],"complexity_score":0.635594746246005}
{"id":17145,"query_id":"Q03429","question":"A quadcopter drone is positioned on a flat, artificial hard surface and must travel to a patch of wild grass and shrubs in the minimum time. The environment includes open areas with low vegetation, hard flat surfaces, and zones with tall, dense vertical obstacles that require careful navigation to avoid collisions. The drone can fly over all these terrain types, but the vertical obstacles significantly reduce safe flight speed. What is the fastest route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, artificial hard surface","end_land_type":"A patch of wild grass and shrubs","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":"mahe_26.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":106,"start_point":[185,262],"end_point":[847,888],"distance":911.109214090166},{"start_region_id":139,"end_region_id":106,"start_point":[115,349],"end_point":[847,888],"distance":909.0352028387019},{"start_region_id":139,"end_region_id":75,"start_point":[115,349],"end_point":[973,578],"distance":888.0343461826237},{"start_region_id":139,"end_region_id":92,"start_point":[115,349],"end_point":[939,663],"distance":881.800430936615},{"start_region_id":131,"end_region_id":92,"start_point":[185,262],"end_point":[939,663],"distance":854.000585479893}],"complexity_score":0.635594746246005}
{"id":3371,"query_id":"Q00675","question":"A hiker starts from a cultivated field with soft, uneven soil and needs to reach a smooth, paved walkway. The person requires a path that prioritizes walking comfort, avoiding rough or unstable surfaces. Only the following surfaces are available: loose, dry earth (bare soil), hard, flat paved surfaces (like sidewalks or parking lots), vehicle lanes (streets or roads), and cultivated fields (with crops or tilled soil). The path must not include any areas with trees, water bodies, buildings, or dense natural vegetation like shrubs or grass.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the most comfortable path for the person 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":[1,0,4,3,0,0,2,0],"image_name":"viru_33.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":79,"start_point":[954,943],"end_point":[45,270],"distance":1131.0216620383537},{"start_region_id":199,"end_region_id":73,"start_point":[954,943],"end_point":[297,94],"distance":1073.5222401049734},{"start_region_id":198,"end_region_id":79,"start_point":[987,729],"end_point":[45,270],"distance":1047.8764240119156},{"start_region_id":192,"end_region_id":114,"start_point":[91,202],"end_point":[797,971],"distance":1043.9334269961855},{"start_region_id":192,"end_region_id":105,"start_point":[91,202],"end_point":[760,916],"distance":978.446217224023}],"complexity_score":0.6356604074189279}
{"id":9503,"query_id":"Q01901","question":"An off-road vehicle starts from a paved lane and needs to reach a cultivated field. The terrain includes hard, flat surfaces; loose, rocky ground; grassy or shrub-covered areas; and soft, tilled soil. The vehicle can traverse all these surfaces, but cannot drive through dense vegetation, cross any water bodies, or enter any structures. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved lane","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_33.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":199,"start_point":[36,113],"end_point":[954,943],"distance":1237.5879766707496},{"start_region_id":122,"end_region_id":198,"start_point":[36,113],"end_point":[987,729],"distance":1133.0741370272292},{"start_region_id":122,"end_region_id":196,"start_point":[36,113],"end_point":[955,581],"distance":1031.3025744174208},{"start_region_id":126,"end_region_id":192,"start_point":[832,832],"end_point":[91,202],"distance":972.6155458350437},{"start_region_id":123,"end_region_id":197,"start_point":[883,294],"end_point":[87,844],"distance":967.5308780602302}],"complexity_score":0.6356604074189279}
{"id":12613,"query_id":"Q02523","question":"A farmer is starting from a paved street and needs to reach a crop field as quickly as possible. The person can walk on hard surfaces like sidewalks and streets, and is also allowed to traverse grassy or shrubby areas and cultivated fields because the vegetation is low and the ground is stable enough for walking. However, they cannot walk on loose sandy or rocky ground, through dense tree clusters, across liquid bodies, or into solid buildings. What is the fastest route for the farmer?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a paved street","end_land_type":"a crop field","task_description":"What is the fastest route for the farmer?","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":"viru_33.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":199,"start_point":[36,113],"end_point":[954,943],"distance":1237.5879766707496},{"start_region_id":122,"end_region_id":198,"start_point":[36,113],"end_point":[987,729],"distance":1133.0741370272292},{"start_region_id":122,"end_region_id":196,"start_point":[36,113],"end_point":[955,581],"distance":1031.3025744174208},{"start_region_id":126,"end_region_id":192,"start_point":[832,832],"end_point":[91,202],"distance":972.6155458350437},{"start_region_id":123,"end_region_id":197,"start_point":[883,294],"end_point":[87,844],"distance":967.5308780602302}],"complexity_score":0.6356604074189279}
{"id":10055,"query_id":"Q02011","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach a natural area covered with low vegetation and shrubs as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, as well as over liquid surfaces. However, it cannot fly through dense, tall vegetation or near vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A natural area covered with low vegetation and shrubs","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":"oklahoma_20.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":8,"start_point":[421,739],"end_point":[962,64],"distance":865.0468195421563},{"start_region_id":222,"end_region_id":1,"start_point":[421,739],"end_point":[106,33],"distance":773.0853769151245},{"start_region_id":222,"end_region_id":14,"start_point":[421,739],"end_point":[47,186],"distance":667.5964349814939},{"start_region_id":222,"end_region_id":7,"start_point":[421,739],"end_point":[882,318],"distance":624.3092182564662},{"start_region_id":222,"end_region_id":2,"start_point":[421,739],"end_point":[184,309],"distance":490.9877798886648}],"complexity_score":0.6356897228995142}
{"id":14671,"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":"oklahoma_20.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":8,"start_point":[421,739],"end_point":[962,64],"distance":865.0468195421563},{"start_region_id":222,"end_region_id":1,"start_point":[421,739],"end_point":[106,33],"distance":773.0853769151245},{"start_region_id":222,"end_region_id":14,"start_point":[421,739],"end_point":[47,186],"distance":667.5964349814939},{"start_region_id":222,"end_region_id":7,"start_point":[421,739],"end_point":[882,318],"distance":624.3092182564662},{"start_region_id":222,"end_region_id":2,"start_point":[421,739],"end_point":[184,309],"distance":490.9877798886648}],"complexity_score":0.6356897228995142}
{"id":17175,"query_id":"Q03435","question":"A quadcopter drone starts from a grassy, uneven field and needs to reach a flat, paved surface. The drone can fly over open grassy areas, paved surfaces, and water bodies, but must avoid trees and buildings to prevent collisions. The water is calm and safe to fly over, but flying over it may cause slight instability due to wind reflection. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a flat, paved surface","task_description":"What is the most comfortable path for the drone to take from the grassy field to the 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":"oklahoma_20.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":222,"start_point":[962,64],"end_point":[421,739],"distance":865.0468195421563},{"start_region_id":1,"end_region_id":222,"start_point":[106,33],"end_point":[421,739],"distance":773.0853769151245},{"start_region_id":14,"end_region_id":222,"start_point":[47,186],"end_point":[421,739],"distance":667.5964349814939},{"start_region_id":7,"end_region_id":222,"start_point":[882,318],"end_point":[421,739],"distance":624.3092182564662},{"start_region_id":2,"end_region_id":222,"start_point":[184,309],"end_point":[421,739],"distance":490.9877798886648}],"complexity_score":0.6356897228995142}
{"id":7825,"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_30.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":88,"start_point":[421,430],"end_point":[251,914],"distance":512.9873292782191},{"start_region_id":142,"end_region_id":85,"start_point":[883,120],"end_point":[827,409],"distance":294.37561040276415},{"start_region_id":147,"end_region_id":85,"start_point":[923,665],"end_point":[827,409],"distance":273.408119850161},{"start_region_id":148,"end_region_id":86,"start_point":[421,430],"end_point":[261,650],"distance":272.02941017470886}],"complexity_score":0.6357738031989116}
{"id":13222,"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_30.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":88,"start_point":[883,120],"end_point":[251,914],"distance":1014.8201811158467},{"start_region_id":143,"end_region_id":88,"start_point":[336,88],"end_point":[251,914],"distance":830.3619692640071},{"start_region_id":142,"end_region_id":86,"start_point":[883,120],"end_point":[261,650],"distance":817.1805186126257},{"start_region_id":146,"end_region_id":88,"start_point":[249,182],"end_point":[251,914],"distance":732.002732235338},{"start_region_id":147,"end_region_id":88,"start_point":[923,665],"end_point":[251,914],"distance":716.6484493808663}],"complexity_score":0.6357738031989116}
{"id":13449,"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_30.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":142,"start_point":[107,917],"end_point":[883,120],"distance":1112.378083207324},{"start_region_id":39,"end_region_id":142,"start_point":[46,783],"end_point":[883,120],"distance":1067.7724476685096},{"start_region_id":46,"end_region_id":142,"start_point":[257,978],"end_point":[883,120],"distance":1062.09227471063},{"start_region_id":14,"end_region_id":147,"start_point":[40,234],"end_point":[923,665],"distance":982.5731524929836},{"start_region_id":38,"end_region_id":142,"start_point":[155,710],"end_point":[883,120],"distance":937.0613640525363}],"complexity_score":0.6357738031989116}
{"id":852,"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_46.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":55,"start_point":[577,307],"end_point":[672,665],"distance":370.3903346471125},{"start_region_id":293,"end_region_id":128,"start_point":[577,307],"end_point":[727,615],"distance":342.58429619584143},{"start_region_id":293,"end_region_id":123,"start_point":[577,307],"end_point":[839,436],"distance":292.0359566902678}],"complexity_score":0.6358067949660309}
{"id":12759,"query_id":"Q02552","question":"A hiker starts from a paved area and needs to reach a cultivated field. You can walk on paved surfaces, vehicle lanes, grassy areas with shrubs, areas with individual trees, and cultivated fields. However, you cannot walk on water bodies or enter buildings. What is the shortest path to the cultivated field?","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 cultivated field?","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_46.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":123,"end_region_id":297,"start_point":[839,436],"end_point":[77,882],"distance":882.9269505457402},{"start_region_id":164,"end_region_id":294,"start_point":[511,972],"end_point":[296,162],"distance":838.0483279620573},{"start_region_id":52,"end_region_id":297,"start_point":[236,76],"end_point":[77,882],"distance":821.5333225134572},{"start_region_id":53,"end_region_id":297,"start_point":[377,122],"end_point":[77,882],"distance":817.0679286326199},{"start_region_id":52,"end_region_id":296,"start_point":[236,76],"end_point":[406,854],"distance":796.3567039963938}],"complexity_score":0.6358067949660309}
{"id":12562,"query_id":"Q02513","question":"A quadcopter drone starts from a crop field with low vegetation and needs to reach a shrub-covered field. The terrain includes various surfaces such as hard pavements, roads, and open vegetated areas. However, you must avoid flying through dense tree canopies or close to buildings. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"crop field","end_land_type":"shrub-covered field","task_description":"What is the fastest route from the crop field to the shrub-covered 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":"viru_50.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":24,"start_point":[258,235],"end_point":[736,868],"distance":793.2042612089272},{"start_region_id":131,"end_region_id":29,"start_point":[258,235],"end_point":[226,898],"distance":663.7717981354737},{"start_region_id":131,"end_region_id":21,"start_point":[258,235],"end_point":[660,802],"distance":695.0489191416673},{"start_region_id":131,"end_region_id":27,"start_point":[258,235],"end_point":[112,892],"distance":673.0267453823808},{"start_region_id":132,"end_region_id":24,"start_point":[167,682],"end_point":[736,868],"distance":598.6292675771875}],"complexity_score":0.6359092151125514}
{"id":14793,"query_id":"Q02959","question":"A hiker starts from a vegetated area with tall, distinct vertical structures providing shade and elevation and needs to reach a cultivated area with organized rows of low-growing plants. The terrain includes rough, loose surfaces of sand and rock; open expanses covered with natural grasses and shrubs; hard, artificial surfaces like sidewalks and parking lots; and the vegetated areas with tall structures. You cannot travel across liquid surfaces or enter any constructed vertical shelters. Find the shortest possible route.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"a vegetated area with tall, distinct vertical structures providing shade and elevation","end_land_type":"a cultivated area with organized rows of low-growing plants","task_description":"What is the shortest path from the starting vegetated area to the destination cultivated 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":"viru_50.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":133,"start_point":[374,413],"end_point":[611,962],"distance":597.9715712306063},{"start_region_id":79,"end_region_id":134,"start_point":[374,413],"end_point":[157,966],"distance":594.0521862597595},{"start_region_id":79,"end_region_id":132,"start_point":[374,413],"end_point":[167,682],"distance":339.42598604113977},{"start_region_id":79,"end_region_id":131,"start_point":[374,413],"end_point":[258,235],"distance":212.46176126540982}],"complexity_score":0.6359092151125514}
{"id":890,"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_41.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":340,"start_point":[84,632],"end_point":[839,123],"distance":910.552579481273},{"start_region_id":32,"end_region_id":363,"start_point":[971,205],"end_point":[187,636],"distance":894.6602707173265},{"start_region_id":151,"end_region_id":340,"start_point":[422,917],"end_point":[839,123],"distance":896.8416805657507},{"start_region_id":129,"end_region_id":340,"start_point":[396,821],"end_point":[839,123],"distance":826.7121627265442},{"start_region_id":111,"end_region_id":340,"start_point":[273,695],"end_point":[839,123],"distance":804.6987013783482}],"complexity_score":0.6359414023467325}
{"id":7301,"query_id":"Q01461","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a flat, hard-surfaced area like a paved lot or sidewalk. The terrain includes patches of bare, rocky ground and scattered trees with low-hanging branches, but you cannot cross any water bodies or enter buildings. You are on foot and can traverse the field, bare ground, and wooded areas, though vegetation may slow you down. What is the shortest path to the paved area?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the shortest path to the paved area?","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":"dortmund_41.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":592,"end_region_id":212,"start_point":[122,245],"end_point":[896,450],"distance":800.687829306778},{"start_region_id":592,"end_region_id":297,"start_point":[122,245],"end_point":[580,861],"distance":767.6066701117181},{"start_region_id":592,"end_region_id":175,"start_point":[122,245],"end_point":[774,58],"distance":678.286812491589},{"start_region_id":592,"end_region_id":319,"start_point":[122,245],"end_point":[120,871],"distance":626.0031948800262}],"complexity_score":0.6359414023467325}
{"id":9251,"query_id":"Q01851","question":"A quadcopter is starting from a cultivated field with loose soil and crop patterns, needing to reach a paved lane. It can fly over loose, rocky terrain, grassy or shrub-covered areas, hard, flat surfaces like parking lots and sidewalks, lanes used by vehicles, and cultivated fields. However, it must avoid areas with dense trees or buildings due to navigation constraints. What is the fastest route to the paved lane?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the fastest route to the 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":"dortmund_41.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":592,"end_region_id":340,"start_point":[122,245],"end_point":[839,123],"distance":727.3053004069199},{"start_region_id":592,"end_region_id":346,"start_point":[122,245],"end_point":[660,550],"distance":618.440781320249},{"start_region_id":592,"end_region_id":355,"start_point":[122,245],"end_point":[383,664],"distance":493.6415703726743},{"start_region_id":592,"end_region_id":363,"start_point":[122,245],"end_point":[187,636],"distance":396.36599248674196}],"complexity_score":0.6359414023467325}
{"id":17521,"query_id":"Q03505","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The terrain includes grassy areas, cultivated plots, and tall vertical obstacles. The drone can fly over grassy areas, cultivated plots, and paved lanes, but must avoid liquid surfaces and cannot pass through dense vertical obstacles. 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":"dortmund_41.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":340,"end_region_id":363,"start_point":[839,123],"end_point":[187,636],"distance":829.6222031744329},{"start_region_id":363,"end_region_id":340,"start_point":[187,636],"end_point":[839,123],"distance":829.6222031744329},{"start_region_id":355,"end_region_id":340,"start_point":[383,664],"end_point":[839,123],"distance":707.5429315596333},{"start_region_id":340,"end_region_id":355,"start_point":[839,123],"end_point":[383,664],"distance":707.5429315596333},{"start_region_id":346,"end_region_id":363,"start_point":[660,550],"end_point":[187,636],"distance":480.7546151624548}],"complexity_score":0.6359414023467325}
{"id":763,"query_id":"Q00153","question":"A hiker is currently positioned within a densely vegetated area with tall, upright structures providing shade and cover. They need to reach a flat, hard, paved surface designed for vehicle movement. The hiker can traverse areas of loose, dry, granular soil and rock accumulations, as well as hard, artificial surfaces like sidewalks, parking lots, and sports fields. However, they cannot cross any liquid surfaces or enter any constructed shelters or vertical enclosures. The goal is to find the path that minimizes risk.","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 designed for vehicle movement","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,4,3,1,0,0,0],"image_name":"santiago_18.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":456,"end_region_id":292,"start_point":[815,878],"end_point":[38,154],"distance":1062.0287190090482},{"start_region_id":452,"end_region_id":294,"start_point":[105,941],"end_point":[874,231],"distance":1046.6427279640363},{"start_region_id":451,"end_region_id":292,"start_point":[683,877],"end_point":[38,154],"distance":968.8931829670389},{"start_region_id":458,"end_region_id":292,"start_point":[569,937],"end_point":[38,154],"distance":946.0708218732888},{"start_region_id":457,"end_region_id":294,"start_point":[274,951],"end_point":[874,231],"distance":937.2299611087985}],"complexity_score":0.6359722061526868}
{"id":4113,"query_id":"Q00823","question":"An aerial surveillance drone starts from a paved lane and needs to reach a tall, leafy canopy while prioritizing safety. The drone can fly over open sandy or rocky ground, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, liquid bodies, and cultivated fields, but must avoid vertical structures and dense vegetation clusters unless explicitly permitted. For this mission, flying near or through vertical structures and liquid areas is prohibited due to collision and signal interference risks, and dense vegetation is allowed only if it is sparse enough for safe navigation. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"a tall, leafy canopy","task_description":"What is the safest path for the aerial surveillance drone to take from the paved lane to the tall, leafy canopy?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,2,2,1,0,2,0],"image_name":"santiago_18.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":456,"start_point":[38,154],"end_point":[815,878],"distance":1062.0287190090482},{"start_region_id":294,"end_region_id":452,"start_point":[874,231],"end_point":[105,941],"distance":1046.6427279640363},{"start_region_id":292,"end_region_id":451,"start_point":[38,154],"end_point":[683,877],"distance":968.8931829670389},{"start_region_id":292,"end_region_id":458,"start_point":[38,154],"end_point":[569,937],"distance":946.0708218732888},{"start_region_id":294,"end_region_id":457,"start_point":[874,231],"end_point":[274,951],"distance":937.2299611087985}],"complexity_score":0.6359722061526868}
{"id":17388,"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_18.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":140,"start_point":[38,154],"end_point":[852,874],"distance":1086.736398580631},{"start_region_id":292,"end_region_id":123,"start_point":[38,154],"end_point":[856,689],"distance":977.4195619077817},{"start_region_id":294,"end_region_id":130,"start_point":[874,231],"end_point":[161,887],"distance":968.8678960518818},{"start_region_id":294,"end_region_id":150,"start_point":[874,231],"end_point":[391,947],"distance":863.6810753976262},{"start_region_id":292,"end_region_id":150,"start_point":[38,154],"end_point":[391,947],"distance":868.0195850325038}],"complexity_score":0.6359722061526868}
{"id":5728,"query_id":"Q01146","question":"A delivery drone needs to fly quickly between two paved lanes. The drone can traverse most surfaces but must avoid areas with tall vertical obstacles or dense overhead obstructions. What is the fastest route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the fastest route between the two paved lanes?","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_31.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":192,"start_point":[451,790],"end_point":[571,107],"distance":693.461606723833},{"start_region_id":192,"end_region_id":193,"start_point":[571,107],"end_point":[451,790],"distance":693.461606723833}],"complexity_score":0.6359960926847755}
{"id":6842,"query_id":"Q01369","question":"A quadcopter drone is currently positioned over a cultivated field with rows of crops and needs to reach a cluster of tall, leafy trees. The drone can fly over open, dry ground with loose soil and rocks, as well as over flat, hard artificial surfaces like paved areas and compacted soil. However, the drone's flight speed is significantly reduced when navigating through dense foliage and branches. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","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","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_31.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":364,"end_region_id":347,"start_point":[357,136],"end_point":[152,979],"distance":867.5678647806176},{"start_region_id":364,"end_region_id":353,"start_point":[357,136],"end_point":[384,999],"distance":863.4222605423142},{"start_region_id":364,"end_region_id":305,"start_point":[357,136],"end_point":[818,795],"distance":804.2400139261911},{"start_region_id":364,"end_region_id":314,"start_point":[357,136],"end_point":[291,906],"distance":772.823395091013},{"start_region_id":364,"end_region_id":301,"start_point":[357,136],"end_point":[130,797],"distance":698.8919802086729}],"complexity_score":0.6359960926847755}
{"id":631,"query_id":"Q00127","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface. The drone can fly over loose soil areas used for crop growth and liquid bodies, but must avoid vertical obstacles like tall vegetation. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat surface","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":"daressalaam_34.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":490,"end_region_id":486,"start_point":[145,39],"end_point":[881,930],"distance":1155.6716661751295},{"start_region_id":502,"end_region_id":73,"start_point":[146,902],"end_point":[905,59],"distance":1134.341218505261},{"start_region_id":502,"end_region_id":135,"start_point":[146,902],"end_point":[926,183],"distance":1060.830335162037},{"start_region_id":490,"end_region_id":478,"start_point":[145,39],"end_point":[978,690],"distance":1057.2085886900466},{"start_region_id":490,"end_region_id":450,"start_point":[145,39],"end_point":[942,589],"distance":968.3537576732999}],"complexity_score":0.6364633974314374}
{"id":4784,"query_id":"Q00957","question":"A quadcopter drone starts from a paved road surface and needs to reach a paved parking lot. The terrain includes loose, sandy ground; paved surfaces like sidewalks and parking lots; paved roads; individual trees with trunks and canopies; and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid flying through dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","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","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_34.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":490,"end_region_id":486,"start_point":[145,39],"end_point":[881,930],"distance":1155.6716661751295},{"start_region_id":502,"end_region_id":73,"start_point":[146,902],"end_point":[905,59],"distance":1134.341218505261},{"start_region_id":502,"end_region_id":135,"start_point":[146,902],"end_point":[926,183],"distance":1060.830335162037},{"start_region_id":490,"end_region_id":478,"start_point":[145,39],"end_point":[978,690],"distance":1057.2085886900466},{"start_region_id":490,"end_region_id":450,"start_point":[145,39],"end_point":[942,589],"distance":968.3537576732999}],"complexity_score":0.6364633974314374}
{"id":8826,"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_34.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":517,"end_region_id":55,"start_point":[225,152],"end_point":[933,958],"distance":1072.800074571213},{"start_region_id":530,"end_region_id":55,"start_point":[159,311],"end_point":[933,958],"distance":1008.8037470192108},{"start_region_id":516,"end_region_id":55,"start_point":[399,163],"end_point":[933,958],"distance":957.6956719125341},{"start_region_id":557,"end_region_id":55,"start_point":[149,694],"end_point":[933,958],"distance":827.2557041205579},{"start_region_id":516,"end_region_id":50,"start_point":[399,163],"end_point":[61,890],"distance":801.7312517296554}],"complexity_score":0.6364633974314374}
{"id":17596,"query_id":"Q03520","question":"A quadcopter drone starts from a grassy field and needs to reach another grassy field as quickly as possible. You can fly over areas with hard surfaces, cultivated fields, and grassy or shrubby terrain. However, you must avoid flying through areas with dense tree canopies or close to vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy field","end_land_type":"grassy field","task_description":"What is the fastest route from the starting grassy field to the destination grassy field?","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":"daressalaam_34.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":55,"start_point":[42,223],"end_point":[933,958],"distance":1155.0350644028085},{"start_region_id":55,"end_region_id":9,"start_point":[933,958],"end_point":[42,223],"distance":1155.0350644028085},{"start_region_id":2,"end_region_id":55,"start_point":[210,68],"end_point":[933,958],"distance":1146.6599321507663},{"start_region_id":55,"end_region_id":2,"start_point":[933,958],"end_point":[210,68],"distance":1146.6599321507663},{"start_region_id":7,"end_region_id":55,"start_point":[155,235],"end_point":[933,958],"distance":1062.0795638745715}],"complexity_score":0.6364633974314374}
{"id":9755,"query_id":"Q01951","question":"An aerial surveillance drone starts from a patch of loose, sandy ground and needs to reach a cluster of tall, leafy vegetation. The drone can fly over open, flat areas with sparse vegetation, hard paved surfaces, cultivated fields, and water bodies, but must avoid vertical structures and dense tree canopies unless explicitly permitted. The drone's flight path must prioritize safety by minimizing risks such as collisions, signal interference, or unstable flight conditions. 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, sandy ground","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":"santiago_42.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":108,"start_point":[808,209],"end_point":[122,833],"distance":927.3467528384407},{"start_region_id":1,"end_region_id":94,"start_point":[808,209],"end_point":[32,701],"distance":918.825337047254},{"start_region_id":1,"end_region_id":112,"start_point":[808,209],"end_point":[992,861],"distance":677.4658662988121},{"start_region_id":2,"end_region_id":81,"start_point":[413,720],"end_point":[487,63],"distance":661.1542936410532},{"start_region_id":1,"end_region_id":79,"start_point":[808,209],"end_point":[166,233],"distance":642.4484415110679}],"complexity_score":0.6365088494814233}
{"id":5433,"query_id":"Q01087","question":"An off-road vehicle is on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation. The vehicle can traverse both paved surfaces and natural grassy terrain, but cannot pass through wooded areas, bodies of water, or any structures. Additionally, loose sandy ground and cultivated fields are not accessible. What is the fastest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"an area of natural, uncultivated vegetation","task_description":"What is the fastest route from the paved surface to the natural vegetation area?","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":"al_qurnah_5.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":32,"start_point":[786,267],"end_point":[131,934],"distance":934.8336750459945},{"start_region_id":39,"end_region_id":31,"start_point":[786,267],"end_point":[132,905],"distance":913.6520125299347},{"start_region_id":69,"end_region_id":22,"start_point":[980,847],"end_point":[81,757],"distance":903.4937741899498},{"start_region_id":39,"end_region_id":22,"start_point":[786,267],"end_point":[81,757],"distance":858.5598406634217},{"start_region_id":69,"end_region_id":32,"start_point":[980,847],"end_point":[131,934],"distance":853.4459561097}],"complexity_score":0.6366337552985023}
{"id":12761,"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":"al_qurnah_5.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":77,"start_point":[81,757],"end_point":[848,660],"distance":773.1093066313456},{"start_region_id":32,"end_region_id":77,"start_point":[131,934],"end_point":[848,660],"distance":767.5708436359474},{"start_region_id":31,"end_region_id":77,"start_point":[132,905],"end_point":[848,660],"distance":756.7568962355084},{"start_region_id":22,"end_region_id":78,"start_point":[81,757],"end_point":[580,951],"distance":535.3849082669402},{"start_region_id":29,"end_region_id":77,"start_point":[366,812],"end_point":[848,660],"distance":505.3988523928403}],"complexity_score":0.6366337552985023}
{"id":9502,"query_id":"Q01901","question":"An off-road vehicle starts from a paved lane and needs to reach a cultivated field. The terrain includes hard, flat surfaces; loose, rocky ground; grassy or shrub-covered areas; and soft, tilled soil. The vehicle can traverse all these surfaces, but cannot drive through dense vegetation, cross any water bodies, or enter any structures. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved lane","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":"abancay_44.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":360,"start_point":[707,78],"end_point":[48,485],"distance":774.5514831178106},{"start_region_id":301,"end_region_id":356,"start_point":[380,636],"end_point":[906,94],"distance":755.2747844327918},{"start_region_id":301,"end_region_id":355,"start_point":[380,636],"end_point":[94,93],"distance":613.7141028198716},{"start_region_id":301,"end_region_id":357,"start_point":[380,636],"end_point":[296,68],"distance":574.1776728504863},{"start_region_id":301,"end_region_id":358,"start_point":[380,636],"end_point":[914,231],"distance":670.2096686858524}],"complexity_score":0.6366632377892208}
{"id":12612,"query_id":"Q02523","question":"A farmer is starting from a paved street and needs to reach a crop field as quickly as possible. The person can walk on hard surfaces like sidewalks and streets, and is also allowed to traverse grassy or shrubby areas and cultivated fields because the vegetation is low and the ground is stable enough for walking. However, they cannot walk on loose sandy or rocky ground, through dense tree clusters, across liquid bodies, or into solid buildings. What is the fastest route for the farmer?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"a paved street","end_land_type":"a crop field","task_description":"What is the fastest route for the farmer?","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":"abancay_44.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":360,"start_point":[707,78],"end_point":[48,485],"distance":774.5514831178106},{"start_region_id":301,"end_region_id":356,"start_point":[380,636],"end_point":[906,94],"distance":755.2747844327918},{"start_region_id":301,"end_region_id":355,"start_point":[380,636],"end_point":[94,93],"distance":613.7141028198716},{"start_region_id":301,"end_region_id":357,"start_point":[380,636],"end_point":[296,68],"distance":574.1776728504863},{"start_region_id":301,"end_region_id":358,"start_point":[380,636],"end_point":[914,231],"distance":670.2096686858524}],"complexity_score":0.6366632377892208}
{"id":14695,"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_44.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":298,"end_region_id":360,"start_point":[707,78],"end_point":[48,485],"distance":774.5514831178106},{"start_region_id":301,"end_region_id":356,"start_point":[380,636],"end_point":[906,94],"distance":755.2747844327918},{"start_region_id":301,"end_region_id":355,"start_point":[380,636],"end_point":[94,93],"distance":613.7141028198716},{"start_region_id":301,"end_region_id":357,"start_point":[380,636],"end_point":[296,68],"distance":574.1776728504863},{"start_region_id":301,"end_region_id":358,"start_point":[380,636],"end_point":[914,231],"distance":670.2096686858524}],"complexity_score":0.6366632377892208}
{"id":470,"query_id":"Q00094","question":"A hiker starts from loose, sandy ground and needs to reach a paved, hard surface. The area includes rough, uneven terrain with scattered vegetation and obstacles, but you can traverse these if they are not too dense. However, you cannot cross any liquid areas or enter any solid structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"loose, sandy ground","end_land_type":"a paved, hard surface","task_description":"What is the shortest path from the loose, sandy ground to 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":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":82,"start_point":[189,151],"end_point":[946,694],"distance":931.6104336040897},{"start_region_id":1,"end_region_id":141,"start_point":[189,151],"end_point":[29,955],"distance":819.7658202194087},{"start_region_id":1,"end_region_id":42,"start_point":[189,151],"end_point":[996,188],"distance":807.8477579346247},{"start_region_id":1,"end_region_id":117,"start_point":[189,151],"end_point":[543,877],"distance":807.7078679819828},{"start_region_id":5,"end_region_id":82,"start_point":[310,247],"end_point":[946,694],"distance":777.3705680047323}],"complexity_score":0.6366866785365854}
{"id":3340,"query_id":"Q00668","question":"A family sedan is parked on a paved, hard-surfaced lane and needs to reach a loose, sandy area. The sedan can travel on paved surfaces like lanes and parking lots, as well as on compacted soil used for crop production, but it must avoid any areas with trees, water bodies, or buildings. The sandy area is accessible only if the ground is firm enough to support the vehicle without sinking. To ensure a smooth and stable ride, the sedan should prioritize surfaces that are flat and even. What is the most comfortable path for the sedan to take?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a loose, sandy area","task_description":"What is the most comfortable path for the sedan 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":[1,0,3,4,0,0,2,0],"image_name":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":1,"start_point":[420,678],"end_point":[189,151],"distance":575.4042057545287},{"start_region_id":157,"end_region_id":5,"start_point":[420,678],"end_point":[310,247],"distance":444.8156921692399},{"start_region_id":156,"end_region_id":1,"start_point":[524,201],"end_point":[189,151],"distance":338.71079108879894},{"start_region_id":156,"end_region_id":5,"start_point":[524,201],"end_point":[310,247],"distance":218.8880992653552}],"complexity_score":0.6366866785365854}
{"id":5350,"query_id":"Q01070","question":"A quadcopter drone is launched from a point among elevated, branching structures with foliage. It needs to fly to a position over a barren, dusty ground surface. The mission priority is to minimize operational risks. The drone can freely fly over open ground, vegetated areas, all hard artificial surfaces, vehicle pathways, and cultivated plots, as these are generally low-risk. It can also fly over large, solid, man-made structures and bodies of water, though these introduce higher navigation risks and must be considered carefully. However, flying directly through or very close to dense clusters of tall, vertical obstacles with complex geometry is permitted only if absolutely necessary, as it significantly increases the risk of collision and should be minimized for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"among elevated, branching structures with foliage","end_land_type":"over a barren, dusty ground surface","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":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":166,"end_region_id":1,"start_point":[840,161],"end_point":[189,151],"distance":651.0768003853309},{"start_region_id":166,"end_region_id":5,"start_point":[840,161],"end_point":[310,247],"distance":536.9320254929854},{"start_region_id":171,"end_region_id":1,"start_point":[709,157],"end_point":[189,151],"distance":520.0346142325528},{"start_region_id":184,"end_region_id":1,"start_point":[678,281],"end_point":[189,151],"distance":505.98517764851573},{"start_region_id":171,"end_region_id":5,"start_point":[709,157],"end_point":[310,247],"distance":409.0244491469917}],"complexity_score":0.6366866785365854}
{"id":8285,"query_id":"Q01657","question":"A quadcopter is hovering above a sandy, open area and needs to reach a grassy patch with shrubs. The drone can fly over hard, flat surfaces, but must avoid any dense tree canopies or structures. The drone can also fly over the grassy patch with shrubs and the sandy, open area. What is the fastest route to the grassy patch?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open area","end_land_type":"grassy patch with shrubs","task_description":"What is the fastest route to the grassy patch?","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":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":7,"start_point":[189,151],"end_point":[898,138],"distance":709.1191719309245},{"start_region_id":1,"end_region_id":22,"start_point":[189,151],"end_point":[786,331],"distance":623.5455075613968},{"start_region_id":5,"end_region_id":7,"start_point":[310,247],"end_point":[898,138],"distance":598.0175582706581},{"start_region_id":5,"end_region_id":22,"start_point":[310,247],"end_point":[786,331],"distance":483.35494204569795},{"start_region_id":5,"end_region_id":6,"start_point":[310,247],"end_point":[42,95],"distance":308.1038785864274}],"complexity_score":0.6366866785365854}
{"id":11573,"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":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":82,"start_point":[189,151],"end_point":[946,694],"distance":931.6104336040897},{"start_region_id":1,"end_region_id":141,"start_point":[189,151],"end_point":[29,955],"distance":819.7658202194087},{"start_region_id":1,"end_region_id":117,"start_point":[189,151],"end_point":[543,877],"distance":807.7078679819828},{"start_region_id":5,"end_region_id":82,"start_point":[310,247],"end_point":[946,694],"distance":777.3705680047323},{"start_region_id":1,"end_region_id":79,"start_point":[189,151],"end_point":[772,643],"distance":762.8584403413257}],"complexity_score":0.6366866785365854}
{"id":13115,"query_id":"Q02623","question":"A surveillance drone starts from a concrete pad and needs to reach a sandy, rocky expanse. The drone can fly over hard surfaces, soft ground, vegetated areas, and water bodies, but must avoid dense tree canopies and buildings due to obstacle avoidance protocols. What is the shortest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a concrete pad","end_land_type":"a sandy, rocky expanse","task_description":"What is the shortest path for the surveillance 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":"lambayeque_19.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":1,"start_point":[946,694],"end_point":[189,151],"distance":931.6104336040897},{"start_region_id":141,"end_region_id":1,"start_point":[29,955],"end_point":[189,151],"distance":819.7658202194087},{"start_region_id":42,"end_region_id":1,"start_point":[996,188],"end_point":[189,151],"distance":807.8477579346247},{"start_region_id":117,"end_region_id":1,"start_point":[543,877],"end_point":[189,151],"distance":807.7078679819828},{"start_region_id":82,"end_region_id":5,"start_point":[946,694],"end_point":[310,247],"distance":777.3705680047323}],"complexity_score":0.6366866785365854}
{"id":9150,"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":"khartoum_9.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":31,"start_point":[624,72],"end_point":[319,328],"distance":398.19718733311015},{"start_region_id":27,"end_region_id":31,"start_point":[62,588],"end_point":[319,328],"distance":365.58036052282677},{"start_region_id":23,"end_region_id":31,"start_point":[593,538],"end_point":[319,328],"distance":345.21877121616666},{"start_region_id":5,"end_region_id":31,"start_point":[62,123],"end_point":[319,328],"distance":328.7461026384952},{"start_region_id":8,"end_region_id":31,"start_point":[600,236],"end_point":[319,328],"distance":295.67718883945037}],"complexity_score":0.6368956355323013}
{"id":8642,"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_11.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":102,"start_point":[946,661],"end_point":[277,106],"distance":869.2444995511908},{"start_region_id":28,"end_region_id":102,"start_point":[799,639],"end_point":[277,106],"distance":746.0382027751662},{"start_region_id":19,"end_region_id":102,"start_point":[815,451],"end_point":[277,106],"distance":639.1157954549394},{"start_region_id":9,"end_region_id":102,"start_point":[817,234],"end_point":[277,106],"distance":554.9630618338485},{"start_region_id":9,"end_region_id":104,"start_point":[817,234],"end_point":[506,608],"distance":486.4123764872765}],"complexity_score":0.6369629013798346}
{"id":9852,"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_11.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":27,"start_point":[277,106],"end_point":[946,661],"distance":869.2444995511908},{"start_region_id":102,"end_region_id":28,"start_point":[277,106],"end_point":[799,639],"distance":746.0382027751662},{"start_region_id":102,"end_region_id":19,"start_point":[277,106],"end_point":[815,451],"distance":639.1157954549394},{"start_region_id":102,"end_region_id":9,"start_point":[277,106],"end_point":[817,234],"distance":554.9630618338485},{"start_region_id":104,"end_region_id":9,"start_point":[506,608],"end_point":[817,234],"distance":486.4123764872765}],"complexity_score":0.6369629013798346}
{"id":13064,"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_11.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":102,"start_point":[506,608],"end_point":[277,106],"distance":551.7653486764098},{"start_region_id":102,"end_region_id":104,"start_point":[277,106],"end_point":[506,608],"distance":551.7653486764098}],"complexity_score":0.6369629013798346}
{"id":1108,"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_32.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":5,"start_point":[126,850],"end_point":[976,130],"distance":1113.9569111954017},{"start_region_id":5,"end_region_id":55,"start_point":[976,130],"end_point":[126,850],"distance":1113.9569111954017},{"start_region_id":64,"end_region_id":2,"start_point":[950,844],"end_point":[191,46],"distance":1101.310582896578},{"start_region_id":2,"end_region_id":64,"start_point":[191,46],"end_point":[950,844],"distance":1101.310582896578},{"start_region_id":1,"end_region_id":64,"start_point":[86,254],"end_point":[950,844],"distance":1046.2294203471818}],"complexity_score":0.6369942543293153}
{"id":3770,"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_32.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":258,"end_region_id":178,"start_point":[437,907],"end_point":[224,28],"distance":904.4390526729813},{"start_region_id":178,"end_region_id":258,"start_point":[224,28],"end_point":[437,907],"distance":904.4390526729813},{"start_region_id":250,"end_region_id":178,"start_point":[220,900],"end_point":[224,28],"distance":872.0091742636656},{"start_region_id":178,"end_region_id":250,"start_point":[224,28],"end_point":[220,900],"distance":872.0091742636656},{"start_region_id":268,"end_region_id":178,"start_point":[95,884],"end_point":[224,28],"distance":865.665639840233}],"complexity_score":0.6369942543293153}
{"id":1388,"query_id":"Q00278","question":"An off-road vehicle starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes grassy areas with soft, uneven ground and cultivated fields with loose soil. The vehicle can traverse these surfaces due to its high clearance and all-terrain tires, but must avoid any vertical obstacles and liquid bodies. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","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":"maputo_9.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":256,"end_region_id":254,"start_point":[566,700],"end_point":[593,201],"distance":499.7299270606074},{"start_region_id":254,"end_region_id":256,"start_point":[593,201],"end_point":[566,700],"distance":499.7299270606074},{"start_region_id":256,"end_region_id":257,"start_point":[566,700],"end_point":[343,396],"distance":377.02121956197635},{"start_region_id":257,"end_region_id":256,"start_point":[343,396],"end_point":[566,700],"distance":377.02121956197635},{"start_region_id":254,"end_region_id":257,"start_point":[593,201],"end_point":[343,396],"distance":317.0567772497538}],"complexity_score":0.6369993924984909}
{"id":10345,"query_id":"Q02069","question":"A quadcopter drone starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or artificial turf. The drone can fly over loose soil, grassy areas, all paved surfaces, and water bodies, but must avoid colliding with trees or buildings. 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 turf","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":"maputo_9.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":222,"start_point":[593,201],"end_point":[933,936],"distance":809.830229122129},{"start_region_id":257,"end_region_id":222,"start_point":[343,396],"end_point":[933,936],"distance":799.8124780221924},{"start_region_id":256,"end_region_id":31,"start_point":[566,700],"end_point":[118,85],"distance":760.8738397395458},{"start_region_id":254,"end_region_id":219,"start_point":[593,201],"end_point":[449,924],"distance":737.2007867602964},{"start_region_id":256,"end_region_id":99,"start_point":[566,700],"end_point":[48,193],"distance":724.8261860611825}],"complexity_score":0.6369993924984909}
{"id":12575,"query_id":"Q02515","question":"A quadcopter drone 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, vehicle lanes, and liquid bodies, but these are all accessible for aerial travel. The tall, woody vegetation is passable because the drone can fly between the plants at a safe altitude. You must find a path that maximizes ride comfort by prioritizing surfaces that are smooth, stable, and predictable, avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"a quadcopter drone","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":["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":"maputo_9.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":395,"end_region_id":1,"start_point":[981,866],"end_point":[345,60],"distance":1026.709306473843},{"start_region_id":399,"end_region_id":1,"start_point":[49,919],"end_point":[345,60],"distance":908.5686545330518},{"start_region_id":403,"end_region_id":1,"start_point":[202,957],"end_point":[345,60],"distance":908.327033617298},{"start_region_id":401,"end_region_id":1,"start_point":[630,920],"end_point":[345,60],"distance":905.9939293394851},{"start_region_id":295,"end_region_id":22,"start_point":[153,180],"end_point":[595,964],"distance":900.0111110425248}],"complexity_score":0.6369993924984909}
{"id":14114,"query_id":"Q02823","question":"A hiker starts from a cultivated field with loose soil and crop residues and needs to reach a paved parking lot. The goal is to maximize comfort while walking, so firm, even surfaces are preferred. Unpaved, soft ground like sand or loose earth is allowed but less comfortable. Smooth, hard surfaces are ideal. However, roads are closed for maintenance. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with loose soil and crop residues","end_land_type":"a paved parking lot","task_description":"What is the most comfortable walking path from the cultivated field to the paved parking lot?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[1,1,1,0,1,0,1,0],"cost_vector":[2,3,5,0,1,0,4,0],"image_name":"dortmund_15.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":86,"start_point":[844,84],"end_point":[330,764],"distance":852.4060065485227},{"start_region_id":255,"end_region_id":87,"start_point":[844,84],"end_point":[795,826],"distance":743.6161644289344},{"start_region_id":255,"end_region_id":73,"start_point":[844,84],"end_point":[556,696],"distance":676.3785922100137},{"start_region_id":256,"end_region_id":86,"start_point":[840,464],"end_point":[330,764],"distance":591.6924876994806},{"start_region_id":255,"end_region_id":68,"start_point":[844,84],"end_point":[512,539],"distance":563.2486129587893}],"complexity_score":0.6370318927399646}
{"id":1101,"query_id":"Q00221","question":"A quadcopter drone starts from a paved launch pad and needs to return to another paved landing pad. The drone can fly over various terrains, but the operator wants to avoid areas with dense vertical obstacles like trees and tall structures, as they require careful maneuvering and cause turbulence. The drone should also avoid flying directly over large bodies of water to prevent signal interference and maintain stable control. The surrounding open grassy fields are permissible but less ideal than open airspace over solid ground.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"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","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_7.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":149,"start_point":[52,586],"end_point":[866,893],"distance":869.9683902303577}],"complexity_score":0.6370326406191019}
{"id":3782,"query_id":"Q00757","question":"A quadcopter drone begins on a paved lane surface and needs to reach a vegetated area with grasses and shrubs. The drone can fly over loose, sandy or rocky ground without vegetation, cultivated fields, artificial hard surfaces like sidewalks and parking lots, other paved lanes, and areas with trees or structures, provided it maintains altitude to avoid collisions. However, it cannot hover over liquid bodies due to safety regulations. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved lane surface","end_land_type":"a vegetated area with grasses and shrubs","task_description":"What is the fastest route to the destination?","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":"melbourne_7.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":149,"end_region_id":16,"start_point":[480,711],"end_point":[934,299],"distance":613.0742206291176},{"start_region_id":149,"end_region_id":5,"start_point":[480,711],"end_point":[342,137],"distance":590.3558249056242},{"start_region_id":149,"end_region_id":53,"start_point":[480,711],"end_point":[837,836],"distance":378.25123925771874},{"start_region_id":149,"end_region_id":26,"start_point":[480,711],"end_point":[202,654],"distance":283.7833680820636}],"complexity_score":0.6370326406191019}
{"id":10146,"query_id":"Q02030","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 loose, dry soil and rocks; overgrown grassy and shrubby terrain; and liquid bodies. However, it must avoid any tall, dense vegetation or vertical structures 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":"another paved, hard surface","task_description":"Which route allows the drone to travel the fastest?","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_7.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":140,"start_point":[537,193],"end_point":[85,945],"distance":877.387029765086},{"start_region_id":140,"end_region_id":68,"start_point":[85,945],"end_point":[537,193],"distance":877.387029765086},{"start_region_id":136,"end_region_id":121,"start_point":[903,906],"end_point":[86,649],"distance":856.4683298289552},{"start_region_id":121,"end_region_id":136,"start_point":[86,649],"end_point":[903,906],"distance":856.4683298289552},{"start_region_id":136,"end_region_id":84,"start_point":[903,906],"end_point":[161,497],"distance":847.2573398914877}],"complexity_score":0.6370326406191019}
{"id":2368,"query_id":"Q00474","question":"A motorboat starts from a calm liquid surface and needs to reach another liquid surface area. The boat can only travel across liquid surfaces, as solid ground, vegetation, and man-made structures are completely impassable for this vessel. The objective is to find a route that provides the smoothest ride with minimal turbulence and vibration.","agent_category":"Boat","specific_agent":"A motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the most comfortable path for the motorboat to take?","task_type":"Comfort","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"rosario_7.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":356,"end_region_id":356,"start_point":[60,987],"end_point":[115,794],"distance":200.68383093812017}],"complexity_score":0.6370607919443121}
{"id":16018,"query_id":"Q03204","question":"An aerial photography drone starts from a flat, hard, artificial surface and needs to reach another flat, hard, artificial surface. The drone's flight must prioritize a smooth and stable journey to protect its sensitive camera gimbal. The drone can fly over areas of soft, grassy vegetation, other flat, hard, artificial surfaces, clusters of tall vertical obstacles, liquid bodies, and cultivated fields with low, uniform vegetation. However, flying too close to tall vertical obstacles is risky and should be avoided if possible. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"Another flat, hard, artificial surface","task_description":"Which path provides the most comfortable route?","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":"rosario_7.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":143,"start_point":[86,160],"end_point":[1003,581],"distance":1009.0242811746405},{"start_region_id":143,"end_region_id":97,"start_point":[1003,581],"end_point":[86,160],"distance":1009.0242811746405},{"start_region_id":97,"end_region_id":164,"start_point":[86,160],"end_point":[635,931],"distance":946.4893026336854},{"start_region_id":164,"end_region_id":97,"start_point":[635,931],"end_point":[86,160],"distance":946.4893026336854},{"start_region_id":97,"end_region_id":155,"start_point":[86,160],"end_point":[759,772],"distance":909.6554292697867}],"complexity_score":0.6370607919443121}
{"id":10054,"query_id":"Q02011","question":"An aerial survey drone starts from a flat, hard, artificial surface and needs to reach a natural area covered with low vegetation and shrubs as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, as well as over liquid surfaces. However, it cannot fly through dense, tall vegetation or near vertical structures. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A natural area covered with low vegetation and shrubs","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":"oklahoma_41.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":29,"start_point":[817,48],"end_point":[39,942],"distance":1185.1244660372176},{"start_region_id":65,"end_region_id":1,"start_point":[834,919],"end_point":[50,38],"distance":1179.3290465345115},{"start_region_id":43,"end_region_id":34,"start_point":[164,37],"end_point":[775,975],"distance":1119.448524944314},{"start_region_id":65,"end_region_id":7,"start_point":[834,919],"end_point":[43,158],"distance":1097.6347297712477},{"start_region_id":43,"end_region_id":36,"start_point":[164,37],"end_point":[704,999],"distance":1103.1971718600441}],"complexity_score":0.6371542139589131}
{"id":12850,"query_id":"Q02570","question":"A family sedan starts from a paved lane and needs to reach a flat, hard-surfaced area. The terrain includes grassy or shrub-covered ground that is firm and even, cultivated fields with compact soil, and the paved lane and hard-surfaced area are always accessible. You must avoid any liquid surfaces, vertical structures, loose sandy or rocky ground, and areas with dense vegetation or trees. What is the safest 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 safest path from the paved lane to the flat, hard-surfaced area?","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":"oklahoma_41.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":83,"end_region_id":40,"start_point":[255,600],"end_point":[817,48],"distance":787.7486908906926},{"start_region_id":83,"end_region_id":53,"start_point":[255,600],"end_point":[925,445],"distance":687.6954267697292},{"start_region_id":83,"end_region_id":65,"start_point":[255,600],"end_point":[834,919],"distance":661.0612679623576},{"start_region_id":83,"end_region_id":61,"start_point":[255,600],"end_point":[889,729],"distance":646.9907263632145},{"start_region_id":83,"end_region_id":39,"start_point":[255,600],"end_point":[734,198],"distance":625.3359097317217}],"complexity_score":0.6371542139589131}
{"id":14656,"query_id":"Q02932","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields with crops, and wooded areas with trees, as these surfaces pose minimal risk for aerial navigation. However, the drone cannot fly over any liquid surfaces or approach any structures. What is the safest 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 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":"oklahoma_41.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":43,"start_point":[834,919],"end_point":[164,37],"distance":1107.620873765026},{"start_region_id":43,"end_region_id":65,"start_point":[164,37],"end_point":[834,919],"distance":1107.620873765026},{"start_region_id":40,"end_region_id":63,"start_point":[817,48],"end_point":[54,757],"distance":1041.5613280071414},{"start_region_id":63,"end_region_id":40,"start_point":[54,757],"end_point":[817,48],"distance":1041.5613280071414},{"start_region_id":65,"end_region_id":49,"start_point":[834,919],"end_point":[37,256],"distance":1036.7150042321177}],"complexity_score":0.6371542139589131}
{"id":17185,"query_id":"Q03437","question":"A quadcopter drone starts from a grassy, open field with scattered low vegetation and needs to reach another similar grassy, open field with scattered low vegetation. The drone can fly over areas with hard, flat surfaces like paved lots or sidewalks, and it can also cross over liquid surfaces such as rivers or ponds. However, it must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation.","end_land_type":"The destination is another similar grassy, open field with scattered 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":"oklahoma_41.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":34,"start_point":[50,38],"end_point":[775,975],"distance":1184.7337253577277},{"start_region_id":34,"end_region_id":1,"start_point":[775,975],"end_point":[50,38],"distance":1184.7337253577277},{"start_region_id":1,"end_region_id":36,"start_point":[50,38],"end_point":[704,999],"distance":1162.4272020217009},{"start_region_id":36,"end_region_id":1,"start_point":[704,999],"end_point":[50,38],"distance":1162.4272020217009},{"start_region_id":34,"end_region_id":7,"start_point":[775,975],"end_point":[43,158],"distance":1096.956243429974}],"complexity_score":0.6371542139589131}
{"id":10276,"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_37.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":28,"start_point":[130,51],"end_point":[553,328],"distance":505.62634425037623},{"start_region_id":28,"end_region_id":1,"start_point":[553,328],"end_point":[130,51],"distance":505.62634425037623}],"complexity_score":0.6371898413847067}
{"id":12624,"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":"muenster_37.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":73,"start_point":[814,921],"end_point":[58,69],"distance":1139.0522376080914},{"start_region_id":73,"end_region_id":192,"start_point":[58,69],"end_point":[814,921],"distance":1139.0522376080914},{"start_region_id":192,"end_region_id":83,"start_point":[814,921],"end_point":[229,154],"distance":964.6315358726357},{"start_region_id":83,"end_region_id":192,"start_point":[229,154],"end_point":[814,921],"distance":964.6315358726357},{"start_region_id":192,"end_region_id":81,"start_point":[814,921],"end_point":[426,108],"distance":900.8401634030312}],"complexity_score":0.6371898413847067}
{"id":17002,"query_id":"Q03401","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open field. The terrain includes areas with natural vegetation and scattered trees, but you can traverse through these vegetated zones as needed. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open 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":"muenster_37.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":192,"end_region_id":1,"start_point":[814,921],"end_point":[130,51],"distance":1106.686947605329},{"start_region_id":137,"end_region_id":1,"start_point":[703,622],"end_point":[130,51],"distance":808.9313938771322},{"start_region_id":191,"end_region_id":1,"start_point":[352,842],"end_point":[130,51],"distance":821.562535659946},{"start_region_id":92,"end_region_id":1,"start_point":[806,135],"end_point":[130,51],"distance":681.1989430408711},{"start_region_id":192,"end_region_id":28,"start_point":[814,921],"end_point":[553,328],"distance":647.8965966880826}],"complexity_score":0.6371898413847067}
{"id":10372,"query_id":"Q02075","question":"A quadcopter is hovering above a vegetated field and needs to fly to a paved lane. The area includes open ground with loose material, grassy patches, and hard, flat surfaces. The drone can fly over all these terrain types, but must avoid colliding with tall vertical obstacles like trees and buildings. What is the shortest flight path to the target?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"vegetated field","end_land_type":"paved lane","task_description":"What is the shortest flight path to the target?","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":"al_qurnah_36.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":101,"start_point":[100,115],"end_point":[575,594],"distance":674.5857988425194},{"start_region_id":2,"end_region_id":100,"start_point":[100,115],"end_point":[438,619],"distance":606.8442963396789},{"start_region_id":3,"end_region_id":100,"start_point":[786,189],"end_point":[438,619],"distance":553.1762829333883},{"start_region_id":5,"end_region_id":100,"start_point":[478,146],"end_point":[438,619],"distance":474.6883187945539},{"start_region_id":3,"end_region_id":101,"start_point":[786,189],"end_point":[575,594],"distance":456.66836982650767}],"complexity_score":0.637201206650551}
{"id":15111,"query_id":"Q03023","question":"A quadcopter drone is positioned on a grassy, open field with scattered low vegetation and needs to reach a flat, hard, paved area. The drone can fly over grassy areas, paved surfaces, and water bodies, but must avoid tall vertical obstacles like trees and buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"a flat, hard, paved area","task_description":"What is the shortest path for the drone to reach the flat, hard, paved area from the grassy, open field?","task_type":"Shortest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"al_qurnah_36.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":99,"start_point":[100,115],"end_point":[697,992],"distance":1060.913757098097},{"start_region_id":2,"end_region_id":78,"start_point":[100,115],"end_point":[773,782],"distance":947.532585191665},{"start_region_id":2,"end_region_id":98,"start_point":[100,115],"end_point":[346,978],"distance":897.3767324819604},{"start_region_id":3,"end_region_id":98,"start_point":[786,189],"end_point":[346,978],"distance":903.3941553939786},{"start_region_id":2,"end_region_id":81,"start_point":[100,115],"end_point":[561,873],"distance":887.1781106406988}],"complexity_score":0.637201206650551}
{"id":4906,"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_4.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":181,"start_point":[908,133],"end_point":[117,696],"distance":970.9016428042544},{"start_region_id":181,"end_region_id":62,"start_point":[117,696],"end_point":[908,133],"distance":970.9016428042544},{"start_region_id":167,"end_region_id":62,"start_point":[70,598],"end_point":[908,133],"distance":958.367883435166},{"start_region_id":62,"end_region_id":167,"start_point":[908,133],"end_point":[70,598],"distance":958.367883435166},{"start_region_id":167,"end_region_id":124,"start_point":[70,598],"end_point":[958,316],"distance":931.70166899067}],"complexity_score":0.6373073211032272}
{"id":8692,"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_4.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":181,"start_point":[908,133],"end_point":[117,696],"distance":970.9016428042544},{"start_region_id":181,"end_region_id":62,"start_point":[117,696],"end_point":[908,133],"distance":970.9016428042544},{"start_region_id":167,"end_region_id":62,"start_point":[70,598],"end_point":[908,133],"distance":958.367883435166},{"start_region_id":62,"end_region_id":167,"start_point":[908,133],"end_point":[70,598],"distance":958.367883435166},{"start_region_id":167,"end_region_id":124,"start_point":[70,598],"end_point":[958,316],"distance":931.70166899067}],"complexity_score":0.6373073211032272}
{"id":4746,"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_20.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":638,"end_region_id":636,"start_point":[243,531],"end_point":[837,115],"distance":725.1841145529871},{"start_region_id":636,"end_region_id":638,"start_point":[837,115],"end_point":[243,531],"distance":725.1841145529871},{"start_region_id":657,"end_region_id":636,"start_point":[520,749],"end_point":[837,115],"distance":708.8335488674334},{"start_region_id":636,"end_region_id":657,"start_point":[837,115],"end_point":[520,749],"distance":708.8335488674334},{"start_region_id":638,"end_region_id":657,"start_point":[243,531],"end_point":[520,749],"distance":352.4953900407777}],"complexity_score":0.6373562711966134}
{"id":13789,"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_20.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":30,"start_point":[445,60],"end_point":[826,736],"distance":775.974870727139},{"start_region_id":30,"end_region_id":3,"start_point":[826,736],"end_point":[445,60],"distance":775.974870727139},{"start_region_id":14,"end_region_id":30,"start_point":[759,129],"end_point":[826,736],"distance":610.6864989501569},{"start_region_id":30,"end_region_id":14,"start_point":[826,736],"end_point":[759,129],"distance":610.6864989501569},{"start_region_id":3,"end_region_id":14,"start_point":[445,60],"end_point":[759,129],"distance":321.49183504406454}],"complexity_score":0.6373562711966134}
{"id":17649,"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_20.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":30,"start_point":[445,60],"end_point":[826,736],"distance":775.974870727139},{"start_region_id":30,"end_region_id":3,"start_point":[826,736],"end_point":[445,60],"distance":775.974870727139},{"start_region_id":14,"end_region_id":30,"start_point":[759,129],"end_point":[826,736],"distance":610.6864989501569},{"start_region_id":30,"end_region_id":14,"start_point":[826,736],"end_point":[759,129],"distance":610.6864989501569},{"start_region_id":3,"end_region_id":14,"start_point":[445,60],"end_point":[759,129],"distance":321.49183504406454}],"complexity_score":0.6373562711966134}
{"id":3786,"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":"mahe_29.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":166,"end_region_id":103,"start_point":[23,383],"end_point":[918,972],"distance":1071.4224190299549},{"start_region_id":143,"end_region_id":51,"start_point":[785,37],"end_point":[138,857],"distance":1044.5137624751528},{"start_region_id":143,"end_region_id":105,"start_point":[785,37],"end_point":[511,998],"distance":999.2982537761186},{"start_region_id":176,"end_region_id":103,"start_point":[14,577],"end_point":[918,972],"distance":986.5297765399685},{"start_region_id":143,"end_region_id":103,"start_point":[785,37],"end_point":[918,972],"distance":944.4119863703552}],"complexity_score":0.6373652008164014}
{"id":8375,"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":"mahe_29.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":27,"start_point":[555,567],"end_point":[42,281],"distance":587.3372114892773},{"start_region_id":140,"end_region_id":10,"start_point":[555,567],"end_point":[784,77],"distance":540.8705945048224},{"start_region_id":140,"end_region_id":7,"start_point":[555,567],"end_point":[608,29],"distance":540.6042915108981},{"start_region_id":140,"end_region_id":103,"start_point":[555,567],"end_point":[918,972],"distance":543.869469634029},{"start_region_id":140,"end_region_id":18,"start_point":[555,567],"end_point":[210,159],"distance":534.3117067779818}],"complexity_score":0.6373652008164014}
{"id":982,"query_id":"Q00197","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open area. The hiker can traverse soft, vegetated ground that is not cultivated or grazed, as well as cultivated fields with crops, because the terrain is dry and stable enough for walking. However, the hiker cannot travel on loose, sandy or rocky ground without vegetation, nor on surfaces covered by trees, water bodies, buildings, or lanes used by vehicles. The hiker seeks a path that maximizes ride comfort.","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 most comfortable path for the hiker to take?","task_type":"Comfort","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":"ulaanbaatar_39.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":60,"start_point":[340,416],"end_point":[949,408],"distance":609.0525428893635},{"start_region_id":149,"end_region_id":11,"start_point":[672,386],"end_point":[265,70],"distance":515.2717729509351},{"start_region_id":149,"end_region_id":109,"start_point":[672,386],"end_point":[330,756],"distance":503.8491837841955},{"start_region_id":148,"end_region_id":81,"start_point":[340,416],"end_point":[749,561],"distance":433.9423924900631},{"start_region_id":148,"end_region_id":50,"start_point":[340,416],"end_point":[766,359],"distance":429.7964634568321}],"complexity_score":0.6375533981745249}
{"id":3876,"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_39.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":201,"start_point":[420,580],"end_point":[906,90],"distance":690.1420143709554},{"start_region_id":201,"end_region_id":198,"start_point":[906,90],"end_point":[420,580],"distance":690.1420143709554},{"start_region_id":198,"end_region_id":200,"start_point":[420,580],"end_point":[774,206],"distance":514.9679601683973},{"start_region_id":200,"end_region_id":198,"start_point":[774,206],"end_point":[420,580],"distance":514.9679601683973}],"complexity_score":0.6375533981745249}
{"id":5162,"query_id":"Q01033","question":"A quadcopter drone starts from a flat, hard surface like a paved area or artificial turf and needs to reach a paved lane or street as quickly as possible. The drone can fly over hard surfaces, vehicle lanes, and cultivated fields without restriction, but areas with dense trees or vertical structures are blocked due to navigation hazards. However, loose sandy or rocky ground, grassy or shrubby areas, and liquid surfaces are not allowed for traversal to maintain speed and stability. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard surface like a paved area or artificial turf","end_land_type":"a paved lane or street","task_description":"What is the fastest path for the quadcopter drone to reach the paved 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":[0,0,1,1,0,0,1,0],"image_name":"ulaanbaatar_39.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":201,"start_point":[129,997],"end_point":[906,90],"distance":1194.310679848422},{"start_region_id":183,"end_region_id":201,"start_point":[168,802],"end_point":[906,90],"distance":1025.4696485025777},{"start_region_id":193,"end_region_id":200,"start_point":[129,997],"end_point":[774,206],"distance":1020.6399952970685},{"start_region_id":178,"end_region_id":201,"start_point":[68,620],"end_point":[906,90],"distance":991.5361818915133},{"start_region_id":185,"end_region_id":201,"start_point":[433,915],"end_point":[906,90],"distance":950.9752888482434}],"complexity_score":0.6375533981745249}
{"id":9982,"query_id":"Q01997","question":"A quadcopter drone starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. The drone can fly over grassy areas, paved hard surfaces, vehicle lanes, and wooded areas with trees, but trees require careful maneuvering to avoid collisions, which may slow flight. The drone cannot enter structures, as they are enclosed and block passage. What is the fastest path for the quadcopter drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"another grassy, open field","task_description":"What is the fastest path for the quadcopter drone?","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":"ulaanbaatar_39.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":135,"start_point":[989,88],"end_point":[26,952],"distance":1293.7793474932269},{"start_region_id":135,"end_region_id":12,"start_point":[26,952],"end_point":[989,88],"distance":1293.7793474932269},{"start_region_id":126,"end_region_id":1,"start_point":[924,927],"end_point":[24,51],"distance":1255.9363041173704},{"start_region_id":1,"end_region_id":126,"start_point":[24,51],"end_point":[924,927],"distance":1255.9363041173704},{"start_region_id":137,"end_region_id":12,"start_point":[130,952],"end_point":[989,88],"distance":1218.3501138835256}],"complexity_score":0.6375533981745249}
{"id":1861,"query_id":"Q00373","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall, leafy vegetation. The hiker can traverse paved surfaces, vehicle lanes, cultivated fields with crops, and areas with dense trees, but must avoid liquid bodies and vertical structures. The cultivated fields are accessible because the crops are low and the ground is firm, and the tree areas are passable as the vegetation is sparse enough to walk through. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall, leafy vegetation","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":"panama_city_41.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":231,"start_point":[65,27],"end_point":[836,991],"distance":1234.3974238469555},{"start_region_id":150,"end_region_id":170,"start_point":[224,992],"end_point":[982,91],"distance":1177.440019703764},{"start_region_id":90,"end_region_id":201,"start_point":[65,27],"end_point":[948,753],"distance":1143.1382243630908},{"start_region_id":131,"end_region_id":170,"start_point":[23,673],"end_point":[982,91],"distance":1121.7865215806437},{"start_region_id":136,"end_region_id":170,"start_point":[209,804],"end_point":[982,91],"distance":1051.6168503785018}],"complexity_score":0.637615588573058}
{"id":12170,"query_id":"Q02434","question":"A quadcopter drone starts from a paved lane and needs to reach a grassy field. The drone can fly over hard surfaces, grassy areas, and liquid surfaces, but cannot pass through dense vertical obstacles like trees or buildings. What is the shortest path to the destination?","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 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_41.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":83,"start_point":[53,228],"end_point":[991,979],"distance":1201.601015312487},{"start_region_id":161,"end_region_id":4,"start_point":[96,936],"end_point":[860,19],"distance":1193.559801601914},{"start_region_id":161,"end_region_id":17,"start_point":[96,936],"end_point":[992,160],"distance":1185.3235845118413},{"start_region_id":157,"end_region_id":82,"start_point":[53,228],"end_point":[919,958],"distance":1132.6323322243632},{"start_region_id":157,"end_region_id":62,"start_point":[53,228],"end_point":[997,822],"distance":1115.334927275211}],"complexity_score":0.637615588573058}
{"id":16234,"query_id":"Q03247","question":"A quadcopter drone is on a paved surface and needs to reach a grassy area with shrubs. The drone can traverse loose, dry soil and rocky patches, as well as cultivated fields with crops, but cannot go through dense tree canopies or buildings. The paved surface is available for travel. What is the fastest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","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":[1,1,1,1,0,0,1,0],"image_name":"panama_city_41.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":83,"start_point":[53,228],"end_point":[991,979],"distance":1201.601015312487},{"start_region_id":161,"end_region_id":4,"start_point":[96,936],"end_point":[860,19],"distance":1193.559801601914},{"start_region_id":161,"end_region_id":17,"start_point":[96,936],"end_point":[992,160],"distance":1185.3235845118413},{"start_region_id":157,"end_region_id":82,"start_point":[53,228],"end_point":[919,958],"distance":1132.6323322243632},{"start_region_id":157,"end_region_id":62,"start_point":[53,228],"end_point":[997,822],"distance":1115.334927275211}],"complexity_score":0.637615588573058}
{"id":1381,"query_id":"Q00277","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes areas with loose, uneven soil and sparse vegetation, as well as cultivated fields with soft, tilled earth. The hiker can traverse these surfaces, but must avoid any liquid bodies and vertical structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","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":"monrovia_9.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":67,"end_region_id":68,"start_point":[826,576],"end_point":[948,820],"distance":272.80029325497435},{"start_region_id":68,"end_region_id":67,"start_point":[948,820],"end_point":[826,576],"distance":272.80029325497435}],"complexity_score":0.6376332747456517}
{"id":5565,"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":"monrovia_9.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":74,"start_point":[986,821],"end_point":[308,147],"distance":956.0125522188503},{"start_region_id":1,"end_region_id":157,"start_point":[454,168],"end_point":[989,934],"distance":934.334522534622},{"start_region_id":30,"end_region_id":74,"start_point":[687,969],"end_point":[308,147],"distance":905.165730681404},{"start_region_id":1,"end_region_id":161,"start_point":[454,168],"end_point":[866,952],"distance":885.6635930193811},{"start_region_id":30,"end_region_id":85,"start_point":[687,969],"end_point":[819,102],"distance":876.9908779457173}],"complexity_score":0.6376332747456517}
{"id":7967,"query_id":"Q01594","question":"An aerial survey drone starts from a tall vertical structure with branches and foliage and needs to reach another similar vertical structure with branches and foliage. The drone can only operate over two types of terrain: tall vertical structures with branches and foliage, and liquid surfaces. The drone must avoid any collisions with the vertical structures, which could damage its rotors. The liquid surfaces are considered hazardous due to potential signal interference and splash risks. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A tall vertical structure with branches and foliage","end_land_type":"Another tall vertical structure with branches and 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":["Tree","Water"],"traverse_vector":[0,0,0,0,1,1,0,0],"cost_vector":[0,0,0,0,1,1,0,0],"image_name":"monrovia_9.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":163,"start_point":[308,147],"end_point":[146,985],"distance":853.5150848110419},{"start_region_id":163,"end_region_id":74,"start_point":[146,985],"end_point":[308,147],"distance":853.5150848110419},{"start_region_id":74,"end_region_id":156,"start_point":[308,147],"end_point":[22,951],"distance":853.3533851810749},{"start_region_id":156,"end_region_id":74,"start_point":[22,951],"end_point":[308,147],"distance":853.3533851810749},{"start_region_id":138,"end_region_id":74,"start_point":[388,825],"end_point":[308,147],"distance":682.7034495298819}],"complexity_score":0.6376332747456517}
{"id":9205,"query_id":"Q01841","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures and needs to reach another such vegetated area. The drone can fly over open, dry ground with loose soil and rocks; hard, paved surfaces designed for vehicles; and cultivated fields with planted crops. However, the tall, leafy structures are dense and obstructive, requiring 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 for the drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Road","Tree","Agriculture land"],"traverse_vector":[1,0,0,1,1,0,1,0],"cost_vector":[2,0,0,2,1,0,2,0],"image_name":"bielefeld_56.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":202,"end_region_id":213,"start_point":[820,299],"end_point":[618,285],"distance":202.48456731316588},{"start_region_id":213,"end_region_id":202,"start_point":[618,285],"end_point":[820,299],"distance":202.48456731316588}],"complexity_score":0.6377002670439359}
{"id":17953,"query_id":"Q03591","question":"A quadcopter 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 all these surfaces by flying over them, but vegetated areas with tall, woody plants require careful navigation to avoid collisions with branches. Additionally, liquid surfaces and vertical structures are accessible but should be avoided unless necessary. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","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","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":"bielefeld_56.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":84,"start_point":[899,50],"end_point":[93,951],"distance":1208.8990859455557},{"start_region_id":187,"end_region_id":84,"start_point":[978,142],"end_point":[93,951],"distance":1199.0437856892465},{"start_region_id":171,"end_region_id":84,"start_point":[655,42],"end_point":[93,951],"distance":1068.7024843238646},{"start_region_id":238,"end_region_id":1,"start_point":[954,497],"end_point":[19,66],"distance":1029.556215075214},{"start_region_id":202,"end_region_id":84,"start_point":[820,299],"end_point":[93,951],"distance":976.5413457708793}],"complexity_score":0.6377002670439359}
{"id":243,"query_id":"Q00049","question":"An aerial survey drone starts from a dry, sandy area with loose soil and scattered rocks, an aerial survey drone must fly to another similar patch of dry, sandy ground. The drone can traverse open, flat surfaces like sandy expanses, grassy fields, liquid surfaces, and cultivated plots, but must avoid tall, dense vegetation and solid vertical structures. The drone's rotors allow stable flight over these terrains, though flying through dense foliage or near buildings is restricted due to collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks","end_land_type":"and needs to reach another similar patch of dry, sandy ground","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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":3,"start_point":[210,907],"end_point":[407,67],"distance":862.7914000498614},{"start_region_id":3,"end_region_id":31,"start_point":[407,67],"end_point":[210,907],"distance":862.7914000498614},{"start_region_id":3,"end_region_id":32,"start_point":[407,67],"end_point":[438,889],"distance":822.5843421801803},{"start_region_id":32,"end_region_id":3,"start_point":[438,889],"end_point":[407,67],"distance":822.5843421801803},{"start_region_id":2,"end_region_id":32,"start_point":[228,151],"end_point":[438,889],"distance":767.2965528399043}],"complexity_score":0.637725516522028}
{"id":720,"query_id":"Q00144","question":"An aerial survey drone starts from a grassy, open field and needs to reach exposed, rocky ground as quickly as possible. The drone can fly over most surfaces, including hard paved areas, vehicle lanes, cultivated fields, and water bodies, but must avoid dense tree canopies and building structures due to collision risk. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field","end_land_type":"exposed, rocky ground","task_description":"What is the fastest route for the aerial survey drone to travel from the grassy, open field to the exposed, rocky 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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":31,"start_point":[950,154],"end_point":[210,907],"distance":1055.750443997065},{"start_region_id":49,"end_region_id":26,"start_point":[950,154],"end_point":[48,692],"distance":1050.260919962273},{"start_region_id":90,"end_region_id":3,"start_point":[71,982],"end_point":[407,67],"distance":974.7415041948301},{"start_region_id":66,"end_region_id":26,"start_point":[987,471],"end_point":[48,692],"distance":964.6564155179811},{"start_region_id":66,"end_region_id":1,"start_point":[987,471],"end_point":[86,261],"distance":925.1491771600945}],"complexity_score":0.637725516522028}
{"id":2220,"query_id":"Q00444","question":"An aerial surveillance drone starts from a paved, hard-surfaced area and needs to reach an exposed, loose-soil terrain. The drone can fly over liquid surfaces and traverse hard, flat surfaces like roads and parking areas. It must avoid any vertical structures or dense vegetation clusters. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved, hard-surfaced area","end_land_type":"exposed, loose-soil terrain","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_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":31,"start_point":[931,32],"end_point":[210,907],"distance":1133.783930032526},{"start_region_id":120,"end_region_id":1,"start_point":[964,980],"end_point":[86,261],"distance":1134.8325867721635},{"start_region_id":120,"end_region_id":2,"start_point":[964,980],"end_point":[228,151],"distance":1108.5743096427952},{"start_region_id":101,"end_region_id":26,"start_point":[931,32],"end_point":[48,692],"distance":1102.4014695200656},{"start_region_id":120,"end_region_id":3,"start_point":[964,980],"end_point":[407,67],"distance":1069.4942730094444}],"complexity_score":0.637725516522028}
{"id":2720,"query_id":"Q00544","question":"A quadcopter drone starts from loose, rocky ground and needs to reach another area of loose, rocky ground. The drone can only travel over loose, rocky ground and hard, paved surfaces. What is the fastest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, rocky ground","end_land_type":"loose, rocky ground","task_description":"What is the fastest path for the quadcopter drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":20,"start_point":[86,261],"end_point":[597,450],"distance":544.8320842241213},{"start_region_id":20,"end_region_id":1,"start_point":[597,450],"end_point":[86,261],"distance":544.8320842241213},{"start_region_id":1,"end_region_id":16,"start_point":[86,261],"end_point":[594,305],"distance":509.9019513592785},{"start_region_id":16,"end_region_id":1,"start_point":[594,305],"end_point":[86,261],"distance":509.9019513592785},{"start_region_id":20,"end_region_id":2,"start_point":[597,450],"end_point":[228,151],"distance":474.9336795806337}],"complexity_score":0.637725516522028}
{"id":3494,"query_id":"Q00699","question":"An off-road vehicle is positioned on uneven, rocky terrain and must reach a hard-surfaced lane. Only two surface types are available: uneven, rocky terrain and hard-surfaced lanes. All other surfaces including grassy fields, cultivated areas, wooded zones, water bodies, and structures are impassable. The driver prioritizes safety and wants to avoid surfaces that could cause loss of control, vehicle damage, or hazardous conditions. Which route should the off-road vehicle follow to reach the hard-surfaced lane while minimizing risk?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"uneven, rocky terrain","end_land_type":"hard-surfaced lane","task_description":"Which route should the off-road vehicle follow to reach the hard-surfaced lane while minimizing risk?","task_type":"Safest","input_classes":["Bareland","Road"],"traverse_vector":[1,0,0,1,0,0,0,0],"cost_vector":[1,0,0,2,0,0,0,0],"image_name":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":122,"start_point":[86,261],"end_point":[461,275],"distance":375.26124233658874},{"start_region_id":20,"end_region_id":122,"start_point":[597,450],"end_point":[461,275],"distance":221.6325788326256},{"start_region_id":16,"end_region_id":122,"start_point":[594,305],"end_point":[461,275],"distance":136.34148304899725}],"complexity_score":0.637725516522028}
{"id":5076,"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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":101,"start_point":[210,907],"end_point":[931,32],"distance":1133.783930032526},{"start_region_id":1,"end_region_id":120,"start_point":[86,261],"end_point":[964,980],"distance":1134.8325867721635},{"start_region_id":2,"end_region_id":120,"start_point":[228,151],"end_point":[964,980],"distance":1108.5743096427952},{"start_region_id":26,"end_region_id":101,"start_point":[48,692],"end_point":[931,32],"distance":1102.4014695200656},{"start_region_id":3,"end_region_id":120,"start_point":[407,67],"end_point":[964,980],"distance":1069.4942730094444}],"complexity_score":0.637725516522028}
{"id":5895,"query_id":"Q01179","question":"An aerial survey drone starts from a dry, sandy area with loose soil and scattered rocks and needs to reach a grassy field with low vegetation and shrubs. The drone can fly over open areas with minimal obstacles, including hard paved surfaces, vehicle lanes, water bodies, and cultivated fields. However, it must avoid densely packed vertical obstacles like tall structures or thick tree canopies. The drone's priority is to minimize travel time by selecting surfaces that allow maximum and most consistent flight speed.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks.","end_land_type":"The destination is a grassy field with low vegetation and shrubs.","task_description":"What is the fastest path for the drone to reach 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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":49,"start_point":[210,907],"end_point":[950,154],"distance":1055.750443997065},{"start_region_id":26,"end_region_id":49,"start_point":[48,692],"end_point":[950,154],"distance":1050.260919962273},{"start_region_id":3,"end_region_id":90,"start_point":[407,67],"end_point":[71,982],"distance":974.7415041948301},{"start_region_id":26,"end_region_id":66,"start_point":[48,692],"end_point":[987,471],"distance":964.6564155179811},{"start_region_id":1,"end_region_id":66,"start_point":[86,261],"end_point":[987,471],"distance":925.1491771600945}],"complexity_score":0.637725516522028}
{"id":6945,"query_id":"Q01389","question":"An aerial surveillance drone starts from a grassy, shrub-covered area and needs to reach a sandy or rocky ground without vegetation. The drone can fly over hard surfaces like paved areas and roads, liquid surfaces like rivers or lakes, and cultivated fields with crops, but must avoid tall vertical obstacles like trees. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, shrub-covered ground","end_land_type":"sandy or rocky ground without vegetation","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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":31,"start_point":[950,154],"end_point":[210,907],"distance":1055.750443997065},{"start_region_id":49,"end_region_id":26,"start_point":[950,154],"end_point":[48,692],"distance":1050.260919962273},{"start_region_id":90,"end_region_id":3,"start_point":[71,982],"end_point":[407,67],"distance":974.7415041948301},{"start_region_id":66,"end_region_id":26,"start_point":[987,471],"end_point":[48,692],"distance":964.6564155179811},{"start_region_id":66,"end_region_id":1,"start_point":[987,471],"end_point":[86,261],"distance":925.1491771600945}],"complexity_score":0.637725516522028}
{"id":7414,"query_id":"Q01483","question":"A delivery drone starts from sandy, open ground and needs to reach a concrete patio. The drone can fly over loose soil, hard paved surfaces, vegetated areas with trees, and cultivated fields, but must avoid colliding with vertical structures like buildings and trees, and should minimize flight over water for comfort. The drone seeks a path that maximizes comfort by prioritizing stable, obstacle-free airspace and avoiding turbulent or risky areas. What is the most comfortable route?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"sandy, open ground","end_land_type":"a concrete patio","task_description":"What is 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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":101,"start_point":[210,907],"end_point":[931,32],"distance":1133.783930032526},{"start_region_id":1,"end_region_id":120,"start_point":[86,261],"end_point":[964,980],"distance":1134.8325867721635},{"start_region_id":2,"end_region_id":120,"start_point":[228,151],"end_point":[964,980],"distance":1108.5743096427952},{"start_region_id":26,"end_region_id":101,"start_point":[48,692],"end_point":[931,32],"distance":1102.4014695200656},{"start_region_id":3,"end_region_id":120,"start_point":[407,67],"end_point":[964,980],"distance":1069.4942730094444}],"complexity_score":0.637725516522028}
{"id":10588,"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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":3,"start_point":[210,907],"end_point":[407,67],"distance":862.7914000498614},{"start_region_id":3,"end_region_id":31,"start_point":[407,67],"end_point":[210,907],"distance":862.7914000498614},{"start_region_id":3,"end_region_id":32,"start_point":[407,67],"end_point":[438,889],"distance":822.5843421801803},{"start_region_id":32,"end_region_id":3,"start_point":[438,889],"end_point":[407,67],"distance":822.5843421801803},{"start_region_id":2,"end_region_id":32,"start_point":[228,151],"end_point":[438,889],"distance":767.2965528399043}],"complexity_score":0.637725516522028}
{"id":12529,"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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":123,"start_point":[48,692],"end_point":[954,441],"distance":940.1260553776818},{"start_region_id":1,"end_region_id":123,"start_point":[86,261],"end_point":[954,441],"distance":886.4671454712803},{"start_region_id":31,"end_region_id":123,"start_point":[210,907],"end_point":[954,441],"distance":877.8906537832602},{"start_region_id":2,"end_region_id":123,"start_point":[228,151],"end_point":[954,441],"distance":781.7774619416961},{"start_region_id":30,"end_region_id":123,"start_point":[282,768],"end_point":[954,441],"distance":747.33727325753}],"complexity_score":0.637725516522028}
{"id":16220,"query_id":"Q03244","question":"An off-road vehicle starts from a grassy, vegetated area and needs to reach an exposed area of loose soil or rocks. The vehicle can only travel on surfaces that provide sufficient traction for its wheels: hard-packed dirt tracks, grassy fields, loose soil or rocky ground, and cultivated fields. Paved surfaces are not available due to recent flooding that has washed out all asphalt and concrete roads. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, vegetated area","end_land_type":"exposed, loose soil or rocky ground","task_description":"What is the shortest route 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":"western_19.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":31,"start_point":[950,154],"end_point":[210,907],"distance":1055.750443997065},{"start_region_id":49,"end_region_id":26,"start_point":[950,154],"end_point":[48,692],"distance":1050.260919962273},{"start_region_id":49,"end_region_id":30,"start_point":[950,154],"end_point":[282,768],"distance":907.3147193780117},{"start_region_id":49,"end_region_id":32,"start_point":[950,154],"end_point":[438,889],"distance":895.7505233043406},{"start_region_id":49,"end_region_id":1,"start_point":[950,154],"end_point":[86,261],"distance":870.6003675625229}],"complexity_score":0.637725516522028}
{"id":2367,"query_id":"Q00474","question":"A motorboat starts from a calm liquid surface and needs to reach another liquid surface area. The boat can only travel across liquid surfaces, as solid ground, vegetation, and man-made structures are completely impassable for this vessel. The objective is to find a route that provides the smoothest ride with minimal turbulence and vibration.","agent_category":"Boat","specific_agent":"A motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the most comfortable path for the motorboat to take?","task_type":"Comfort","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"rosario_6.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":418,"end_region_id":418,"start_point":[999,391],"end_point":[699,82],"distance":430.6750515179629}],"complexity_score":0.6377313707845724}
{"id":6060,"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":"rosario_6.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":250,"start_point":[989,794],"end_point":[416,455],"distance":665.7702306351644},{"start_region_id":138,"end_region_id":250,"start_point":[95,71],"end_point":[416,455],"distance":500.4967532362223},{"start_region_id":231,"end_region_id":250,"start_point":[773,893],"end_point":[416,455],"distance":565.0601737868278},{"start_region_id":139,"end_region_id":250,"start_point":[224,38],"end_point":[416,455],"distance":459.07842467273497},{"start_region_id":234,"end_region_id":250,"start_point":[634,968],"end_point":[416,455],"distance":557.3984212392425}],"complexity_score":0.6377313707845724}
{"id":16017,"query_id":"Q03204","question":"An aerial photography drone starts from a flat, hard, artificial surface and needs to reach another flat, hard, artificial surface. The drone's flight must prioritize a smooth and stable journey to protect its sensitive camera gimbal. The drone can fly over areas of soft, grassy vegetation, other flat, hard, artificial surfaces, clusters of tall vertical obstacles, liquid bodies, and cultivated fields with low, uniform vegetation. However, flying too close to tall vertical obstacles is risky and should be avoided if possible. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"Another flat, hard, artificial surface","task_description":"Which path provides the most comfortable route?","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":"rosario_6.tif","subfolder":"rosario","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":211,"start_point":[95,71],"end_point":[989,794],"distance":1149.7673677748903},{"start_region_id":211,"end_region_id":138,"start_point":[989,794],"end_point":[95,71],"distance":1149.7673677748903},{"start_region_id":138,"end_region_id":231,"start_point":[95,71],"end_point":[773,893],"distance":1065.5364845935592},{"start_region_id":231,"end_region_id":138,"start_point":[773,893],"end_point":[95,71],"distance":1065.5364845935592},{"start_region_id":139,"end_region_id":211,"start_point":[224,38],"end_point":[989,794],"distance":1075.528242307007}],"complexity_score":0.6377313707845724}
{"id":5798,"query_id":"Q01160","question":"A person walking with a stroller starts from a paved lane used by vehicles and needs to reach a flat, hard-surfaced area designed for foot traffic. You can only travel on surfaces that are firm, stable, and predictable underfoot. Loose, uneven, or soft ground is not allowed due to safety concerns. What is the safest path to your destination?","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"A paved lane used by vehicles","end_land_type":"A flat, hard-surfaced area designed for foot traffic","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":"kagera_17.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":90,"start_point":[511,701],"end_point":[932,856],"distance":448.6267936715327}],"complexity_score":0.6377560433478076}
{"id":6735,"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":"kagera_17.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":286,"start_point":[916,91],"end_point":[658,57],"distance":260.23066690918654}],"complexity_score":0.6377560433478076}
{"id":3888,"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_38.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":22,"start_point":[600,598],"end_point":[49,141],"distance":715.8561307972434},{"start_region_id":107,"end_region_id":12,"start_point":[600,598],"end_point":[190,46],"distance":687.6074461493273},{"start_region_id":107,"end_region_id":29,"start_point":[600,598],"end_point":[53,238],"distance":654.8350937449825},{"start_region_id":72,"end_region_id":17,"start_point":[76,416],"end_point":[537,92],"distance":563.4687214034157},{"start_region_id":108,"end_region_id":17,"start_point":[261,572],"end_point":[537,92],"distance":553.6930557628477}],"complexity_score":0.637789987156248}
{"id":9970,"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_38.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":17,"start_point":[53,238],"end_point":[537,92],"distance":505.5412940601391},{"start_region_id":17,"end_region_id":29,"start_point":[537,92],"end_point":[53,238],"distance":505.5412940601391},{"start_region_id":17,"end_region_id":22,"start_point":[537,92],"end_point":[49,141],"distance":490.4538714293119},{"start_region_id":22,"end_region_id":17,"start_point":[49,141],"end_point":[537,92],"distance":490.4538714293119},{"start_region_id":24,"end_region_id":22,"start_point":[406,181],"end_point":[49,141],"distance":359.2339070856202}],"complexity_score":0.637789987156248}
{"id":14450,"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":"paris_38.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":72,"start_point":[600,598],"end_point":[76,416],"distance":554.7071299343465},{"start_region_id":72,"end_region_id":107,"start_point":[76,416],"end_point":[600,598],"distance":554.7071299343465},{"start_region_id":107,"end_region_id":56,"start_point":[600,598],"end_point":[289,308],"distance":425.2305257151702},{"start_region_id":56,"end_region_id":107,"start_point":[289,308],"end_point":[600,598],"distance":425.2305257151702},{"start_region_id":53,"end_region_id":72,"start_point":[449,333],"end_point":[76,416],"distance":382.1230168414355}],"complexity_score":0.637789987156248}
{"id":432,"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_2.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":40,"start_point":[757,715],"end_point":[328,516],"distance":472.908024884332},{"start_region_id":224,"end_region_id":49,"start_point":[757,715],"end_point":[722,379],"distance":337.8179983363823}],"complexity_score":0.6379083951823756}
{"id":6951,"query_id":"Q01391","question":"An aerial survey drone starts from a cultivated field and needs to reach a wooded area while prioritizing safety. The drone can fly over open, dry ground with minimal vegetation, hard artificial surfaces, cultivated vegetation, and wooded areas. However, flying over wooded areas requires careful navigation to avoid collisions with tree canopies. The drone must avoid any liquid surfaces and cannot pass through solid vertical structures. What is the safest path to reach the wooded area?","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 to reach 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":[2,2,2,2,1,0,2,0],"image_name":"buenos_aires_2.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":170,"start_point":[757,715],"end_point":[71,228],"distance":841.2877034641598},{"start_region_id":224,"end_region_id":217,"start_point":[757,715],"end_point":[69,987],"distance":739.816193388601},{"start_region_id":224,"end_region_id":182,"start_point":[757,715],"end_point":[242,293],"distance":665.8145387418331},{"start_region_id":224,"end_region_id":218,"start_point":[757,715],"end_point":[161,1007],"distance":663.68667306192},{"start_region_id":224,"end_region_id":188,"start_point":[757,715],"end_point":[155,438],"distance":662.6711099783964}],"complexity_score":0.6379083951823756}
{"id":9813,"query_id":"Q01963","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone must avoid any vertical structures or dense overhead obstacles that could cause collisions. The drone can fly over loose, sandy or rocky ground, grassy or shrubby areas, paved surfaces, liquid bodies, and cultivated fields. However, areas with tall, dense vertical obstacles are hazardous and should be avoided. 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":"cultivated field with crops","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":"buenos_aires_2.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":224,"start_point":[893,47],"end_point":[757,715],"distance":681.7037479726806},{"start_region_id":134,"end_region_id":224,"start_point":[268,215],"end_point":[757,715],"distance":699.3718610295956},{"start_region_id":139,"end_region_id":224,"start_point":[146,962],"end_point":[757,715],"distance":659.0371764931019},{"start_region_id":138,"end_region_id":224,"start_point":[835,378],"end_point":[757,715],"distance":345.9089475570125}],"complexity_score":0.6379083951823756}
{"id":12370,"query_id":"Q02474","question":"A quadcopter drone starts from a paved lane and needs to reach a cultivated field. The drone can fly over hard surfaces, grassy areas, and cultivated fields. However. The drone must avoid flying through dense tree canopies or close to buildings. What is the shortest path to the cultivated field?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path to the cultivated 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":"buenos_aires_2.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":224,"start_point":[893,47],"end_point":[757,715],"distance":681.7037479726806},{"start_region_id":134,"end_region_id":224,"start_point":[268,215],"end_point":[757,715],"distance":699.3718610295956},{"start_region_id":139,"end_region_id":224,"start_point":[146,962],"end_point":[757,715],"distance":659.0371764931019},{"start_region_id":138,"end_region_id":224,"start_point":[835,378],"end_point":[757,715],"distance":345.9089475570125}],"complexity_score":0.6379083951823756}
{"id":1769,"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_36.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":101,"start_point":[808,449],"end_point":[272,891],"distance":694.7373604463776},{"start_region_id":101,"end_region_id":99,"start_point":[272,891],"end_point":[808,449],"distance":694.7373604463776},{"start_region_id":100,"end_region_id":101,"start_point":[283,294],"end_point":[272,891],"distance":597.1013314337861},{"start_region_id":101,"end_region_id":100,"start_point":[272,891],"end_point":[283,294],"distance":597.1013314337861},{"start_region_id":99,"end_region_id":100,"start_point":[808,449],"end_point":[283,294],"distance":547.4029594366475}],"complexity_score":0.6380006867574285}
{"id":2504,"query_id":"Q00501","question":"A passenger vehicle 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 parking lots or construction sites. 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":"Car","specific_agent":"a passenger vehicle","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"],"traverse_vector":[0,0,1,0,0,0,0,0],"cost_vector":[0,0,1,0,0,0,0,0],"image_name":"wallace_36.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":74,"start_point":[47,492],"end_point":[832,931],"distance":899.4142538341273}],"complexity_score":0.6380006867574285}
{"id":12165,"query_id":"Q02433","question":"An aerial survey drone starts from a paved lane and needs to reach a grassy field as quickly as possible. The drone can fly over open grassy areas, paved surfaces, and water bodies, but must avoid tall vegetation and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the fastest path for the aerial survey drone to reach the grassy field from the paved lane?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"wallace_36.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":10,"start_point":[272,891],"end_point":[983,41],"distance":1108.1610893728403},{"start_region_id":101,"end_region_id":9,"start_point":[272,891],"end_point":[841,198],"distance":896.6660470877661},{"start_region_id":100,"end_region_id":29,"start_point":[283,294],"end_point":[988,631],"distance":781.4051445952989},{"start_region_id":101,"end_region_id":7,"start_point":[272,891],"end_point":[346,106],"distance":788.4801836444591},{"start_region_id":101,"end_region_id":29,"start_point":[272,891],"end_point":[988,631],"distance":761.7453642786413}],"complexity_score":0.6380006867574285}
{"id":15649,"query_id":"Q03130","question":"An aerial surveillance drone begins its mission perched on a dense cluster of tall, vertical structures with branching patterns and foliage. Its destination is a flat, hard, and smooth artificial surface. The drone can fly over most terrain types, including loose, sandy or rocky ground; open areas with low vegetation; all paved or compacted surfaces; bodies of liquid; and cultivated fields. However, it must navigate carefully around tall, dense vertical structures and solid, man-made vertical obstacles, as these require slower, more cautious flight to avoid collisions. Given the need to complete this surveillance run as quickly as possible, what is the optimal flight path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A dense cluster of tall, vertical structures with branching patterns and foliage.","end_land_type":"A flat, hard, and smooth artificial surface.","task_description":"What is the fastest path for the drone to reach the flat, hard artificial surface from its starting point in the dense 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":"wallace_36.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":74,"start_point":[68,44],"end_point":[516,612],"distance":723.4141275922112},{"start_region_id":113,"end_region_id":74,"start_point":[980,94],"end_point":[516,612],"distance":695.4279258125891},{"start_region_id":104,"end_region_id":74,"start_point":[206,9],"end_point":[516,612],"distance":678.0184363275088},{"start_region_id":125,"end_region_id":74,"start_point":[55,216],"end_point":[516,612],"distance":607.7310260304307},{"start_region_id":112,"end_region_id":74,"start_point":[700,96],"end_point":[516,612],"distance":547.8247895084705}],"complexity_score":0.6380006867574285}
{"id":10955,"query_id":"Q02191","question":"A quadcopter drone starts from a paved area and needs to reach another paved area. The terrain includes grassy and shrub-covered ground, hard surfaces, vehicle lanes, areas with tall vertical obstacles, and liquid surfaces. Areas with tall vertical obstacles are traversable as they are low enough to fly over. Liquid surfaces are traversable as they are shallow and calm. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","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","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_18.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":96,"start_point":[763,172],"end_point":[163,914],"distance":954.2347719508025},{"start_region_id":96,"end_region_id":59,"start_point":[163,914],"end_point":[763,172],"distance":954.2347719508025},{"start_region_id":59,"end_region_id":90,"start_point":[763,172],"end_point":[175,881],"distance":921.0998860058555},{"start_region_id":90,"end_region_id":59,"start_point":[175,881],"end_point":[763,172],"distance":921.0998860058555},{"start_region_id":59,"end_region_id":78,"start_point":[763,172],"end_point":[106,659],"distance":817.8129370461194}],"complexity_score":0.638027245015889}
{"id":15710,"query_id":"Q03142","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface while prioritizing safety. The drone can fly over open areas with minimal obstacles, including firm ground, vegetated zones, and cultivated fields. It can also pass near vertical structures or dense foliage only if there is sufficient clearance and minimal collision risk. The drone cannot fly through any liquid areas. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the safest path for the quadcopter drone to take from the starting paved surface to the destination paved surface?","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":"vienna_18.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":96,"start_point":[763,172],"end_point":[163,914],"distance":954.2347719508025},{"start_region_id":96,"end_region_id":59,"start_point":[163,914],"end_point":[763,172],"distance":954.2347719508025},{"start_region_id":59,"end_region_id":90,"start_point":[763,172],"end_point":[175,881],"distance":921.0998860058555},{"start_region_id":90,"end_region_id":59,"start_point":[175,881],"end_point":[763,172],"distance":921.0998860058555},{"start_region_id":59,"end_region_id":78,"start_point":[763,172],"end_point":[106,659],"distance":817.8129370461194}],"complexity_score":0.638027245015889}
{"id":16396,"query_id":"Q03280","question":"An aerial survey drone starts from a grassy field with scattered shrubs and needs to reach a paved vehicle lane as quickly as possible. The drone can fly over most surfaces, but areas with dense, tall vegetation must be avoided due to collision risk. The drone can traverse open grassy areas, paved lanes, liquid surfaces, cultivated crop fields, and built structures, but cannot fly through dense tree canopies. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy field with scattered shrubs","end_land_type":"paved vehicle lane","task_description":"What is the fastest path for the aerial survey drone to reach the paved vehicle lane from the grassy field with scattered shrubs?","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":"vienna_18.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":104,"start_point":[957,701],"end_point":[959,54],"distance":647.0030911827238},{"start_region_id":33,"end_region_id":105,"start_point":[957,701],"end_point":[459,640],"distance":501.72203459684727}],"complexity_score":0.638027245015889}
{"id":7924,"query_id":"Q01585","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 quadcopter drone requires a smooth and stable flight to minimize vibrations and ensure passenger comfort (if carrying sensitive equipment). You can traverse open, solid ground with loose soil or rocks; hard, paved surfaces like sidewalks or parking lots; vegetated areas with tall, leafy structures (but must navigate carefully to avoid collisions); liquid surfaces like rivers or ponds; and cultivated fields with crops. However, vertical structures like buildings are blocked due to no-fly zones, and other surfaces like grassy plains or compacted vehicle lanes are not available. 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 for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Tree","Water","Agriculture land"],"traverse_vector":[1,0,1,0,1,1,1,0],"cost_vector":[3,0,3,0,1,2,3,0],"image_name":"mexico_city_23.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":514,"end_region_id":544,"start_point":[934,212],"end_point":[649,267],"distance":290.25850547399983},{"start_region_id":544,"end_region_id":514,"start_point":[649,267],"end_point":[934,212],"distance":290.25850547399983},{"start_region_id":572,"end_region_id":571,"start_point":[372,640],"end_point":[248,458],"distance":220.22715545545242},{"start_region_id":571,"end_region_id":572,"start_point":[248,458],"end_point":[372,640],"distance":220.22715545545242}],"complexity_score":0.6380687684691595}
{"id":12521,"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":"mexico_city_23.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":407,"start_point":[145,57],"end_point":[782,871],"distance":1033.6174340634934},{"start_region_id":273,"end_region_id":338,"start_point":[732,978],"end_point":[42,218],"distance":1026.498904042279},{"start_region_id":195,"end_region_id":338,"start_point":[928,732],"end_point":[42,218],"distance":1024.3007370884784},{"start_region_id":249,"end_region_id":296,"start_point":[168,943],"end_point":[679,94],"distance":990.9197747547478},{"start_region_id":236,"end_region_id":296,"start_point":[73,864],"end_point":[679,94],"distance":979.8652968648292}],"complexity_score":0.6380687684691595}
{"id":16863,"query_id":"Q03373","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 open grassy fields and water bodies, but must avoid any areas with tall vegetation or structures that could obstruct its flight path. The paved surfaces provide stable launch and landing zones. 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","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_23.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":407,"end_region_id":338,"start_point":[782,871],"end_point":[42,218],"distance":986.9189429735352},{"start_region_id":338,"end_region_id":407,"start_point":[42,218],"end_point":[782,871],"distance":986.9189429735352},{"start_region_id":296,"end_region_id":410,"start_point":[679,94],"end_point":[344,824],"distance":803.196738041185},{"start_region_id":410,"end_region_id":296,"start_point":[344,824],"end_point":[679,94],"distance":803.196738041185},{"start_region_id":296,"end_region_id":407,"start_point":[679,94],"end_point":[782,871],"distance":783.7971676396897}],"complexity_score":0.6380687684691595}
{"id":164,"query_id":"Q00033","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another similar grassy, open field. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It cannot fly over any paved or hard surfaces, nor any areas with compacted soil or artificial materials. Only natural terrain with loose soil, sand, rock surfaces, cultivated crop fields, and open water bodies are available for flight. 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":"another grassy, open field with low vegetation","task_description":"What is the safest path for the aerial survey drone to travel from the starting grassy field to the destination grassy field?","task_type":"Safest","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":"rio_54.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":4,"start_point":[30,236],"end_point":[204,392],"distance":233.69210512980536}],"complexity_score":0.6381684813006806}
{"id":4515,"query_id":"Q00903","question":"A quadcopter drone is currently on a paved concrete area and needs to reach another paved concrete area. The drone can fly over most surfaces, including hard paved areas, loose soil, and liquid bodies, but it must avoid vertical obstacles like tall structures and dense vegetation for safety. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved concrete area","end_land_type":"Another paved concrete 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":"rio_54.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":20,"start_point":[112,154],"end_point":[402,171],"distance":290.49784852903815},{"start_region_id":20,"end_region_id":15,"start_point":[402,171],"end_point":[112,154],"distance":290.49784852903815}],"complexity_score":0.6381684813006806}
{"id":10219,"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":"rio_54.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":31,"start_point":[252,116],"end_point":[380,334],"distance":252.80031645549812},{"start_region_id":31,"end_region_id":30,"start_point":[380,334],"end_point":[252,116],"distance":252.80031645549812}],"complexity_score":0.6381684813006806}
{"id":12731,"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":"rio_54.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":15,"start_point":[380,334],"end_point":[112,154],"distance":322.8374203836972}],"complexity_score":0.6381684813006806}
{"id":17101,"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":"rio_54.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":20,"start_point":[112,154],"end_point":[402,171],"distance":290.49784852903815},{"start_region_id":20,"end_region_id":15,"start_point":[402,171],"end_point":[112,154],"distance":290.49784852903815}],"complexity_score":0.6381684813006806}
{"id":3165,"query_id":"Q00633","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; grassy or shrub-covered areas; and liquid surfaces. However, it must avoid tall, vertical obstacles that could obstruct its flight path. What is the shortest 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":"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":"rotterdam_32.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":16,"start_point":[43,657],"end_point":[873,55],"distance":1025.331166014181},{"start_region_id":16,"end_region_id":24,"start_point":[873,55],"end_point":[43,657],"distance":1025.331166014181},{"start_region_id":16,"end_region_id":29,"start_point":[873,55],"end_point":[226,723],"distance":929.9639777969898},{"start_region_id":29,"end_region_id":16,"start_point":[226,723],"end_point":[873,55],"distance":929.9639777969898},{"start_region_id":23,"end_region_id":16,"start_point":[181,542],"end_point":[873,55],"distance":846.1873315052643}],"complexity_score":0.638187665311984}
{"id":10491,"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_32.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":3,"start_point":[56,341],"end_point":[821,195],"distance":778.8074216390082},{"start_region_id":40,"end_region_id":12,"start_point":[849,215],"end_point":[344,757],"distance":740.8029427587339},{"start_region_id":42,"end_region_id":3,"start_point":[327,658],"end_point":[821,195],"distance":677.0561276585569},{"start_region_id":40,"end_region_id":11,"start_point":[849,215],"end_point":[361,708],"distance":693.6807623107333},{"start_region_id":40,"end_region_id":9,"start_point":[849,215],"end_point":[439,665],"distance":608.7692502089769}],"complexity_score":0.638187665311984}
{"id":15326,"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_32.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":12,"start_point":[821,195],"end_point":[344,757],"distance":737.1383859222093},{"start_region_id":12,"end_region_id":3,"start_point":[344,757],"end_point":[821,195],"distance":737.1383859222093},{"start_region_id":11,"end_region_id":3,"start_point":[361,708],"end_point":[821,195],"distance":689.0348322109703},{"start_region_id":3,"end_region_id":11,"start_point":[821,195],"end_point":[361,708],"distance":689.0348322109703},{"start_region_id":9,"end_region_id":3,"start_point":[439,665],"end_point":[821,195],"distance":605.6599706105728}],"complexity_score":0.638187665311984}
{"id":16632,"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_32.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":41,"start_point":[821,195],"end_point":[56,341],"distance":778.8074216390082},{"start_region_id":12,"end_region_id":40,"start_point":[344,757],"end_point":[849,215],"distance":740.8029427587339},{"start_region_id":3,"end_region_id":42,"start_point":[821,195],"end_point":[327,658],"distance":677.0561276585569},{"start_region_id":11,"end_region_id":40,"start_point":[361,708],"end_point":[849,215],"distance":693.6807623107333},{"start_region_id":9,"end_region_id":40,"start_point":[439,665],"end_point":[849,215],"distance":608.7692502089769}],"complexity_score":0.638187665311984}
{"id":2388,"query_id":"Q00478","question":"An aerial surveillance drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane or street. The drone can fly over loose, sandy or rocky ground, liquid surfaces, and other paved areas, but must avoid any vertical structures or dense vegetation. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A vehicle lane or street","task_description":"What is the shortest path?","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":"vienna_68.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":81,"start_point":[124,857],"end_point":[113,132],"distance":725.0834434739219},{"start_region_id":73,"end_region_id":80,"start_point":[124,857],"end_point":[189,373],"distance":488.3451648168537},{"start_region_id":60,"end_region_id":81,"start_point":[100,558],"end_point":[113,132],"distance":426.1983106489278},{"start_region_id":40,"end_region_id":81,"start_point":[330,286],"end_point":[113,132],"distance":266.092089322475},{"start_region_id":46,"end_region_id":80,"start_point":[79,191],"end_point":[189,373],"distance":212.6593520163174}],"complexity_score":0.6383384279556129}
{"id":6047,"query_id":"Q01210","question":"A family sedan starts from a flat, paved parking lot with artificial grass sports fields and needs to reach an asphalt street for vehicle traffic. The sedan requires smooth, hard surfaces to provide a comfortable ride without bumps or vibrations. Only paved areas designed for vehicles or parking are available for travel.","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"A flat, paved parking lot with artificial grass sports fields","end_land_type":"An asphalt street for vehicle traffic","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":[0,0,1,2,0,0,0,0],"image_name":"vienna_68.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":81,"start_point":[124,857],"end_point":[113,132],"distance":725.0834434739219},{"start_region_id":73,"end_region_id":80,"start_point":[124,857],"end_point":[189,373],"distance":488.3451648168537},{"start_region_id":60,"end_region_id":81,"start_point":[100,558],"end_point":[113,132],"distance":426.1983106489278},{"start_region_id":40,"end_region_id":81,"start_point":[330,286],"end_point":[113,132],"distance":266.092089322475},{"start_region_id":46,"end_region_id":80,"start_point":[79,191],"end_point":[189,373],"distance":212.6593520163174}],"complexity_score":0.6383384279556129}
{"id":6815,"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":"vienna_68.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":81,"start_point":[124,857],"end_point":[113,132],"distance":725.0834434739219},{"start_region_id":44,"end_region_id":81,"start_point":[784,401],"end_point":[113,132],"distance":722.9121661723505},{"start_region_id":44,"end_region_id":80,"start_point":[784,401],"end_point":[189,373],"distance":595.6584591861346},{"start_region_id":73,"end_region_id":80,"start_point":[124,857],"end_point":[189,373],"distance":488.3451648168537},{"start_region_id":60,"end_region_id":81,"start_point":[100,558],"end_point":[113,132],"distance":426.1983106489278}],"complexity_score":0.6383384279556129}
{"id":15753,"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":"vienna_68.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":73,"start_point":[621,28],"end_point":[124,857],"distance":966.5660867214409},{"start_region_id":18,"end_region_id":73,"start_point":[776,328],"end_point":[124,857],"distance":839.6100285251481},{"start_region_id":1,"end_region_id":60,"start_point":[621,28],"end_point":[100,558],"distance":743.1964746956218},{"start_region_id":18,"end_region_id":60,"start_point":[776,328],"end_point":[100,558],"distance":714.0560202112997},{"start_region_id":18,"end_region_id":46,"start_point":[776,328],"end_point":[79,191],"distance":710.3365399583496}],"complexity_score":0.6383384279556129}
{"id":909,"query_id":"Q00182","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The hiker can traverse areas with short, stable grass and shrubs, as the vegetation is low and does not impede movement. However, the hiker cannot cross any water bodies or enter any structures, and must avoid loose, sandy ground or rocky terrain without vegetation. Which path allows the hiker to travel the fastest?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a cultivated field with soft, tilled soil","task_description":"Which path allows the hiker to travel the fastest?","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":"swietokrzyskie_6.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":89,"start_point":[29,86],"end_point":[697,977],"distance":1113.60001795977},{"start_region_id":37,"end_region_id":89,"start_point":[34,364],"end_point":[697,977],"distance":902.9606857444016},{"start_region_id":36,"end_region_id":89,"start_point":[266,244],"end_point":[697,977],"distance":850.3234678638477},{"start_region_id":34,"end_region_id":88,"start_point":[29,86],"end_point":[412,818],"distance":826.1434500133739},{"start_region_id":34,"end_region_id":87,"start_point":[29,86],"end_point":[571,670],"distance":796.755922475635}],"complexity_score":0.63833944145847}
{"id":3628,"query_id":"Q00726","question":"A hiker starts from a paved road surface and needs to reach a cultivated field area. The terrain includes hard paved surfaces, loose sandy or rocky ground, grassy or shrub-covered areas, individual or clustered tall vegetation, and cultivated soil. You can traverse all these terrain types. What is the shortest path to the cultivated field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the shortest path to the cultivated 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":"swietokrzyskie_6.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":86,"start_point":[910,709],"end_point":[40,775],"distance":872.4998567335126},{"start_region_id":51,"end_region_id":89,"start_point":[260,335],"end_point":[697,977],"distance":776.6163789156136},{"start_region_id":51,"end_region_id":84,"start_point":[260,335],"end_point":[974,43],"distance":771.401322270062},{"start_region_id":57,"end_region_id":85,"start_point":[910,709],"end_point":[349,286],"distance":702.6023057178221},{"start_region_id":57,"end_region_id":84,"start_point":[910,709],"end_point":[974,43],"distance":669.068008501378}],"complexity_score":0.63833944145847}
{"id":9392,"query_id":"Q01879","question":"A farm utility vehicle is starting from a cultivated field and needs to reach another cultivated field. The vehicle requires a hard, stable surface to maintain high speed, so paved areas and compacted dirt tracks are preferred. While the vehicle can handle moderately uneven terrain like grassy patches or loose soil, these surfaces would slow it down. The vehicle cannot pass through dense vegetation clusters, liquid areas, or solid structures. What is the fastest route?","agent_category":"Car","specific_agent":"a farm utility vehicle","start_land_type":"cultivated field","end_land_type":"another cultivated field","task_description":"What is the fastest route for the farm utility vehicle to travel from the starting cultivated field to the destination cultivated 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":"swietokrzyskie_6.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":85,"start_point":[697,977],"end_point":[349,286],"distance":773.6827515202856},{"start_region_id":85,"end_region_id":89,"start_point":[349,286],"end_point":[697,977],"distance":773.6827515202856},{"start_region_id":88,"end_region_id":85,"start_point":[412,818],"end_point":[349,286],"distance":535.7172761821295},{"start_region_id":85,"end_region_id":88,"start_point":[349,286],"end_point":[412,818],"distance":535.7172761821295},{"start_region_id":87,"end_region_id":85,"start_point":[571,670],"end_point":[349,286],"distance":443.5538298786293}],"complexity_score":0.63833944145847}
{"id":12841,"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":"melbourne_44.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":86,"start_point":[553,824],"end_point":[498,47],"distance":778.94415717688},{"start_region_id":86,"end_region_id":185,"start_point":[498,47],"end_point":[553,824],"distance":778.94415717688},{"start_region_id":185,"end_region_id":89,"start_point":[553,824],"end_point":[904,145],"distance":764.3572463187616},{"start_region_id":89,"end_region_id":185,"start_point":[904,145],"end_point":[553,824],"distance":764.3572463187616},{"start_region_id":157,"end_region_id":86,"start_point":[806,741],"end_point":[498,47],"distance":759.2759709091287}],"complexity_score":0.6383679959182801}
{"id":14593,"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_44.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":79,"start_point":[225,181],"end_point":[947,996],"distance":1088.810819196797},{"start_region_id":287,"end_region_id":79,"start_point":[24,456],"end_point":[947,996],"distance":1069.359153886102},{"start_region_id":231,"end_region_id":79,"start_point":[728,31],"end_point":[947,996],"distance":989.5382761672233},{"start_region_id":287,"end_region_id":66,"start_point":[24,456],"end_point":[928,817],"distance":973.4151221344365},{"start_region_id":350,"end_region_id":6,"start_point":[904,863],"end_point":[353,66],"distance":968.9220814905603}],"complexity_score":0.6383679959182801}
{"id":1147,"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_30.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":46,"start_point":[936,731],"end_point":[376,256],"distance":734.3194127898295},{"start_region_id":91,"end_region_id":48,"start_point":[936,731],"end_point":[919,61],"distance":670.2156369408282},{"start_region_id":91,"end_region_id":49,"start_point":[936,731],"end_point":[483,446],"distance":535.1952914591084}],"complexity_score":0.6384346632250912}
{"id":9732,"query_id":"Q01947","question":"An aerial survey drone starts from a cultivated field with loose soil and crop residues and needs to reach a grassy meadow with soft vegetation. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable camera operation. Hard paved surfaces are unavailable due to restricted airspace regulations. Vertical structures and liquid surfaces should be avoided as they cause turbulence and instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","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":[1,1,0,0,0,0,1,0],"image_name":"ngaoundere_30.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":20,"start_point":[690,533],"end_point":[170,894],"distance":633.0252759566556},{"start_region_id":113,"end_region_id":20,"start_point":[566,822],"end_point":[170,894],"distance":402.49223594996215},{"start_region_id":109,"end_region_id":11,"start_point":[942,526],"end_point":[867,274],"distance":262.9239433752658},{"start_region_id":113,"end_region_id":13,"start_point":[566,822],"end_point":[608,599],"distance":226.92069099136816}],"complexity_score":0.6384346632250912}
{"id":8616,"query_id":"Q01724","question":"A delivery drone starts from a paved, hard surface and needs to reach another paved, hard surface destination while prioritizing safety. The drone can only fly over surfaces that minimize risk: it may fly above the original paved, hard surface, or above compacted, dry earth, or above open grassy areas. All other surfaces—including areas with standing liquid, vertical structures, loose vegetation, or cultivated fields—are explicitly prohibited due to safety concerns, as they could pose collision hazards or unstable conditions. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"paved, hard surface","end_land_type":"paved, 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"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,1,1,1,0,0,0,0],"image_name":"dhaka_58.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":266,"start_point":[299,698],"end_point":[962,109],"distance":886.8427143524381},{"start_region_id":266,"end_region_id":267,"start_point":[962,109],"end_point":[299,698],"distance":886.8427143524381},{"start_region_id":265,"end_region_id":267,"start_point":[719,304],"end_point":[299,698],"distance":575.8784593992034},{"start_region_id":267,"end_region_id":265,"start_point":[299,698],"end_point":[719,304],"distance":575.8784593992034},{"start_region_id":265,"end_region_id":266,"start_point":[719,304],"end_point":[962,109],"distance":311.5670072392133}],"complexity_score":0.6384371561501138}
{"id":17319,"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_58.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":266,"end_region_id":147,"start_point":[962,109],"end_point":[141,659],"distance":988.200890507593},{"start_region_id":266,"end_region_id":176,"start_point":[962,109],"end_point":[270,737],"distance":934.4773940550944},{"start_region_id":267,"end_region_id":44,"start_point":[299,698],"end_point":[971,72],"distance":918.4007839717908},{"start_region_id":267,"end_region_id":56,"start_point":[299,698],"end_point":[877,114],"distance":821.6690331270858},{"start_region_id":266,"end_region_id":84,"start_point":[962,109],"end_point":[276,343],"distance":724.8116996848216}],"complexity_score":0.6384371561501138}
{"id":3629,"query_id":"Q00726","question":"A hiker starts from a paved road surface and needs to reach a cultivated field area. The terrain includes hard paved surfaces, loose sandy or rocky ground, grassy or shrub-covered areas, individual or clustered tall vegetation, and cultivated soil. You can traverse all these terrain types. What is the shortest path to the cultivated field?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the shortest path to the cultivated 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":"swietokrzyskie_8.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":21,"end_region_id":64,"start_point":[844,606],"end_point":[50,460],"distance":807.311587926248},{"start_region_id":20,"end_region_id":67,"start_point":[196,548],"end_point":[960,735],"distance":786.5526047252021},{"start_region_id":20,"end_region_id":68,"start_point":[196,548],"end_point":[877,816],"distance":731.8367304255779},{"start_region_id":21,"end_region_id":66,"start_point":[844,606],"end_point":[122,725],"distance":731.7410744245535},{"start_region_id":20,"end_region_id":63,"start_point":[196,548],"end_point":[867,319],"distance":709.0007052182671}],"complexity_score":0.6385542714201419}
{"id":7220,"query_id":"Q01444","question":"A hiker starts from a cultivated field and needs to reach another cultivated field while minimizing risk. The hiker can only use hard, paved surfaces that provide stable footing, areas with tall vertical obstacles that must be avoided, and cultivated fields that are currently fallow and dry enough to walk on without sinking. All other terrain types are either too soft, too wet, or contain permanent structures that cannot be crossed.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the hiker to take?","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":"swietokrzyskie_8.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":68,"start_point":[867,319],"end_point":[877,816],"distance":497.10059344160913},{"start_region_id":68,"end_region_id":63,"start_point":[877,816],"end_point":[867,319],"distance":497.10059344160913},{"start_region_id":63,"end_region_id":67,"start_point":[867,319],"end_point":[960,735],"distance":426.26869460470584},{"start_region_id":67,"end_region_id":63,"start_point":[960,735],"end_point":[867,319],"distance":426.26869460470584},{"start_region_id":66,"end_region_id":65,"start_point":[122,725],"end_point":[302,461],"distance":319.52464693666434}],"complexity_score":0.6385542714201419}
{"id":14409,"query_id":"Q02882","question":"An off-road vehicle starts from a plowed field and needs to reach a concrete lot. The vehicle can traverse unpaved loose ground, grassy areas, and hard artificial surfaces, but cannot drive on any designated roads or streets, go through wooded areas, cross any liquid surfaces, or collide with any structures. The plowed field is firm and dry, permitting safe travel. What is the safest path to take?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a plowed field","end_land_type":"a concrete lot","task_description":"What is the safest path to take?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,2,4,0,0,0,3,0],"image_name":"swietokrzyskie_8.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":12,"start_point":[867,319],"end_point":[125,277],"distance":743.1877286392719},{"start_region_id":67,"end_region_id":14,"start_point":[960,735],"end_point":[525,651],"distance":443.0361159093015},{"start_region_id":66,"end_region_id":14,"start_point":[122,725],"end_point":[525,651],"distance":409.7377209874629},{"start_region_id":70,"end_region_id":14,"start_point":[260,938],"end_point":[525,651],"distance":390.6328199217265},{"start_region_id":68,"end_region_id":14,"start_point":[877,816],"end_point":[525,651],"distance":388.75313503559045}],"complexity_score":0.6385542714201419}
{"id":16060,"query_id":"Q03212","question":"An aerial survey drone starts from an area of natural, uncultivated grassy and shrubby vegetation and needs to reach a flat, hard, artificial surface such as a paved area or parking lot. The drone can fly over open grassy fields, cultivated crop fields, and bodies of water like ponds or streams. It can also fly over the hard, flat artificial surfaces of its destination. However, to ensure a smooth and stable flight for sensor calibration and passenger comfort (if carrying a payload), the drone must avoid flying directly through areas with tall, dense vertical obstacles like groups of trees, as these cause turbulence and vibration. Additionally, all solid, enclosed structures are strictly off-limits for flight paths. What is the most comfortable route?","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":"The destination is a flat, hard, artificial surface such as a paved area or parking lot.","task_description":"What is 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":"vienna_46.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":53,"start_point":[34,678],"end_point":[949,155],"distance":1053.923147103241},{"start_region_id":27,"end_region_id":53,"start_point":[52,532],"end_point":[949,155],"distance":973.0046248605399},{"start_region_id":43,"end_region_id":53,"start_point":[388,934],"end_point":[949,155],"distance":959.9802081293135},{"start_region_id":39,"end_region_id":53,"start_point":[111,609],"end_point":[949,155],"distance":953.0792202120451},{"start_region_id":19,"end_region_id":53,"start_point":[52,375],"end_point":[949,155],"distance":923.5848634532725}],"complexity_score":0.6386082096869332}
{"id":15300,"query_id":"Q03060","question":"A hiker is starting from an area of natural, uncultivated grassy terrain and needs to reach a paved, hard-surface area. The hiker can traverse grassy areas, cultivated fields with crops, and wooded areas with trees, but cannot cross water bodies or enter buildings. What is the shortest path to reach the paved area?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest path to reach the paved 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":"rotterdam_17.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":82,"end_region_id":91,"start_point":[36,875],"end_point":[812,239],"distance":1003.3304540379505},{"start_region_id":82,"end_region_id":93,"start_point":[36,875],"end_point":[758,245],"distance":958.2191816072145},{"start_region_id":82,"end_region_id":131,"start_point":[36,875],"end_point":[850,551],"distance":876.1118650035507},{"start_region_id":82,"end_region_id":90,"start_point":[36,875],"end_point":[535,200],"distance":839.4200378832995},{"start_region_id":11,"end_region_id":151,"start_point":[786,390],"end_point":[66,787],"distance":822.1976647984352}],"complexity_score":0.6386289119002044}
{"id":4230,"query_id":"Q00846","question":"A quadcopter drone starts from a cultivated field with crops, you need to navigate to another cultivated field across a region that includes open water bodies and vegetated areas with soft, uneven ground. The quadcopter drone can fly over all surfaces, but flying through dense vegetation or near vertical structures is restricted due to safety regulations. What is the shortest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with crops","end_land_type":"Another cultivated field with crops","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":"les_cayes_47.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":541,"end_region_id":538,"start_point":[167,712],"end_point":[959,73],"distance":1017.6369686681003},{"start_region_id":538,"end_region_id":541,"start_point":[959,73],"end_point":[167,712],"distance":1017.6369686681003},{"start_region_id":540,"end_region_id":541,"start_point":[874,582],"end_point":[167,712],"distance":718.8525579004362},{"start_region_id":541,"end_region_id":540,"start_point":[167,712],"end_point":[874,582],"distance":718.8525579004362},{"start_region_id":540,"end_region_id":538,"start_point":[874,582],"end_point":[959,73],"distance":516.0484473380382}],"complexity_score":0.6386357140991812}
{"id":18032,"query_id":"Q03607","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a grassy meadow. The terrain includes loose, uneven ground with scattered vegetation, a hard, paved surface, areas with tall, dense vegetation that may require careful navigation, and the soft, tilled soil of the starting point. For a comfortable flight, which path should you take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the most comfortable path from the cultivated field to the grassy meadow?","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":"les_cayes_47.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":538,"end_region_id":173,"start_point":[959,73],"end_point":[41,973],"distance":1285.5831361681749},{"start_region_id":538,"end_region_id":142,"start_point":[959,73],"end_point":[353,850],"distance":985.3755629200473},{"start_region_id":541,"end_region_id":29,"start_point":[167,712],"end_point":[985,170],"distance":981.2685667033261},{"start_region_id":540,"end_region_id":173,"start_point":[874,582],"end_point":[41,973],"distance":920.2010649852564},{"start_region_id":538,"end_region_id":186,"start_point":[959,73],"end_point":[770,969],"distance":915.716659234722}],"complexity_score":0.6386357140991812}
{"id":208,"query_id":"Q00042","question":"A quadcopter drone is currently positioned on grassy, shrub-covered terrain and needs to reach cultivated crop fields. The drone can fly over areas with loose, dry soil and rocks; grassy or shrubby vegetation; liquid surfaces; and planted agricultural fields. However, it cannot fly through dense tree canopies or close to vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"cultivated crop fields","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"les_cayes_15.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":630,"start_point":[667,599],"end_point":[618,254],"distance":348.4623365587736}],"complexity_score":0.638677809610911}
{"id":8009,"query_id":"Q01602","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a cultivated field with planted crops as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; flat, artificial surfaces like parking lots and sports fields; areas with tall, vertical obstacles that require careful navigation; liquid surfaces; and planted crop areas. The drone must avoid any built structures with solid roofs and walls. What is the fastest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with planted 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":"les_cayes_15.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":333,"end_region_id":631,"start_point":[92,217],"end_point":[980,990],"distance":1177.3160153501692},{"start_region_id":277,"end_region_id":631,"start_point":[329,50],"end_point":[980,990],"distance":1143.4163721059797},{"start_region_id":379,"end_region_id":631,"start_point":[59,502],"end_point":[980,990],"distance":1042.2979420492013},{"start_region_id":348,"end_region_id":631,"start_point":[140,453],"end_point":[980,990],"distance":996.9799396176435},{"start_region_id":411,"end_region_id":631,"start_point":[46,675],"end_point":[980,990],"distance":985.6880845379029}],"complexity_score":0.638677809610911}
{"id":17775,"query_id":"Q03555","question":"A quadcopter drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over various terrain types including grassy areas, liquid surfaces, and cultivated fields, but must avoid areas with tall vertical obstacles like trees or buildings that could interfere with flight stability. The drone prioritizes smooth, predictable flight paths for maximum comfort. What is the most comfortable route to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"cultivated field","task_description":"What is the most comfortable route 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":"les_cayes_15.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":470,"end_region_id":629,"start_point":[817,483],"end_point":[317,220],"distance":564.9504403042802},{"start_region_id":471,"end_region_id":630,"start_point":[305,676],"end_point":[618,254],"distance":525.4074609291345},{"start_region_id":471,"end_region_id":629,"start_point":[305,676],"end_point":[317,220],"distance":456.1578674099571},{"start_region_id":470,"end_region_id":630,"start_point":[817,483],"end_point":[618,254],"distance":303.38424481175684}],"complexity_score":0.638677809610911}
{"id":952,"query_id":"Q00191","question":"A quadcopter drone is currently in a grassy, vegetated area and needs to reach a paved lane. The drone can fly over most surfaces, but must avoid vertical structures and dense vegetation that could obstruct its flight path. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","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_38.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":195,"start_point":[289,300],"end_point":[622,596],"distance":445.53899941531495},{"start_region_id":55,"end_region_id":195,"start_point":[275,843],"end_point":[622,596],"distance":425.9319194425325},{"start_region_id":10,"end_region_id":195,"start_point":[932,213],"end_point":[622,596],"distance":492.73623775809307},{"start_region_id":29,"end_region_id":195,"start_point":[302,576],"end_point":[622,596],"distance":320.62439083762797},{"start_region_id":45,"end_region_id":195,"start_point":[346,751],"end_point":[622,596],"distance":316.5454153830063}],"complexity_score":0.6388115291797272}
{"id":9964,"query_id":"Q01993","question":"A quadcopter drone starts from a paved roadway and needs to reach a group of tall trees as quickly as possible. The drone can fly over open grassy areas, hard flat surfaces, and lanes, but must avoid liquid surfaces and structures unless specified. The trees are accessible because the drone can fly between them at a safe altitude. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a group of tall trees","task_description":"What is the fastest path from the paved roadway to the group of tall trees?","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":"dhaka_38.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":335,"start_point":[123,318],"end_point":[985,999],"distance":1098.5467673249054},{"start_region_id":196,"end_region_id":214,"start_point":[123,318],"end_point":[986,90],"distance":892.6102172841178},{"start_region_id":196,"end_region_id":235,"start_point":[123,318],"end_point":[997,221],"distance":879.3662490680433},{"start_region_id":196,"end_region_id":303,"start_point":[123,318],"end_point":[768,745],"distance":773.5334511189545},{"start_region_id":196,"end_region_id":211,"start_point":[123,318],"end_point":[803,35],"distance":736.5385258083925}],"complexity_score":0.6388115291797272}
{"id":13005,"query_id":"Q02601","question":"A quadcopter drone starts from a paved lane and needs to reach a paved parking lot as quickly as possible. The drone can fly over hard surfaces, loose soil, cultivated fields, and liquid surfaces. However, it must avoid flying through dense vegetation and cannot pass through solid vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the fastest route for the quadcopter drone to reach the paved parking lot from the paved lane?","task_type":"Fastest","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":"dhaka_38.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":164,"start_point":[622,596],"end_point":[939,915],"distance":449.7221364353772},{"start_region_id":195,"end_region_id":89,"start_point":[622,596],"end_point":[483,365],"distance":269.59599403551977},{"start_region_id":195,"end_region_id":122,"start_point":[622,596],"end_point":[506,625],"distance":119.57006314291216}],"complexity_score":0.6388115291797272}
{"id":17277,"query_id":"Q03456","question":"A quadcopter drone starts from a concrete surface and needs to reach another concrete surface. The drone can fly over areas with hard surfaces like sidewalks and streets, as well as over natural grassy and shrub-covered terrain. However. The drone must avoid flying through dense tree canopies or close to buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete surface","end_land_type":"another concrete surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination concrete 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":"dhaka_38.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":102,"start_point":[939,915],"end_point":[221,417],"distance":873.800892652325},{"start_region_id":102,"end_region_id":164,"start_point":[221,417],"end_point":[939,915],"distance":873.800892652325},{"start_region_id":164,"end_region_id":172,"start_point":[939,915],"end_point":[210,972],"distance":731.2249995726349},{"start_region_id":172,"end_region_id":164,"start_point":[210,972],"end_point":[939,915],"distance":731.2249995726349},{"start_region_id":89,"end_region_id":164,"start_point":[483,365],"end_point":[939,915],"distance":714.4480386984067}],"complexity_score":0.6388115291797272}
{"id":6045,"query_id":"Q01209","question":"A person walking with a stroller starts from a paved, flat area with artificial grass and tennis courts and needs to reach a vehicle lane with asphalt surface. The stroller requires smooth, stable surfaces to minimize vibration and ensure a comfortable ride for the passenger. Only hard, paved surfaces are accessible for this journey.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"A paved, flat area with artificial grass and tennis courts","end_land_type":"A vehicle lane with asphalt surface","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":"vienna_25.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":167,"start_point":[953,871],"end_point":[215,213],"distance":988.7406131033558},{"start_region_id":152,"end_region_id":169,"start_point":[94,945],"end_point":[687,175],"distance":971.8791077083611},{"start_region_id":158,"end_region_id":167,"start_point":[562,966],"end_point":[215,213],"distance":829.106748253806},{"start_region_id":158,"end_region_id":169,"start_point":[562,966],"end_point":[687,175],"distance":800.8158340092933},{"start_region_id":152,"end_region_id":167,"start_point":[94,945],"end_point":[215,213],"distance":741.9332854104875}],"complexity_score":0.6388129478626199}
{"id":11060,"query_id":"Q02212","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a dense cluster of tall, vertical vegetation as quickly as possible. The hiker can traverse grassy fields and shrubs, cultivated crop fields, and vehicle lanes, but must avoid any liquid surfaces and permanent structures. The hiker can also walk on loose, sandy or rocky ground if necessary. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a dense cluster of tall, vertical vegetation","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":[2,3,6,5,1,0,4,0],"image_name":"vienna_25.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":258,"start_point":[79,415],"end_point":[889,893],"distance":940.5232586172444},{"start_region_id":30,"end_region_id":264,"start_point":[873,157],"end_point":[255,902],"distance":967.9612595553605},{"start_region_id":152,"end_region_id":239,"start_point":[94,945],"end_point":[888,546],"distance":888.6152148146012},{"start_region_id":59,"end_region_id":239,"start_point":[79,415],"end_point":[888,546],"distance":819.5376745458381},{"start_region_id":152,"end_region_id":258,"start_point":[94,945],"end_point":[889,893],"distance":796.6988138562779}],"complexity_score":0.6388129478626199}
{"id":15765,"query_id":"Q03153","question":"A hiker is standing in a densely vegetated area with tall, woody plants and needs to reach a flat, hard, artificial surface. The hiker can traverse areas with soft, grassy ground, areas with cultivated crops, and the flat, hard, artificial surface itself. However, the hiker cannot traverse any liquid bodies or enter any structures. 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":"a flat, hard, artificial surface","task_description":"What is the shortest path to reach 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":"vienna_25.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":258,"end_region_id":59,"start_point":[889,893],"end_point":[79,415],"distance":940.5232586172444},{"start_region_id":264,"end_region_id":30,"start_point":[255,902],"end_point":[873,157],"distance":967.9612595553605},{"start_region_id":239,"end_region_id":152,"start_point":[888,546],"end_point":[94,945],"distance":888.6152148146012},{"start_region_id":239,"end_region_id":59,"start_point":[888,546],"end_point":[79,415],"distance":819.5376745458381},{"start_region_id":258,"end_region_id":152,"start_point":[889,893],"end_point":[94,945],"distance":796.6988138562779}],"complexity_score":0.6388129478626199}
{"id":5967,"query_id":"Q01194","question":"A surveillance drone starts from a cultivated field and needs to reach another cultivated field across a landscape. The terrain consists of areas with soft, grassy ground and other areas with loose, tilled soil. You are piloting a surveillance drone that can fly over both grassy and tilled surfaces, but must avoid trees and buildings due to low-altitude restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a surveillance 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","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_53.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":246,"start_point":[675,882],"end_point":[116,221],"distance":865.680079475091},{"start_region_id":246,"end_region_id":271,"start_point":[116,221],"end_point":[675,882],"distance":865.680079475091},{"start_region_id":271,"end_region_id":253,"start_point":[675,882],"end_point":[96,565],"distance":660.0984775016527},{"start_region_id":253,"end_region_id":271,"start_point":[96,565],"end_point":[675,882],"distance":660.0984775016527},{"start_region_id":248,"end_region_id":271,"start_point":[358,345],"end_point":[675,882],"distance":623.5847977621007}],"complexity_score":0.638910381683148}
{"id":6594,"query_id":"Q01319","question":"A farm vehicle starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with similar loose soil. The area contains only two types of surfaces: hard, paved surfaces that are smooth and stable, and loose, cultivated soil that is uneven and soft. The hard surfaces allow for much higher and more consistent travel speeds compared to the loose soil. What is the fastest route?","agent_category":"Car","specific_agent":"farm vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route from the starting cultivated field to the destination 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":"pedrogao_grande_53.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":246,"start_point":[675,882],"end_point":[116,221],"distance":865.680079475091},{"start_region_id":246,"end_region_id":271,"start_point":[116,221],"end_point":[675,882],"distance":865.680079475091},{"start_region_id":271,"end_region_id":253,"start_point":[675,882],"end_point":[96,565],"distance":660.0984775016527},{"start_region_id":253,"end_region_id":271,"start_point":[96,565],"end_point":[675,882],"distance":660.0984775016527},{"start_region_id":248,"end_region_id":271,"start_point":[358,345],"end_point":[675,882],"distance":623.5847977621007}],"complexity_score":0.638910381683148}
{"id":11867,"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":"pedrogao_grande_53.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":132,"start_point":[342,994],"end_point":[216,220],"distance":784.1887527885108},{"start_region_id":107,"end_region_id":138,"start_point":[342,994],"end_point":[109,461],"distance":581.7026731931013},{"start_region_id":107,"end_region_id":143,"start_point":[342,994],"end_point":[334,644],"distance":350.09141663285607},{"start_region_id":107,"end_region_id":155,"start_point":[342,994],"end_point":[698,1008],"distance":356.2751745491117},{"start_region_id":107,"end_region_id":148,"start_point":[342,994],"end_point":[112,830],"distance":282.48185782453356}],"complexity_score":0.638910381683148}
{"id":67,"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_26.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":71,"start_point":[150,287],"end_point":[179,86],"distance":203.08126452235814},{"start_region_id":71,"end_region_id":79,"start_point":[179,86],"end_point":[150,287],"distance":203.08126452235814}],"complexity_score":0.6390136858743276}
{"id":9154,"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_26.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":50,"start_point":[349,329],"end_point":[67,600],"distance":391.10740212887816},{"start_region_id":55,"end_region_id":51,"start_point":[349,329],"end_point":[537,598],"distance":328.18439938546743},{"start_region_id":55,"end_region_id":19,"start_point":[349,329],"end_point":[43,259],"distance":313.90444405901616},{"start_region_id":55,"end_region_id":31,"start_point":[349,329],"end_point":[82,383],"distance":272.40594707164524},{"start_region_id":55,"end_region_id":43,"start_point":[349,329],"end_point":[247,569],"distance":260.7757657452088}],"complexity_score":0.6390136858743276}
{"id":9158,"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_26.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":50,"start_point":[349,329],"end_point":[67,600],"distance":391.10740212887816},{"start_region_id":55,"end_region_id":51,"start_point":[349,329],"end_point":[537,598],"distance":328.18439938546743},{"start_region_id":55,"end_region_id":19,"start_point":[349,329],"end_point":[43,259],"distance":313.90444405901616},{"start_region_id":55,"end_region_id":31,"start_point":[349,329],"end_point":[82,383],"distance":272.40594707164524},{"start_region_id":55,"end_region_id":43,"start_point":[349,329],"end_point":[247,569],"distance":260.7757657452088}],"complexity_score":0.6390136858743276}
{"id":565,"query_id":"Q00113","question":"A quadcopter drone starts from a paved tennis court and needs to reach a paved runway. The area includes hard, flat surfaces like tennis courts and runways, as well as rough, uneven ground with loose soil and rocks, and areas with tall vertical obstacles like trees. You must avoid any liquid surfaces. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved tennis court","end_land_type":"a paved runway","task_description":"What is the shortest path from the paved tennis court to the paved runway?","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":"mexico_city_18.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1915,"end_region_id":3213,"start_point":[954,31],"end_point":[79,486],"distance":986.230196252376},{"start_region_id":2540,"end_region_id":3213,"start_point":[999,628],"end_point":[79,486],"distance":930.8941937728476},{"start_region_id":1974,"end_region_id":3213,"start_point":[900,215],"end_point":[79,486],"distance":864.5704135580861},{"start_region_id":2862,"end_region_id":3213,"start_point":[704,839],"end_point":[79,486],"distance":717.7980217303472},{"start_region_id":1932,"end_region_id":3213,"start_point":[707,96],"end_point":[79,486],"distance":739.2455613664515}],"complexity_score":0.6390390098160047}
{"id":8880,"query_id":"Q01776","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 soil and rocks, open grassy or shrub-covered terrain, artificial hard surfaces like parking lots or sports fields, vehicle lanes, and bodies of water. However, it must avoid any tall vertical structures or dense vegetation clusters that could pose collision risks. The drone's primary concern is minimizing operational hazards during 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":"mexico_city_18.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3189,"end_region_id":3213,"start_point":[580,540],"end_point":[79,486],"distance":503.9017761429305},{"start_region_id":3213,"end_region_id":3189,"start_point":[79,486],"end_point":[580,540],"distance":503.9017761429305}],"complexity_score":0.6390390098160047}
{"id":13774,"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":"mexico_city_18.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1979,"start_point":[64,211],"end_point":[486,193],"distance":422.3837118071671},{"start_region_id":1,"end_region_id":1985,"start_point":[64,211],"end_point":[426,330],"distance":381.0577384071868}],"complexity_score":0.6390390098160047}
{"id":17683,"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":"mexico_city_18.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3272,"end_region_id":3395,"start_point":[122,62],"end_point":[941,638],"distance":1001.2676964728264},{"start_region_id":3395,"end_region_id":3272,"start_point":[941,638],"end_point":[122,62],"distance":1001.2676964728264},{"start_region_id":3272,"end_region_id":3456,"start_point":[122,62],"end_point":[561,948],"distance":988.795732191437},{"start_region_id":3456,"end_region_id":3272,"start_point":[561,948],"end_point":[122,62],"distance":988.795732191437},{"start_region_id":3389,"end_region_id":3395,"start_point":[66,574],"end_point":[941,638],"distance":877.3374493317837}],"complexity_score":0.6390390098160047}
{"id":3174,"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_2.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":84,"start_point":[872,628],"end_point":[293,315],"distance":658.1869035464015}],"complexity_score":0.639057212022625}
{"id":10480,"query_id":"Q02096","question":"A quadcopter drone is starting from a grassy, open field with low vegetation and needs to reach a dense cluster of tall, leafy trees. The drone can fly over bare, rocky ground; grassy, open fields; paved, hard surfaces; and water bodies, but it must avoid colliding with vertical structures like buildings and navigate carefully through tree canopies due to potential obstacles. The goal is to find the path that minimizes risk of collision or loss of control.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a dense cluster of tall, leafy trees","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":"rotterdam_2.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":133,"start_point":[253,378],"end_point":[853,874],"distance":778.4702948732212},{"start_region_id":2,"end_region_id":133,"start_point":[399,343],"end_point":[853,874],"distance":698.6250782787574},{"start_region_id":3,"end_region_id":131,"start_point":[253,378],"end_point":[746,838],"distance":674.2766494548065},{"start_region_id":12,"end_region_id":91,"start_point":[775,769],"end_point":[368,253],"distance":657.1947960840835},{"start_region_id":3,"end_region_id":115,"start_point":[253,378],"end_point":[830,613],"distance":623.0200638823761}],"complexity_score":0.639057212022625}
{"id":12433,"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_2.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":19,"start_point":[470,846],"end_point":[826,203],"distance":734.9727886119322},{"start_region_id":16,"end_region_id":23,"start_point":[470,846],"end_point":[529,243],"distance":605.8795259785562},{"start_region_id":3,"end_region_id":19,"start_point":[253,378],"end_point":[826,203],"distance":599.1276992428242},{"start_region_id":12,"end_region_id":24,"start_point":[775,769],"end_point":[327,364],"distance":603.9279758381789},{"start_region_id":12,"end_region_id":23,"start_point":[775,769],"end_point":[529,243],"distance":580.6823572315591}],"complexity_score":0.639057212022625}
{"id":16689,"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_2.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":84,"start_point":[470,846],"end_point":[568,476],"distance":382.7584094438684},{"start_region_id":12,"end_region_id":84,"start_point":[775,769],"end_point":[568,476],"distance":358.74503480884584},{"start_region_id":3,"end_region_id":84,"start_point":[253,378],"end_point":[568,476],"distance":329.892406702549},{"start_region_id":2,"end_region_id":84,"start_point":[399,343],"end_point":[568,476],"distance":215.05813167606567}],"complexity_score":0.639057212022625}
{"id":4850,"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":"shanghai_42.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":30,"start_point":[163,471],"end_point":[557,55],"distance":572.967712877436},{"start_region_id":94,"end_region_id":39,"start_point":[163,471],"end_point":[612,223],"distance":512.937618039465},{"start_region_id":94,"end_region_id":56,"start_point":[163,471],"end_point":[615,570],"distance":462.71481497786516},{"start_region_id":94,"end_region_id":44,"start_point":[163,471],"end_point":[570,423],"distance":409.8206924985609},{"start_region_id":94,"end_region_id":28,"start_point":[163,471],"end_point":[216,97],"distance":377.73668077114246}],"complexity_score":0.6391798360489614}
{"id":9644,"query_id":"Q01929","question":"An off-road vehicle starts from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for vehicles. The area contains various ground types: loose, sandy soil without vegetation; grassy, uneven terrain with scattered shrubs; hard, artificial surfaces like sidewalks and parking lots; paved lanes used by vehicles; and cultivated fields with crops. Vertical obstacles like trees and structures are impassable, and liquid areas cannot be crossed. You must find a path that connects your starting point 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 from the grassy, uneven terrain to the paved, hard 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":"shanghai_42.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":88,"start_point":[147,618],"end_point":[547,215],"distance":567.8107078948054},{"start_region_id":15,"end_region_id":88,"start_point":[79,465],"end_point":[547,215],"distance":530.5883526803052},{"start_region_id":12,"end_region_id":88,"start_point":[41,351],"end_point":[547,215],"distance":523.9580135850582},{"start_region_id":4,"end_region_id":94,"start_point":[395,152],"end_point":[163,471],"distance":394.44264475332784},{"start_region_id":16,"end_region_id":88,"start_point":[302,486],"end_point":[547,215],"distance":365.32998781923175}],"complexity_score":0.6391798360489614}
{"id":14164,"query_id":"Q02833","question":"An off-road vehicle is starting from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface. The vehicle can traverse loose, sandy ground and cultivated fields with soft soil, but must avoid any wooded areas, liquid areas, and vertical structures. The vehicle aims to travel as quickly as possible, prioritizing surfaces that enable high and stable speeds.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard 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":"shanghai_42.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":30,"start_point":[147,618],"end_point":[557,55],"distance":696.4689512103178},{"start_region_id":15,"end_region_id":30,"start_point":[79,465],"end_point":[557,55],"distance":629.7491564107092},{"start_region_id":12,"end_region_id":56,"start_point":[41,351],"end_point":[615,570],"distance":614.3590155601202},{"start_region_id":22,"end_region_id":39,"start_point":[147,618],"end_point":[612,223],"distance":610.1229384312641},{"start_region_id":12,"end_region_id":30,"start_point":[41,351],"end_point":[557,55],"distance":594.8714146771553}],"complexity_score":0.6391798360489614}
{"id":2630,"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_16.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":223,"end_region_id":246,"start_point":[886,946],"end_point":[357,132],"distance":970.7919447543845},{"start_region_id":149,"end_region_id":260,"start_point":[739,22],"end_point":[115,760],"distance":966.4471015011634},{"start_region_id":169,"end_region_id":260,"start_point":[866,189],"end_point":[115,760],"distance":943.4203728985293},{"start_region_id":200,"end_region_id":256,"start_point":[76,657],"end_point":[941,321],"distance":927.9660554136665},{"start_region_id":193,"end_region_id":260,"start_point":[983,422],"end_point":[115,760],"distance":931.4869832692242}],"complexity_score":0.6392385495962315}
{"id":7147,"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_16.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":198,"end_region_id":193,"start_point":[336,649],"end_point":[983,422],"distance":685.6660994974158},{"start_region_id":193,"end_region_id":198,"start_point":[983,422],"end_point":[336,649],"distance":685.6660994974158},{"start_region_id":198,"end_region_id":202,"start_point":[336,649],"end_point":[965,703],"distance":631.3137096563007},{"start_region_id":202,"end_region_id":198,"start_point":[965,703],"end_point":[336,649],"distance":631.3137096563007},{"start_region_id":213,"end_region_id":165,"start_point":[198,827],"end_point":[356,206],"distance":640.7846752224963}],"complexity_score":0.6392385495962315}
{"id":10741,"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":"christchurch_16.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":260,"end_region_id":256,"start_point":[115,760],"end_point":[941,321],"distance":935.4127431246594},{"start_region_id":256,"end_region_id":260,"start_point":[941,321],"end_point":[115,760],"distance":935.4127431246594},{"start_region_id":260,"end_region_id":257,"start_point":[115,760],"end_point":[823,278],"distance":856.4975189689693},{"start_region_id":257,"end_region_id":260,"start_point":[823,278],"end_point":[115,760],"distance":856.4975189689693},{"start_region_id":261,"end_region_id":246,"start_point":[883,738],"end_point":[357,132],"distance":802.4412751098986}],"complexity_score":0.6392385495962315}
{"id":12248,"query_id":"Q02450","question":"An off-road vehicle starts from a grassy, open field with scattered shrubs and needs to reach a paved, hard-surfaced area. The terrain includes unpaved, vegetated areas that are firm enough for vehicle passage, as well as compacted and paved surfaces. However, all areas with tall vegetation, liquid surfaces, and vertical structures are completely blocked. What is the shortest route to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","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":"christchurch_16.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":223,"start_point":[28,69],"end_point":[886,946],"distance":1226.9038267117762},{"start_region_id":1,"end_region_id":202,"start_point":[28,69],"end_point":[965,703],"distance":1131.337703782562},{"start_region_id":20,"end_region_id":223,"start_point":[75,234],"end_point":[886,946],"distance":1079.1964603351885},{"start_region_id":20,"end_region_id":202,"start_point":[75,234],"end_point":[965,703],"distance":1006.0124253705816},{"start_region_id":1,"end_region_id":193,"start_point":[28,69],"end_point":[983,422],"distance":1018.1522479472311}],"complexity_score":0.6392385495962315}
{"id":1015,"query_id":"Q00203","question":"An off-road vehicle starts from a grassy, uneven field and needs to reach a cultivated crop field. The terrain includes hard, flat surfaces that allow for high-speed travel, but you must avoid any loose, sandy or rocky ground, any individual trees or vertical obstacles, any liquid bodies, and any vertical structures. You can traverse the grassy field and the crop field, but movement there is slower due to soft ground and vegetation. The hard, flat surfaces provide the fastest travel. What is the fastest path to the crop field?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven field","end_land_type":"cultivated crop field","task_description":"What is the fastest path to the crop field?","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":"viru_42.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":227,"start_point":[586,202],"end_point":[195,891],"distance":792.2133551007582},{"start_region_id":3,"end_region_id":224,"start_point":[586,202],"end_point":[110,224],"distance":476.5081321446676},{"start_region_id":3,"end_region_id":226,"start_point":[586,202],"end_point":[866,126],"distance":290.13100489261745}],"complexity_score":0.639283021644845}
{"id":3324,"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":"viru_42.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":226,"start_point":[486,580],"end_point":[866,126],"distance":592.0439172899254}],"complexity_score":0.639283021644845}
{"id":7114,"query_id":"Q01423","question":"A delivery drone starts from a paved, hard-surfaced area and needs to reach a cultivated field with crops. The drone can fly over liquid surfaces and cultivated areas, but must avoid vertical structures like trees and buildings. What is the shortest path to the destination?","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 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":"viru_42.tif","subfolder":"viru","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":225,"start_point":[636,949],"end_point":[570,33],"distance":918.3746512181181},{"start_region_id":100,"end_region_id":224,"start_point":[636,949],"end_point":[110,224],"distance":895.7125655030189},{"start_region_id":38,"end_region_id":227,"start_point":[760,199],"end_point":[195,891],"distance":893.3582707962131},{"start_region_id":42,"end_region_id":227,"start_point":[891,345],"end_point":[195,891],"distance":884.6083879321968},{"start_region_id":100,"end_region_id":226,"start_point":[636,949],"end_point":[866,126],"distance":854.5343761370867}],"complexity_score":0.639283021644845}
{"id":6219,"query_id":"Q01244","question":"An aerial surveillance drone starts from a flat, hard, artificial surface and needs to reach a long, paved lane designed for vehicles as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks; areas covered with natural, uncultivated grass and shrubs; all other flat, hard artificial surfaces; liquid bodies; and cultivated fields with crops. However, it must avoid flying directly through dense clusters of tall, vertical obstacles with complex branching structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, artificial surface","end_land_type":"A long, paved lane designed for vehicles","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":"tyrolw_51.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":133,"start_point":[900,180],"end_point":[300,987],"distance":1005.6087708448052},{"start_region_id":78,"end_region_id":133,"start_point":[914,262],"end_point":[300,987],"distance":950.0636820761017},{"start_region_id":77,"end_region_id":133,"start_point":[936,352],"end_point":[300,987],"distance":898.7329970575244},{"start_region_id":86,"end_region_id":129,"start_point":[41,570],"end_point":[845,683],"distance":811.9020876928449},{"start_region_id":106,"end_region_id":125,"start_point":[261,840],"end_point":[748,211],"distance":795.4935574849113}],"complexity_score":0.6394369725743001}
{"id":4077,"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_34.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":170,"start_point":[121,162],"end_point":[589,865],"distance":844.5312309204438},{"start_region_id":30,"end_region_id":169,"start_point":[867,668],"end_point":[283,24],"distance":869.3629851793784},{"start_region_id":54,"end_region_id":169,"start_point":[247,887],"end_point":[283,24],"distance":863.7505426915806},{"start_region_id":50,"end_region_id":169,"start_point":[407,839],"end_point":[283,24],"distance":824.3791603382512},{"start_region_id":4,"end_region_id":170,"start_point":[819,128],"end_point":[589,865],"distance":772.0550498507215}],"complexity_score":0.6394472631936079}
{"id":4719,"query_id":"Q00944","question":"A farm vehicle starts from a hard paved surface and needs to reach cultivated soil. The vehicle can drive on paved surfaces, vehicle lanes, and cultivated soil, but cannot pass through vegetation clusters, water bodies, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"A farm vehicle","start_land_type":"hard paved surface","end_land_type":"cultivated soil","task_description":"What is the shortest path from the hard paved surface to the cultivated soil?","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":"duesseldorf_34.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":170,"start_point":[156,173],"end_point":[589,865],"distance":816.3044775082395},{"start_region_id":72,"end_region_id":170,"start_point":[368,264],"end_point":[589,865],"distance":640.3452193934144},{"start_region_id":79,"end_region_id":170,"start_point":[882,437],"end_point":[589,865],"distance":518.683911452823},{"start_region_id":78,"end_region_id":170,"start_point":[499,357],"end_point":[589,865],"distance":515.9108450110348}],"complexity_score":0.6394472631936079}
{"id":7604,"query_id":"Q01521","question":"A quadcopter drone starts from a paved surface and needs to reach a cultivated field. The drone can fly over most surfaces, but must avoid liquid areas and vertical obstacles due to safety concerns. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"A cultivated field","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":"duesseldorf_34.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":170,"start_point":[299,241],"end_point":[589,865],"distance":688.0959235455475},{"start_region_id":103,"end_region_id":170,"start_point":[331,311],"end_point":[589,865],"distance":611.1301007150605},{"start_region_id":104,"end_region_id":170,"start_point":[856,422],"end_point":[589,865],"distance":517.2407563214639},{"start_region_id":106,"end_region_id":170,"start_point":[282,577],"end_point":[589,865],"distance":420.9429890139519},{"start_region_id":101,"end_region_id":170,"start_point":[752,524],"end_point":[589,865],"distance":377.95502377928517}],"complexity_score":0.6394472631936079}
{"id":11255,"query_id":"Q02251","question":"A delivery drone starts from a paved landing pad and needs to return to another paved landing pad while prioritizing safety. The drone can fly over hard surfaces, soft ground, low vegetation, and cultivated areas, as these terrains pose minimal risk if it maintains altitude. It can also pass over liquid bodies if necessary, but should avoid dense vertical obstacles or structures that could interfere with its flight path or cause collisions. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved landing pad","end_land_type":"a paved landing pad","task_description":"What is the safest path for the delivery drone to return from the starting paved landing pad to the destination paved landing pad?","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_70.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":465,"end_region_id":178,"start_point":[160,967],"end_point":[838,86],"distance":1111.6856570092104},{"start_region_id":178,"end_region_id":465,"start_point":[838,86],"end_point":[160,967],"distance":1111.6856570092104},{"start_region_id":465,"end_region_id":210,"start_point":[160,967],"end_point":[897,155],"distance":1096.5915374468289},{"start_region_id":210,"end_region_id":465,"start_point":[897,155],"end_point":[160,967],"distance":1096.5915374468289},{"start_region_id":465,"end_region_id":231,"start_point":[160,967],"end_point":[952,273],"distance":1053.0432089900205}],"complexity_score":0.6395305398753394}
{"id":11714,"query_id":"Q02343","question":"An aerial surveillance drone starts from a paved, flat, hard surface area and needs to reach another paved, flat, hard surface area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The route can include open ground with loose soil or rocks, areas with low vegetation like grass and shrubs, and bodies of liquid. The primary objective is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, hard surface area","end_land_type":"Another paved, flat, 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":"tokyo_70.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":465,"end_region_id":178,"start_point":[160,967],"end_point":[838,86],"distance":1111.6856570092104},{"start_region_id":178,"end_region_id":465,"start_point":[838,86],"end_point":[160,967],"distance":1111.6856570092104},{"start_region_id":465,"end_region_id":210,"start_point":[160,967],"end_point":[897,155],"distance":1096.5915374468289},{"start_region_id":210,"end_region_id":465,"start_point":[897,155],"end_point":[160,967],"distance":1096.5915374468289},{"start_region_id":465,"end_region_id":231,"start_point":[160,967],"end_point":[952,273],"distance":1053.0432089900205}],"complexity_score":0.6395305398753394}
{"id":4055,"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_11.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":450,"end_region_id":470,"start_point":[822,957],"end_point":[250,59],"distance":1064.7008969659037},{"start_region_id":450,"end_region_id":471,"start_point":[822,957],"end_point":[574,44],"distance":946.0829773333838},{"start_region_id":434,"end_region_id":471,"start_point":[170,838],"end_point":[574,44],"distance":890.8714834363035},{"start_region_id":434,"end_region_id":470,"start_point":[170,838],"end_point":[250,59],"distance":783.0970565645104},{"start_region_id":355,"end_region_id":470,"start_point":[1003,176],"end_point":[250,59],"distance":762.0354322470839}],"complexity_score":0.6395461990203382}
{"id":8162,"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_11.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":471,"end_region_id":309,"start_point":[574,44],"end_point":[852,209],"distance":323.2785176902418}],"complexity_score":0.6395461990203382}
{"id":17634,"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":"daressalaam_11.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":329,"end_region_id":470,"start_point":[612,964],"end_point":[250,59],"distance":974.7148300913452},{"start_region_id":329,"end_region_id":471,"start_point":[612,964],"end_point":[574,44],"distance":920.78444817449},{"start_region_id":326,"end_region_id":470,"start_point":[522,799],"end_point":[250,59],"distance":788.405986785996},{"start_region_id":326,"end_region_id":471,"start_point":[522,799],"end_point":[574,44],"distance":756.7886098508618},{"start_region_id":329,"end_region_id":476,"start_point":[612,964],"end_point":[362,361],"distance":652.770250547618}],"complexity_score":0.6395461990203382}
{"id":5239,"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":"abancay_28.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":169,"start_point":[151,1021],"end_point":[952,163],"distance":1173.7823477970692}],"complexity_score":0.6396076481688271}
{"id":14522,"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":"abancay_28.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":169,"end_region_id":253,"start_point":[473,494],"end_point":[815,947],"distance":567.6028541154458},{"start_region_id":169,"end_region_id":173,"start_point":[473,494],"end_point":[581,59],"distance":448.20642565675024},{"start_region_id":169,"end_region_id":213,"start_point":[473,494],"end_point":[123,504],"distance":350.14282800023193}],"complexity_score":0.6396076481688271}
{"id":17239,"query_id":"Q03448","question":"A quadcopter starts from a forested area with tall vegetation casting shadows and needs to reach another forested area with tall vegetation casting shadows. The environment includes open grassy fields with scattered bushes, hard paved surfaces like sidewalks and parking lots, and forested patches with tall vegetation. You can fly over grassy fields, paved surfaces, and forested patches. You cannot fly through dense vertical obstacles like thick tree canopies or buildings unless explicitly permitted. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a forested area with tall vegetation casting shadows","end_land_type":"another forested area with tall vegetation casting shadows","task_description":"What is the shortest path from the starting forested area to the destination forested area?","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":"abancay_28.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":253,"start_point":[581,59],"end_point":[815,947],"distance":918.313671900838},{"start_region_id":253,"end_region_id":173,"start_point":[815,947],"end_point":[581,59],"distance":918.313671900838},{"start_region_id":213,"end_region_id":253,"start_point":[123,504],"end_point":[815,947],"distance":821.6526029898524},{"start_region_id":253,"end_region_id":213,"start_point":[815,947],"end_point":[123,504],"distance":821.6526029898524},{"start_region_id":213,"end_region_id":173,"start_point":[123,504],"end_point":[581,59],"distance":638.5835888902877}],"complexity_score":0.6396076481688271}
{"id":5654,"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_36.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":30,"start_point":[795,693],"end_point":[157,230],"distance":788.2975326613677},{"start_region_id":30,"end_region_id":150,"start_point":[157,230],"end_point":[795,693],"distance":788.2975326613677},{"start_region_id":30,"end_region_id":219,"start_point":[157,230],"end_point":[651,736],"distance":707.1576910421041},{"start_region_id":219,"end_region_id":30,"start_point":[651,736],"end_point":[157,230],"distance":707.1576910421041},{"start_region_id":26,"end_region_id":30,"start_point":[754,284],"end_point":[157,230],"distance":599.4372360806426}],"complexity_score":0.639776029947027}
{"id":7565,"query_id":"Q01513","question":"An aerial survey drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard, flat surfaces like parking lots and sidewalks, as well as over loose, dry soil areas and cultivated fields. It can also cross over liquid surfaces. The drone must avoid any vertical structures and dense vegetation clusters. What is the shortest path to the destination?","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 to the destination?","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":"rotterdam_36.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":272,"start_point":[135,344],"end_point":[606,735],"distance":612.145407562615},{"start_region_id":272,"end_region_id":254,"start_point":[606,735],"end_point":[135,344],"distance":612.145407562615},{"start_region_id":251,"end_region_id":254,"start_point":[519,558],"end_point":[135,344],"distance":439.6043675852186},{"start_region_id":254,"end_region_id":251,"start_point":[135,344],"end_point":[519,558],"distance":439.6043675852186},{"start_region_id":258,"end_region_id":272,"start_point":[314,413],"end_point":[606,735],"distance":434.6814925896892}],"complexity_score":0.639776029947027}
{"id":12420,"query_id":"Q02484","question":"A quadcopter drone starts from a paved surface and needs to reach a grassy area. The drone requires a stable flight with minimal turbulence and must avoid liquid surfaces that could cause signal interference or damage if splashed. The drone can fly over hard surfaces, grassy terrain, and areas with vegetation, but dense clusters of tall vegetation that could cause buffeting should be avoided unless they are sparse. Vertical structures should also be avoided to prevent collision. What is the most comfortable path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"What is the most comfortable path for the quadcopter drone to take from the paved surface to the grassy 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":"rotterdam_36.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":9,"start_point":[606,735],"end_point":[816,317],"distance":467.7862759850913},{"start_region_id":251,"end_region_id":9,"start_point":[519,558],"end_point":[816,317],"distance":382.4787575800779},{"start_region_id":272,"end_region_id":15,"start_point":[606,735],"end_point":[758,520],"distance":263.3040068058213}],"complexity_score":0.639776029947027}
{"id":16671,"query_id":"Q03335","question":"A delivery drone starts from a grassy field and needs to reach a paved street. The area contains various surfaces: some are covered with loose soil and low vegetation, others have tall vertical obstacles that require careful navigation, some are liquid surfaces, and some are cultivated areas with uneven soil. You must avoid any hard, artificial surfaces that aren't the destination street. Your drone can fly over most terrain but prioritizes smooth, predictable airspace to minimize vibration and ensure stable flight comfort. What is the most comfortable path to reach the paved street?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"paved street","task_description":"What is the most comfortable path to reach the paved street?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Road","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,1,1,1,1,0],"cost_vector":[3,3,0,3,1,2,3,0],"image_name":"rotterdam_36.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":254,"start_point":[758,520],"end_point":[135,344],"distance":647.3831940975916},{"start_region_id":7,"end_region_id":272,"start_point":[213,306],"end_point":[606,735],"distance":581.7989343407222},{"start_region_id":15,"end_region_id":282,"start_point":[758,520],"end_point":[287,804],"distance":549.9972727205109},{"start_region_id":7,"end_region_id":282,"start_point":[213,306],"end_point":[287,804],"distance":503.4679731621466},{"start_region_id":15,"end_region_id":258,"start_point":[758,520],"end_point":[314,413],"distance":456.71106840101874}],"complexity_score":0.639776029947027}
{"id":2088,"query_id":"Q00418","question":"A hiker starts from a cultivated field and needs to reach a wooded area. You are a hiker who can walk on paved surfaces and unpaved paths, but you must avoid any structures or water bodies. The cultivated field is currently dry and firm enough to walk on, and the wooded area has sparse enough trees to allow passage. What is the shortest path to the wooded area?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the shortest path 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":"coxsbazar_48.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":102,"start_point":[26,91],"end_point":[923,815],"distance":1152.7293698002147},{"start_region_id":124,"end_region_id":112,"start_point":[26,91],"end_point":[677,959],"distance":1085.0},{"start_region_id":131,"end_region_id":80,"start_point":[458,949],"end_point":[982,84],"distance":1011.3362447771759},{"start_region_id":128,"end_region_id":115,"start_point":[837,416],"end_point":[58,982],"distance":962.9106916012513},{"start_region_id":124,"end_region_id":80,"start_point":[26,91],"end_point":[982,84],"distance":956.0256272715706}],"complexity_score":0.6398466947470336}
{"id":6244,"query_id":"Q01249","question":"A hiker starts from a grassy, uneven ground and needs to reach another patch of grassy, uneven ground. The terrain includes loose, sandy or rocky surfaces without vegetation; grassy or shrubby areas; hard, paved surfaces like sidewalks and parking lots; vehicle lanes and streets; and areas with tall, vertical obstacles like trees. You must avoid water bodies and buildings entirely. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground","end_land_type":"grassy, uneven ground","task_description":"What is the shortest path from the starting grassy, uneven ground to the destination grassy, uneven ground?","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":"coxsbazar_48.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":53,"start_point":[963,907],"end_point":[214,954],"distance":750.4731840645607},{"start_region_id":53,"end_region_id":50,"start_point":[214,954],"end_point":[963,907],"distance":750.4731840645607},{"start_region_id":26,"end_region_id":53,"start_point":[602,710],"end_point":[214,954],"distance":458.34484834019895},{"start_region_id":53,"end_region_id":26,"start_point":[214,954],"end_point":[602,710],"distance":458.34484834019895},{"start_region_id":26,"end_region_id":50,"start_point":[602,710],"end_point":[963,907],"distance":411.254179310071}],"complexity_score":0.6398466947470336}
{"id":6475,"query_id":"Q01295","question":"An aerial survey drone begins its mission on a grassy, uneven field covered with scattered shrubs and low vegetation. It needs to reach a flat, hard-surfaced area with artificial ground cover. The drone can fly over open sandy or rocky expanses, grassy fields, paved surfaces, vehicle lanes, water bodies, and cultivated crop fields. However, it must avoid flying directly through dense vertical obstacles like tall trees or clusters of buildings, as these pose collision risks. It should also minimize flight over liquid surfaces and near man-made structures to reduce the chance of signal interference or unexpected downdrafts. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Rangeland","end_land_type":"Developed space","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_48.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":74,"start_point":[963,436],"end_point":[149,986],"distance":982.3929967177087},{"start_region_id":9,"end_region_id":74,"start_point":[684,189],"end_point":[149,986],"distance":959.9135377730643},{"start_region_id":20,"end_region_id":74,"start_point":[821,347],"end_point":[149,986],"distance":927.3106275676992},{"start_region_id":37,"end_region_id":74,"start_point":[966,602],"end_point":[149,986],"distance":902.7430420667888},{"start_region_id":28,"end_region_id":73,"start_point":[963,436],"end_point":[213,899],"distance":881.4017245274711}],"complexity_score":0.6398466947470336}
{"id":15665,"query_id":"Q03133","question":"A hiker starts from a paved area and needs to reach a cultivated field. The terrain includes areas with hard, smooth surfaces; grassy and shrub-covered ground; patches of tall vegetation with vertical obstacles; and soft, tilled soil. You can traverse grassy and shrub-covered ground, as the vegetation is low enough to walk through. You can also traverse patches of tall vegetation, as there are clear paths between the vertical obstacles. However, you cannot traverse any liquid surfaces or enter any structures. What is the shortest path to the cultivated field?","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 cultivated field?","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":"coxsbazar_48.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":124,"start_point":[149,986],"end_point":[26,91],"distance":903.4124196622492},{"start_region_id":74,"end_region_id":128,"start_point":[149,986],"end_point":[837,416],"distance":893.4450178942183},{"start_region_id":73,"end_region_id":124,"start_point":[213,899],"end_point":[26,91],"distance":829.3569798343775},{"start_region_id":73,"end_region_id":128,"start_point":[213,899],"end_point":[837,416],"distance":789.0912494762567},{"start_region_id":74,"end_region_id":125,"start_point":[149,986],"end_point":[392,412],"distance":623.3177359902412}],"complexity_score":0.6398466947470336}
{"id":16040,"query_id":"Q03208","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over open grassy areas, paved surfaces, cultivated plots, and water bodies. It can also navigate around or between tall vertical structures and dense vegetation clusters, but these present collision risks and should be avoided if possible. The water surfaces are stable but pose a splash risk to sensors in low-altitude flight. The primary objective is to minimize operational risks such as collisions, signal interference, or environmental damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the safest flight 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":"coxsbazar_48.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":50,"start_point":[26,91],"end_point":[963,907],"distance":1242.50754524872},{"start_region_id":124,"end_region_id":37,"start_point":[26,91],"end_point":[966,602],"distance":1069.9163518705564},{"start_region_id":130,"end_region_id":1,"start_point":[750,907],"end_point":[212,37],"distance":1022.9095756712809},{"start_region_id":131,"end_region_id":6,"start_point":[458,949],"end_point":[892,47],"distance":1000.9795202700203},{"start_region_id":124,"end_region_id":28,"start_point":[26,91],"end_point":[963,436],"distance":998.4958687946586}],"complexity_score":0.6398466947470336}
{"id":1205,"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_5.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":194,"start_point":[364,78],"end_point":[871,965],"distance":1021.6741163404307},{"start_region_id":1,"end_region_id":191,"start_point":[364,78],"end_point":[839,153],"distance":480.88460154178364},{"start_region_id":1,"end_region_id":189,"start_point":[364,78],"end_point":[449,521],"distance":451.0809240036648}],"complexity_score":0.6398936904930177}
{"id":2966,"query_id":"Q00594","question":"An off-road vehicle starts from a patch of grassy, shrub-covered ground and needs to reach another area of similar grassy, shrub-covered ground. The vehicle can traverse both loose, sandy or rocky surfaces without vegetation and grassy or shrubby terrain that is not cultivated, provided the ground is firm enough for vehicle traction. All other surface types are impassable for this journey. ","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path the off-road vehicle 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":"accra_5.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[283,167],"end_point":[436,20],"distance":212.17445652104308}],"complexity_score":0.6398936904930177}
{"id":15340,"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":"accra_5.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":223,"start_point":[871,965],"end_point":[196,171],"distance":1042.1425046508755},{"start_region_id":191,"end_region_id":364,"start_point":[839,153],"end_point":[302,971],"distance":978.5157126995969},{"start_region_id":191,"end_region_id":223,"start_point":[839,153],"end_point":[196,171],"distance":643.2518946726857},{"start_region_id":194,"end_region_id":364,"start_point":[871,965],"end_point":[302,971],"distance":569.0316335670627},{"start_region_id":191,"end_region_id":305,"start_point":[839,153],"end_point":[793,720],"distance":568.8629008821018}],"complexity_score":0.6398936904930177}
{"id":5760,"query_id":"Q01152","question":"A hiker starts from a densely vegetated area with tall, upright structures providing shade and cover and needs to reach a flat, hard-surfaced area with artificial, smooth ground. The path must avoid any liquid surfaces or enclosed vertical structures, as these are impassable. Only areas with vegetation or hard, flat surfaces are accessible for traversal. What is the shortest route to the destination?","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-surfaced area with artificial, smooth ground","task_description":"What is the shortest route 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":"kagera_16.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":89,"start_point":[961,996],"end_point":[256,69],"distance":1164.6261202634946},{"start_region_id":272,"end_region_id":94,"start_point":[961,996],"end_point":[142,223],"distance":1126.183821585091},{"start_region_id":272,"end_region_id":107,"start_point":[961,996],"end_point":[133,415],"distance":1011.5063025013734},{"start_region_id":273,"end_region_id":89,"start_point":[662,994],"end_point":[256,69],"distance":1010.1786970630493},{"start_region_id":226,"end_region_id":89,"start_point":[961,780],"end_point":[256,69],"distance":1001.2721907653283}],"complexity_score":0.6400549673904053}
{"id":6829,"query_id":"Q01366","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 open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces, liquid bodies, and cultivated fields. It can also pass between tall vertical obstacles if careful navigation is possible, but these areas require slower movement. The drone must avoid any areas that would significantly reduce its speed.","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 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":"kagera_16.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":296,"start_point":[256,69],"end_point":[868,938],"distance":1062.8758158881967},{"start_region_id":94,"end_region_id":296,"start_point":[142,223],"end_point":[868,938],"distance":1018.9705589466263},{"start_region_id":107,"end_region_id":296,"start_point":[133,415],"end_point":[868,938],"distance":902.0831447266931},{"start_region_id":89,"end_region_id":295,"start_point":[256,69],"end_point":[41,826],"distance":786.9396419040027},{"start_region_id":94,"end_region_id":294,"start_point":[142,223],"end_point":[781,575],"distance":729.5375247374188}],"complexity_score":0.6400549673904053}
{"id":15212,"query_id":"Q03043","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 areas with loose soil and rocks, grassy and shrubby vegetation, paved hard surfaces, liquid bodies, and other cultivated fields. However, it must avoid any vertical structures or dense tree canopies that could pose collision risks. 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 reach 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":"kagera_16.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":296,"end_region_id":295,"start_point":[868,938],"end_point":[41,826],"distance":834.5495791143867},{"start_region_id":295,"end_region_id":296,"start_point":[41,826],"end_point":[868,938],"distance":834.5495791143867},{"start_region_id":295,"end_region_id":294,"start_point":[41,826],"end_point":[781,575],"distance":781.4096236929771},{"start_region_id":294,"end_region_id":295,"start_point":[781,575],"end_point":[41,826],"distance":781.4096236929771},{"start_region_id":293,"end_region_id":296,"start_point":[396,735],"end_point":[868,938],"distance":513.8024912356888}],"complexity_score":0.6400549673904053}
{"id":16658,"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":"kagera_16.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":296,"end_region_id":123,"start_point":[868,938],"end_point":[117,155],"distance":1084.9377862347683},{"start_region_id":295,"end_region_id":134,"start_point":[41,826],"end_point":[932,546],"distance":933.9598492440668},{"start_region_id":295,"end_region_id":124,"start_point":[41,826],"end_point":[565,121],"distance":878.4082194515258},{"start_region_id":296,"end_region_id":124,"start_point":[868,938],"end_point":[565,121],"distance":871.3770710777281},{"start_region_id":294,"end_region_id":123,"start_point":[781,575],"end_point":[117,155],"distance":785.6818694611707}],"complexity_score":0.6400549673904053}
{"id":4151,"query_id":"Q00831","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface used by vehicles. The drone must avoid vertical obstacles and maintain stable flight. The drone can fly over loose, sandy ground; grassy or shrub-covered areas; paved, hard surfaces; vehicle lanes; liquid surfaces; and cultivated fields. However, vertical structures and tall vegetation pose collision risks and should be avoided unless absolutely necessary. Liquid surfaces also present hazards due to potential signal interference and lack of emergency landing options. 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":"paved, hard surface 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":"kujawsko-pomorskie_13.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":445,"start_point":[158,45],"end_point":[996,978],"distance":1254.0865201412541},{"start_region_id":343,"end_region_id":445,"start_point":[157,247],"end_point":[996,978],"distance":1112.7812004163263},{"start_region_id":365,"end_region_id":445,"start_point":[85,415],"end_point":[996,978],"distance":1070.9295028151946},{"start_region_id":339,"end_region_id":445,"start_point":[352,170],"end_point":[996,978],"distance":1033.2473082471593},{"start_region_id":384,"end_region_id":445,"start_point":[106,569],"end_point":[996,978],"distance":979.4799640625631}],"complexity_score":0.6400838685453836}
{"id":9645,"query_id":"Q01929","question":"An off-road vehicle starts from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface suitable for vehicles. The area contains various ground types: loose, sandy soil without vegetation; grassy, uneven terrain with scattered shrubs; hard, artificial surfaces like sidewalks and parking lots; paved lanes used by vehicles; and cultivated fields with crops. Vertical obstacles like trees and structures are impassable, and liquid areas cannot be crossed. You must find a path that connects your starting point 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 from the grassy, uneven terrain to the paved, hard 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":"kujawsko-pomorskie_13.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":44,"end_region_id":445,"start_point":[118,147],"end_point":[996,978],"distance":1208.902394736647},{"start_region_id":78,"end_region_id":445,"start_point":[111,263],"end_point":[996,978],"distance":1137.738985883845},{"start_region_id":90,"end_region_id":445,"start_point":[62,345],"end_point":[996,978],"distance":1128.292958411068},{"start_region_id":31,"end_region_id":445,"start_point":[354,87],"end_point":[996,978],"distance":1098.2008013109441},{"start_region_id":46,"end_region_id":445,"start_point":[283,171],"end_point":[996,978],"distance":1076.8556077766416}],"complexity_score":0.6400838685453836}
{"id":14165,"query_id":"Q02833","question":"An off-road vehicle is starting from a grassy, uneven terrain with scattered shrubs and needs to reach a paved, hard surface. The vehicle can traverse loose, sandy ground and cultivated fields with soft soil, but must avoid any wooded areas, liquid areas, and vertical structures. The vehicle aims to travel as quickly as possible, prioritizing surfaces that enable high and stable speeds.","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"paved, hard 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":"kujawsko-pomorskie_13.tif","subfolder":"kujawsko-pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":299,"end_region_id":335,"start_point":[921,987],"end_point":[158,45],"distance":1212.2429624460601},{"start_region_id":49,"end_region_id":413,"start_point":[965,172],"end_point":[101,906],"distance":1133.6895518615315},{"start_region_id":44,"end_region_id":412,"start_point":[118,147],"end_point":[965,893],"distance":1128.6828606831948},{"start_region_id":218,"end_region_id":335,"start_point":[1000,732],"end_point":[158,45],"distance":1086.707412324035},{"start_region_id":246,"end_region_id":335,"start_point":[935,800],"end_point":[158,45],"distance":1083.3992800440658}],"complexity_score":0.6400838685453836}
{"id":1063,"query_id":"Q00213","question":"A hiker starts from an area of natural, uneven grassy terrain and needs to reach a cultivated field with soft, tilled soil. The path must avoid any liquid surfaces or vertical structures, and you can only travel on surfaces that are either natural grassy terrain, hard paved surfaces, or cultivated fields. The hard paved surfaces are available for use, but the natural grassy terrain and cultivated fields are traversable only because the ground is dry and firm enough to walk on without sinking. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Rangeland","end_land_type":"Agriculture land","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":[0,1,4,3,0,0,2,0],"image_name":"ngaoundere_15.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":240,"start_point":[980,918],"end_point":[198,44],"distance":1172.7744881263404},{"start_region_id":53,"end_region_id":243,"start_point":[980,918],"end_point":[199,162],"distance":1086.9668808202023},{"start_region_id":59,"end_region_id":240,"start_point":[788,895],"end_point":[198,44],"distance":1035.519676297848},{"start_region_id":53,"end_region_id":246,"start_point":[980,918],"end_point":[43,468],"distance":1039.4561077794483},{"start_region_id":44,"end_region_id":240,"start_point":[886,760],"end_point":[198,44],"distance":992.9753269845128}],"complexity_score":0.6400922477105235}
{"id":7047,"query_id":"Q01410","question":"An aerial photography drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone must maintain stable flight for clear image capture, so it should avoid areas with tall vertical obstacles and liquid surfaces that could cause turbulence or signal interference. Which path provides the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved, hard surface","end_land_type":"cultivated field with crops","task_description":"Which path provides 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":"ngaoundere_15.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":240,"start_point":[853,945],"end_point":[198,44],"distance":1113.9236957709447},{"start_region_id":111,"end_region_id":243,"start_point":[853,945],"end_point":[199,162],"distance":1020.1985100949717},{"start_region_id":78,"end_region_id":253,"start_point":[834,65],"end_point":[201,840],"distance":1000.6567843171804},{"start_region_id":113,"end_region_id":240,"start_point":[553,958],"end_point":[198,44],"distance":980.5207799939785},{"start_region_id":111,"end_region_id":246,"start_point":[853,945],"end_point":[43,468],"distance":940.0154254053494}],"complexity_score":0.6400922477105235}
{"id":1843,"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_21.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":72,"end_region_id":7,"start_point":[677,708],"end_point":[62,237],"distance":774.6392708867786},{"start_region_id":72,"end_region_id":14,"start_point":[677,708],"end_point":[111,301],"distance":697.1405884038026},{"start_region_id":72,"end_region_id":3,"start_point":[677,708],"end_point":[923,87],"distance":667.9498484167805},{"start_region_id":72,"end_region_id":1,"start_point":[677,708],"end_point":[443,88],"distance":662.6884637595557},{"start_region_id":72,"end_region_id":39,"start_point":[677,708],"end_point":[18,833],"distance":670.7503261273899}],"complexity_score":0.6401848902733733}
{"id":12172,"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_21.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":70,"start_point":[923,87],"end_point":[133,961],"distance":1178.123932360259},{"start_region_id":7,"end_region_id":68,"start_point":[62,237],"end_point":[919,945],"distance":1111.6262861231737},{"start_region_id":39,"end_region_id":54,"start_point":[18,833],"end_point":[805,65],"distance":1099.633120636151},{"start_region_id":14,"end_region_id":68,"start_point":[111,301],"end_point":[919,945],"distance":1033.2473082471593},{"start_region_id":3,"end_region_id":64,"start_point":[923,87],"end_point":[166,787],"distance":1031.0426761293638}],"complexity_score":0.6401848902733733}
{"id":15609,"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":"panama_city_21.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":39,"start_point":[943,43],"end_point":[18,833],"distance":1216.4394765050993},{"start_region_id":90,"end_region_id":47,"start_point":[15,293],"end_point":[962,987],"distance":1174.071973943676},{"start_region_id":84,"end_region_id":47,"start_point":[300,71],"end_point":[962,987],"distance":1130.1769772916098},{"start_region_id":83,"end_region_id":47,"start_point":[191,183],"end_point":[962,987],"distance":1113.9376104611963},{"start_region_id":90,"end_region_id":43,"start_point":[15,293],"end_point":[860,970],"distance":1082.7529727504793}],"complexity_score":0.6401848902733733}
{"id":1365,"query_id":"Q00273","question":"A quadcopter drone is currently positioned on a paved, hard surface and needs to reach a cultivated field with crops as quickly as possible. The drone can fly over open, dry ground with loose soil or rocks, areas covered with low vegetation like grass or shrubs, the paved surface it starts on, liquid bodies, and the cultivated field it aims for. However, it must avoid flying through dense clusters of 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":"cultivated field with crops","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":"labuhan_10.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":152,"start_point":[554,909],"end_point":[194,241],"distance":758.8306794008793},{"start_region_id":66,"end_region_id":145,"start_point":[554,909],"end_point":[891,222],"distance":765.2045478171179},{"start_region_id":63,"end_region_id":157,"start_point":[328,298],"end_point":[854,618],"distance":615.691481181931},{"start_region_id":63,"end_region_id":145,"start_point":[328,298],"end_point":[891,222],"distance":568.1065040993634},{"start_region_id":62,"end_region_id":152,"start_point":[646,287],"end_point":[194,241],"distance":454.33467840348703}],"complexity_score":0.6402319114167643}
{"id":6753,"query_id":"Q01351","question":"An aerial survey drone starts from a hard, flat, artificial surface and needs to reach a cultivated field with planted crops. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, other paved or compacted surfaces, vehicle lanes, water bodies, and the cultivated fields themselves. However, it must avoid flying through dense vegetation or near vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A cultivated field with planted crops","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":"labuhan_10.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":157,"start_point":[233,184],"end_point":[854,618],"distance":757.6258971286554},{"start_region_id":45,"end_region_id":145,"start_point":[233,184],"end_point":[891,222],"distance":659.096351074712},{"start_region_id":41,"end_region_id":152,"start_point":[811,19],"end_point":[194,241],"distance":655.7232648000222},{"start_region_id":41,"end_region_id":157,"start_point":[811,19],"end_point":[854,618],"distance":600.5414223848343},{"start_region_id":46,"end_region_id":152,"start_point":[730,180],"end_point":[194,241],"distance":539.4599151002787}],"complexity_score":0.6402319114167643}
{"id":389,"query_id":"Q00078","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a cultivated field. The terrain includes areas of soft, dry soil without vegetation, grassy or shrub-covered expanses, individual or clustered tall vegetation with vertical obstacles, and tilled, planted soil. You must avoid any hard, paved surfaces, vehicle lanes, liquid bodies, and man-made structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the shortest path from the loose, sandy ground to the cultivated 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":161,"start_point":[161,73],"end_point":[60,960],"distance":892.731762625258},{"start_region_id":2,"end_region_id":160,"start_point":[161,73],"end_point":[209,938],"distance":866.330768240399},{"start_region_id":1,"end_region_id":161,"start_point":[25,102],"end_point":[60,960],"distance":858.7135727354029},{"start_region_id":1,"end_region_id":155,"start_point":[25,102],"end_point":[855,322],"distance":858.6617494683223},{"start_region_id":1,"end_region_id":160,"start_point":[25,102],"end_point":[209,938],"distance":856.0093457433744}],"complexity_score":0.6402388175664525}
{"id":2572,"query_id":"Q00515","question":"An aerial surveillance drone starts from a patch of loose, dry earth and scattered rocks and needs to reach a grassy area with low, dense vegetation. The drone must avoid any areas with tall vertical obstacles or structures that could pose collision risks, and should also avoid flying over liquid surfaces to minimize the chance of damage in case of a malfunction. The priority is to select a route that minimizes operational risks.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, dry earth and scattered rocks.","end_land_type":"The destination is a grassy area with low, dense vegetation.","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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":19,"start_point":[25,102],"end_point":[321,416],"distance":431.522884677047},{"start_region_id":2,"end_region_id":19,"start_point":[161,73],"end_point":[321,416],"distance":378.4824962927612},{"start_region_id":1,"end_region_id":6,"start_point":[25,102],"end_point":[249,64],"distance":227.2003521124032},{"start_region_id":2,"end_region_id":16,"start_point":[161,73],"end_point":[74,281],"distance":225.46174841866193}],"complexity_score":0.6402388175664525}
{"id":3353,"query_id":"Q00671","question":"A delivery drone takes off from a loose, sandy patch and needs to land on a flat, paved area. The drone can fly over various surfaces including sandy ground, paved roads and parking lots, and agricultural fields, but must avoid flying through dense tree canopies or close to buildings for safety. The goal is to find a path that maximizes flight comfort by prioritizing open, stable airspace and avoiding turbulent or obstructed areas.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a loose, sandy patch","end_land_type":"a flat, paved 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":50,"start_point":[25,102],"end_point":[151,330],"distance":260.4995201531089},{"start_region_id":2,"end_region_id":50,"start_point":[161,73],"end_point":[151,330],"distance":257.19447894540815}],"complexity_score":0.6402388175664525}
{"id":3453,"query_id":"Q00691","question":"A delivery drone is hovering above a cultivated field with loose soil and crop residues. It needs to fly to a dry, rocky area with no vegetation while ensuring a smooth and stable flight. The drone can only fly over surfaces that are solid and unobstructed, such as open ground or paved areas, to avoid turbulence and discomfort. Areas with dense vertical obstacles like tall trees or buildings are not allowed because they would cause instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a cultivated field with loose soil and crop residues","end_land_type":"a dry, rocky area with no vegetation","task_description":"What is the most comfortable path for the delivery drone to fly from the cultivated field to the dry, rocky 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":1,"start_point":[334,343],"end_point":[25,102],"distance":391.86987636203935},{"start_region_id":156,"end_region_id":2,"start_point":[334,343],"end_point":[161,73],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":4902,"query_id":"Q00981","question":"An aerial drone starts from a cultivated field and needs to reach a patch of sandy or rocky ground. You are piloting an aerial drone that can fly over hard surfaces, loose soil, vegetation, and liquid areas, but you must avoid flying through dense wooded patches or near structures due to navigation hazards. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":1,"start_point":[334,343],"end_point":[25,102],"distance":391.86987636203935},{"start_region_id":156,"end_region_id":2,"start_point":[334,343],"end_point":[161,73],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":5277,"query_id":"Q01056","question":"An off-road vehicle is parked on a cultivated field with soft, plowed soil and low vegetation. It needs to reach a dry, open area of loose sand and rocks. The vehicle has high clearance and all-terrain tires, allowing it to traverse both the cultivated field and the dry open area, but it cannot drive through water, trees, or buildings. What is the fastest route for the vehicle to take?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"a cultivated field with soft, plowed soil and low vegetation","end_land_type":"a dry, open area of loose sand and rocks","task_description":"What is the fastest route for the 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":1,"start_point":[334,343],"end_point":[25,102],"distance":391.86987636203935},{"start_region_id":156,"end_region_id":2,"start_point":[334,343],"end_point":[161,73],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":7208,"query_id":"Q01442","question":"A quadcopter drone starts from a flat, cultivated field with low vegetation and needs to reach a dry, open area of loose soil and rocks. The drone can fly over hard, paved surfaces and liquid bodies, but must avoid dense vertical obstacles like trees and structures. Which route allows the drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"Which path allows the drone to travel from the cultivated field to the dry open area as quickly as possible?","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_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":1,"start_point":[334,343],"end_point":[25,102],"distance":391.86987636203935},{"start_region_id":156,"end_region_id":2,"start_point":[334,343],"end_point":[161,73],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":7297,"query_id":"Q01460","question":"An aerial surveillance drone starts from a paved, hard surface area and needs to reach a loose, sandy or rocky ground without vegetation. The drone can fly over open liquid surfaces and cultivated fields with low vegetation, but must avoid vertical obstacles like trees and structures. The goal is to minimize risk by prioritizing terrain that is generally controllable, predictable, and low-risk for flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard surface area","end_land_type":"A loose, sandy or rocky ground without 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":1,"start_point":[151,330],"end_point":[25,102],"distance":260.4995201531089},{"start_region_id":50,"end_region_id":2,"start_point":[151,330],"end_point":[161,73],"distance":257.19447894540815}],"complexity_score":0.6402388175664525}
{"id":8288,"query_id":"Q01658","question":"An off-road vehicle starts from a paved, hard-surfaced area and needs to reach a patch of loose, sandy ground. The vehicle can drive on paved surfaces and compacted, unpaved ground, including grassy areas, but cannot enter wooded zones, water, or structures. What is the shortest route?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"a patch of loose, sandy ground","task_description":"What is the shortest 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":1,"start_point":[151,330],"end_point":[25,102],"distance":260.4995201531089},{"start_region_id":50,"end_region_id":2,"start_point":[151,330],"end_point":[161,73],"distance":257.19447894540815}],"complexity_score":0.6402388175664525}
{"id":8388,"query_id":"Q01678","question":"A quadcopter drone is currently positioned on a paved, hard surface and needs to reach a destination located on dry, sandy or rocky ground without vegetation. The drone can fly over open liquid surfaces, grassy or shrubby areas, and other paved or hard-packed vehicle lanes. However, it must avoid flying through dense clusters of tall, vertical obstacles and cannot enter enclosed, solid structures. The drone's priority is to complete this journey as quickly as possible. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"dry, sandy or rocky ground without vegetation","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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":1,"start_point":[151,330],"end_point":[25,102],"distance":260.4995201531089},{"start_region_id":50,"end_region_id":2,"start_point":[151,330],"end_point":[161,73],"distance":257.19447894540815}],"complexity_score":0.6402388175664525}
{"id":9288,"query_id":"Q01858","question":"An aerial survey drone is positioned on a patch of loose, dry soil and scattered rocks. It needs to reach a cultivated field with rows of low crops to continue its monitoring mission. The drone can fly over liquid surfaces, but must avoid tall vertical obstacles and solid structures. For a smooth and stable flight that minimizes vibrations and ensures sensor stability, what is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of loose, dry soil and scattered rocks","end_land_type":"A cultivated field with rows of low crops","task_description":"What is the most comfortable path for the aerial survey drone to reach 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":156,"start_point":[25,102],"end_point":[334,343],"distance":391.86987636203935},{"start_region_id":2,"end_region_id":156,"start_point":[161,73],"end_point":[334,343],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":10292,"query_id":"Q02059","question":"A quadcopter takes off from a sandy, rocky patch and must land in a grassy, shrub-covered zone. It can fly over hard surfaces, vegetated areas, and open ground, but must avoid trees and buildings unless explicitly permitted. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the shortest path from the sandy, rocky patch to the grassy, shrub-covered zone?","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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":19,"start_point":[25,102],"end_point":[321,416],"distance":431.522884677047},{"start_region_id":2,"end_region_id":19,"start_point":[161,73],"end_point":[321,416],"distance":378.4824962927612},{"start_region_id":1,"end_region_id":6,"start_point":[25,102],"end_point":[249,64],"distance":227.2003521124032},{"start_region_id":2,"end_region_id":16,"start_point":[161,73],"end_point":[74,281],"distance":225.46174841866193}],"complexity_score":0.6402388175664525}
{"id":11168,"query_id":"Q02234","question":"A family SUV starts from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with rows of crops planted in soft soil. The vehicle must avoid any areas with standing water or dense vegetation that could obstruct its path, and cannot drive through solid structures. It can travel on paved surfaces like streets and parking lots, as well as on compacted dirt paths and grassy areas, provided the ground is firm enough to support its weight without excessive sinking or sliding. What is the safest route to take?","agent_category":"Car","specific_agent":"A family SUV","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks","end_land_type":"needs to reach a cultivated field with rows of crops planted in soft soil","task_description":"What is the safest route 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":156,"start_point":[25,102],"end_point":[334,343],"distance":391.86987636203935},{"start_region_id":2,"end_region_id":156,"start_point":[161,73],"end_point":[334,343],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":12130,"query_id":"Q02426","question":"A quadcopter drone is currently positioned over a cultivated field with low, uniform vegetation. It needs to reach an area of exposed, loose soil and rocks. The drone can fly over open ground with sparse vegetation, hard flat surfaces, and tall vertical obstacles, but must avoid liquid surfaces. To minimize travel time, what is the optimal path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"What is the fastest route for the drone to take from the cultivated field to the exposed soil and rock 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":1,"start_point":[821,911],"end_point":[25,102],"distance":1134.943610934041},{"start_region_id":159,"end_region_id":2,"start_point":[821,911],"end_point":[161,73],"distance":1066.697707881666},{"start_region_id":161,"end_region_id":2,"start_point":[60,960],"end_point":[161,73],"distance":892.731762625258},{"start_region_id":160,"end_region_id":2,"start_point":[209,938],"end_point":[161,73],"distance":866.330768240399},{"start_region_id":161,"end_region_id":1,"start_point":[60,960],"end_point":[25,102],"distance":858.7135727354029}],"complexity_score":0.6402388175664525}
{"id":13711,"query_id":"Q02743","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a rocky, sandy area with no vegetation. The terrain includes areas with compacted, hard surfaces suitable for walking, as well as natural grassy and shrub-covered ground. You cannot cross any liquid surfaces or enter any vertical structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"rocky, sandy area","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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":1,"start_point":[334,343],"end_point":[25,102],"distance":391.86987636203935},{"start_region_id":156,"end_region_id":2,"start_point":[334,343],"end_point":[161,73],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":13826,"query_id":"Q02766","question":"A quadcopter drone starts from an area of exposed, rocky soil and needs to reach a crop field. The drone can fly over natural ground surfaces including grassy patches, hard paved areas, and the cultivated field. However, flying directly through areas with tall, dense vertical obstacles like trees or buildings is prohibited due to collision risk. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of exposed, rocky soil","end_land_type":"needing to reach a crop field","task_description":"What is the shortest flight 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":"kagera_4.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":156,"start_point":[25,102],"end_point":[334,343],"distance":391.86987636203935},{"start_region_id":2,"end_region_id":156,"start_point":[161,73],"end_point":[334,343],"distance":320.6696119060863}],"complexity_score":0.6402388175664525}
{"id":2474,"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_69.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":141,"start_point":[953,170],"end_point":[354,723],"distance":815.2361621027369},{"start_region_id":214,"end_region_id":141,"start_point":[955,787],"end_point":[354,723],"distance":604.3980476474093},{"start_region_id":212,"end_region_id":141,"start_point":[747,629],"end_point":[354,723],"distance":404.0853870161602},{"start_region_id":214,"end_region_id":140,"start_point":[955,787],"end_point":[906,350],"distance":439.7385586914115},{"start_region_id":212,"end_region_id":140,"start_point":[747,629],"end_point":[906,350],"distance":321.1261434389919}],"complexity_score":0.6402476746377119}
{"id":6628,"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":"palu_69.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":214,"start_point":[953,170],"end_point":[955,787],"distance":617.0032414825712},{"start_region_id":214,"end_region_id":205,"start_point":[955,787],"end_point":[953,170],"distance":617.0032414825712},{"start_region_id":205,"end_region_id":212,"start_point":[953,170],"end_point":[747,629],"distance":503.1073444107132},{"start_region_id":212,"end_region_id":205,"start_point":[747,629],"end_point":[953,170],"distance":503.1073444107132},{"start_region_id":212,"end_region_id":214,"start_point":[747,629],"end_point":[955,787],"distance":261.20490041344937}],"complexity_score":0.6402476746377119}
{"id":15461,"query_id":"Q03093","question":"An agricultural monitoring 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 patterns. The area contains patches of grassy vegetation, paved hard surfaces, and water bodies. The drone can fly over grassy areas, paved surfaces, and water, but must avoid tall vertical obstacles like trees and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Agricultural monitoring 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","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_69.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":205,"end_region_id":214,"start_point":[953,170],"end_point":[955,787],"distance":617.0032414825712},{"start_region_id":214,"end_region_id":205,"start_point":[955,787],"end_point":[953,170],"distance":617.0032414825712},{"start_region_id":205,"end_region_id":212,"start_point":[953,170],"end_point":[747,629],"distance":503.1073444107132},{"start_region_id":212,"end_region_id":205,"start_point":[747,629],"end_point":[953,170],"distance":503.1073444107132},{"start_region_id":212,"end_region_id":214,"start_point":[747,629],"end_point":[955,787],"distance":261.20490041344937}],"complexity_score":0.6402476746377119}
{"id":16391,"query_id":"Q03279","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 most surfaces including loose sandy areas, grassy patches, paved areas, hard lanes, liquid bodies, and cultivated fields. However, it must avoid flying through dense vegetation clusters that could entangle its rotors. Vertical structures are also impassable obstacles. What is the shortest possible route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved lane","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":"palu_69.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":136,"start_point":[955,787],"end_point":[368,93],"distance":908.9581948582673},{"start_region_id":205,"end_region_id":141,"start_point":[953,170],"end_point":[354,723],"distance":815.2361621027369},{"start_region_id":212,"end_region_id":136,"start_point":[747,629],"end_point":[368,93],"distance":656.4579194434324},{"start_region_id":214,"end_region_id":141,"start_point":[955,787],"end_point":[354,723],"distance":604.3980476474093},{"start_region_id":205,"end_region_id":136,"start_point":[953,170],"end_point":[368,93],"distance":590.0457609372344}],"complexity_score":0.6402476746377119}
{"id":11745,"query_id":"Q02349","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 as quickly as possible. The area includes loose, sandy soil and cultivated fields with crops, but paved surfaces, roads, trees, water bodies, and buildings are not accessible due to restrictions or obstacles. The grassy and shrubby areas are traversable as they are flat and firm enough for driving, the loose sandy soil is traversable with appropriate traction, and the cultivated fields are traversable as they are dry and compacted.","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 reach the destination?","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":"wallace_23.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":5,"start_point":[476,412],"end_point":[236,842],"distance":492.44289008980525},{"start_region_id":5,"end_region_id":1,"start_point":[236,842],"end_point":[476,412],"distance":492.44289008980525},{"start_region_id":2,"end_region_id":4,"start_point":[682,423],"end_point":[1006,437],"distance":324.3023280829171},{"start_region_id":4,"end_region_id":2,"start_point":[1006,437],"end_point":[682,423],"distance":324.3023280829171}],"complexity_score":0.6402993424680621}
{"id":4441,"query_id":"Q00889","question":"A quadcopter drone is currently on a paved, hard-surfaced area and needs to reach a paved, hard-surfaced lane or street. The drone can fly over most surfaces, but liquid areas and vertical obstacles are hazardous and should be avoided for safety. What is the safest 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":"A paved, hard-surfaced 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":"bielefeld_53.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":271,"start_point":[126,959],"end_point":[549,527],"distance":604.6097915184636},{"start_region_id":238,"end_region_id":271,"start_point":[72,840],"end_point":[549,527],"distance":570.5243202528706},{"start_region_id":265,"end_region_id":271,"start_point":[855,974],"end_point":[549,527],"distance":541.7056396235874},{"start_region_id":118,"end_region_id":271,"start_point":[968,133],"end_point":[549,527],"distance":575.1495457704891},{"start_region_id":104,"end_region_id":271,"start_point":[179,80],"end_point":[549,527],"distance":580.2663181677875}],"complexity_score":0.6403010930436479}
{"id":9046,"query_id":"Q01810","question":"A rally car starts from a grassy, uneven field and needs to reach a paved, hard-surface lane. The vehicle can traverse compacted, stable ground and firm, flat surfaces that provide good traction. However, it cannot drive through dense vegetation clusters, liquid areas, or vertical structures. What is the fastest route?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the fastest route for the rally car to travel from the grassy field to 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":[1,2,3,4,0,0,0,0],"image_name":"bielefeld_53.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":271,"start_point":[65,944],"end_point":[549,527],"distance":638.8622699768707},{"start_region_id":8,"end_region_id":271,"start_point":[913,25],"end_point":[549,527],"distance":620.0806399170998},{"start_region_id":10,"end_region_id":271,"start_point":[985,117],"end_point":[549,527],"distance":598.4947785904235},{"start_region_id":12,"end_region_id":271,"start_point":[64,222],"end_point":[549,527],"distance":572.9310604252487},{"start_region_id":78,"end_region_id":271,"start_point":[919,875],"end_point":[549,527],"distance":507.94094144890505}],"complexity_score":0.6403010930436479}
{"id":9203,"query_id":"Q01841","question":"A quadcopter drone is positioned on a vegetated area with tall, leafy structures and needs to reach another such vegetated area. The drone can fly over open, dry ground with loose soil and rocks; hard, paved surfaces designed for vehicles; and cultivated fields with planted crops. However, the tall, leafy structures are dense and obstructive, requiring 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 for the drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Road","Tree","Agriculture land"],"traverse_vector":[1,0,0,1,1,0,1,0],"cost_vector":[2,0,0,2,1,0,2,0],"image_name":"bielefeld_53.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":364,"end_region_id":364,"start_point":[974,983],"end_point":[989,722],"distance":261.43067914841214}],"complexity_score":0.6403010930436479}
{"id":1474,"query_id":"Q00295","question":"A quadcopter starts from a paved roadway and needs to reach a grassy plain. The terrain includes hard surfaces, open grassy areas, and cultivated fields. You must avoid any dense vertical obstacles like trees or structures. What is the shortest route to the grassy plain?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved roadway","end_land_type":"grassy plain","task_description":"What is the shortest route to the grassy plain?","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_30.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":12,"start_point":[188,358],"end_point":[789,514],"distance":620.9162584439225},{"start_region_id":220,"end_region_id":2,"start_point":[533,527],"end_point":[149,205],"distance":501.13870335467004},{"start_region_id":222,"end_region_id":13,"start_point":[188,358],"end_point":[594,567],"distance":456.6366170162003},{"start_region_id":220,"end_region_id":6,"start_point":[533,527],"end_point":[212,306],"distance":389.72041260370236},{"start_region_id":220,"end_region_id":8,"start_point":[533,527],"end_point":[290,379],"distance":284.5224068504975}],"complexity_score":0.6403747945517921}
{"id":3164,"query_id":"Q00633","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; grassy or shrub-covered areas; and liquid surfaces. However, it must avoid tall, vertical obstacles that could obstruct its flight path. What is the shortest 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":"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":"rotterdam_30.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":23,"start_point":[817,719],"end_point":[223,231],"distance":768.7522357691065},{"start_region_id":23,"end_region_id":193,"start_point":[223,231],"end_point":[817,719],"distance":768.7522357691065},{"start_region_id":193,"end_region_id":29,"start_point":[817,719],"end_point":[253,328],"distance":686.2776406091051},{"start_region_id":29,"end_region_id":193,"start_point":[253,328],"end_point":[817,719],"distance":686.2776406091051},{"start_region_id":85,"end_region_id":23,"start_point":[819,573],"end_point":[223,231],"distance":687.1535490703661}],"complexity_score":0.6403747945517921}
{"id":12427,"query_id":"Q02486","question":"An off-road vehicle 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, and vehicle lanes, but you must avoid any trees, water bodies, or structures. Grassy and cultivated areas are passable because the vegetation is low and the ground is compact enough for vehicle traction. Paved areas and vehicle lanes are clear and accessible. What is the fastest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved, hard surface like a parking lot or construction site","task_description":"What is the fastest path from the grassy, uneven starting point to the paved destination?","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":"rotterdam_30.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":193,"start_point":[149,205],"end_point":[817,719],"distance":842.8641646196616},{"start_region_id":2,"end_region_id":85,"start_point":[149,205],"end_point":[819,573],"distance":764.410884276251},{"start_region_id":6,"end_region_id":193,"start_point":[212,306],"end_point":[817,719],"distance":732.5257674648722},{"start_region_id":2,"end_region_id":93,"start_point":[149,205],"end_point":[674,682],"distance":709.3334899749201},{"start_region_id":2,"end_region_id":19,"start_point":[149,205],"end_point":[791,318],"distance":651.8688518406137}],"complexity_score":0.6403747945517921}
{"id":1082,"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_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":42,"start_point":[488,624],"end_point":[171,829],"distance":377.51026476110553},{"start_region_id":163,"end_region_id":48,"start_point":[488,624],"end_point":[482,883],"distance":259.0694887477103}],"complexity_score":0.6404053340904057}
{"id":3802,"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_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":163,"start_point":[974,244],"end_point":[15,908],"distance":1166.4377394443306}],"complexity_score":0.6404053340904057}
{"id":5362,"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_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":75,"start_point":[171,829],"end_point":[921,54],"distance":1078.4827305061497},{"start_region_id":48,"end_region_id":75,"start_point":[482,883],"end_point":[921,54],"distance":938.0628976779756},{"start_region_id":42,"end_region_id":93,"start_point":[171,829],"end_point":[965,390],"distance":907.2800008817565},{"start_region_id":48,"end_region_id":80,"start_point":[482,883],"end_point":[76,123],"distance":861.6472596138167},{"start_region_id":42,"end_region_id":87,"start_point":[171,829],"end_point":[885,348],"distance":860.9047566368768}],"complexity_score":0.6404053340904057}
{"id":8383,"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_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":75,"start_point":[171,829],"end_point":[921,54],"distance":1078.4827305061497},{"start_region_id":48,"end_region_id":75,"start_point":[482,883],"end_point":[921,54],"distance":938.0628976779756},{"start_region_id":42,"end_region_id":93,"start_point":[171,829],"end_point":[965,390],"distance":907.2800008817565},{"start_region_id":48,"end_region_id":80,"start_point":[482,883],"end_point":[76,123],"distance":861.6472596138167},{"start_region_id":42,"end_region_id":87,"start_point":[171,829],"end_point":[885,348],"distance":860.9047566368768}],"complexity_score":0.6404053340904057}
{"id":12846,"query_id":"Q02570","question":"A family sedan starts from a paved lane and needs to reach a flat, hard-surfaced area. The terrain includes grassy or shrub-covered ground that is firm and even, cultivated fields with compact soil, and the paved lane and hard-surfaced area are always accessible. You must avoid any liquid surfaces, vertical structures, loose sandy or rocky ground, and areas with dense vegetation or trees. What is the safest 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 safest path from the paved lane to the flat, hard-surfaced area?","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":"melbourne_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":75,"start_point":[488,624],"end_point":[921,54],"distance":715.8135232027962},{"start_region_id":163,"end_region_id":80,"start_point":[488,624],"end_point":[76,123],"distance":648.6485951576554},{"start_region_id":163,"end_region_id":158,"start_point":[488,624],"end_point":[23,981],"distance":586.2371533773683},{"start_region_id":163,"end_region_id":93,"start_point":[488,624],"end_point":[965,390],"distance":531.304997153236},{"start_region_id":163,"end_region_id":71,"start_point":[488,624],"end_point":[243,181],"distance":506.2351232382044}],"complexity_score":0.6404053340904057}
{"id":17191,"query_id":"Q03439","question":"An aerial surveillance drone starts from an area of natural, uncultivated vegetation with uneven ground and scattered bushes and needs to reach another patch of similar natural, uncultivated vegetation. The drone can fly over open water surfaces, but must avoid any tall, dense vertical obstacles like trees or structures that could pose collision risks. It can also traverse hard, flat paved surfaces, but these are less ideal due to potential signal interference or regulatory restrictions. The drone's primary concern is minimizing risk of collision, signal loss, or regulatory violation.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of natural, uncultivated vegetation with uneven ground and scattered bushes.","end_land_type":"The destination is another patch of similar natural, uncultivated 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":"melbourne_30.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":42,"start_point":[482,883],"end_point":[171,829],"distance":315.65329081129505},{"start_region_id":42,"end_region_id":48,"start_point":[171,829],"end_point":[482,883],"distance":315.65329081129505}],"complexity_score":0.6404053340904057}
{"id":13585,"query_id":"Q02717","question":"An aerial survey drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over areas with soft, grassy vegetation, other paved or compacted surfaces, liquid bodies, and cultivated fields with low, uniform crops. However, it must avoid flying through dense, tall vegetation or near vertical structures to ensure stable flight and minimize vibrations. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard surface area","end_land_type":"A paved, hard surface area","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":"khartoum_36.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":10,"start_point":[543,593],"end_point":[28,191],"distance":653.3215134985224},{"start_region_id":10,"end_region_id":28,"start_point":[28,191],"end_point":[543,593],"distance":653.3215134985224},{"start_region_id":6,"end_region_id":10,"start_point":[617,68],"end_point":[28,191],"distance":601.705908230923},{"start_region_id":10,"end_region_id":6,"start_point":[28,191],"end_point":[617,68],"distance":601.705908230923},{"start_region_id":4,"end_region_id":28,"start_point":[277,86],"end_point":[543,593],"distance":572.5425748361426}],"complexity_score":0.6404663692025514}
{"id":17879,"query_id":"Q03576","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over open, dry ground with loose soil and rocks; areas with low vegetation like grass and shrubs; paved lanes used by vehicles; individual trees or groups of trees; and cultivated fields with crops. However, the drone must avoid any liquid surfaces, vertical structures, and built-up areas. The drone's flight path should prioritize terrain that minimizes the likelihood of collisions, signal interference, or unexpected hazards.","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","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":"khartoum_36.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":36,"start_point":[294,325],"end_point":[567,485],"distance":316.4316671889841},{"start_region_id":36,"end_region_id":34,"start_point":[567,485],"end_point":[294,325],"distance":316.4316671889841}],"complexity_score":0.6404663692025514}
{"id":18025,"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_36.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":36,"start_point":[294,325],"end_point":[567,485],"distance":316.4316671889841},{"start_region_id":36,"end_region_id":34,"start_point":[567,485],"end_point":[294,325],"distance":316.4316671889841}],"complexity_score":0.6404663692025514}
{"id":6103,"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_36.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":94,"start_point":[91,425],"end_point":[1002,871],"distance":1014.316025704021},{"start_region_id":53,"end_region_id":94,"start_point":[76,585],"end_point":[1002,871],"distance":969.1604614304073},{"start_region_id":39,"end_region_id":94,"start_point":[569,110],"end_point":[1002,871],"distance":875.5626762259799},{"start_region_id":41,"end_region_id":94,"start_point":[592,121],"end_point":[1002,871],"distance":854.751425854324},{"start_region_id":53,"end_region_id":77,"start_point":[76,585],"end_point":[874,567],"distance":798.2029817032758}],"complexity_score":0.6405193969028997}
{"id":6690,"query_id":"Q01338","question":"An aerial surveillance drone begins its mission on a hard, paved lane used by vehicles. It needs to reach a flat, artificial surface like a sidewalk or parking lot. The drone can fly over various surfaces including loose sandy or rocky ground, grassy or shrub-covered areas, liquid bodies, and cultivated fields. However, it must avoid flying directly through dense clusters of tall vegetation or solid vertical structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, paved lane used by vehicles","end_land_type":"A flat, artificial surface like a sidewalk or parking lot","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":"tuscaloosa_36.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":44,"start_point":[127,97],"end_point":[958,125],"distance":831.4715870070365},{"start_region_id":57,"end_region_id":48,"start_point":[127,97],"end_point":[775,586],"distance":811.8035476640885},{"start_region_id":57,"end_region_id":52,"start_point":[127,97],"end_point":[718,658],"distance":814.8631786993446},{"start_region_id":58,"end_region_id":44,"start_point":[496,448],"end_point":[958,125],"distance":563.7135797548254},{"start_region_id":57,"end_region_id":53,"start_point":[127,97],"end_point":[76,585],"distance":490.657721838758}],"complexity_score":0.6405193969028997}
{"id":2240,"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_5.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":53,"start_point":[820,915],"end_point":[32,29],"distance":1185.7234078822937},{"start_region_id":84,"end_region_id":67,"start_point":[154,180],"end_point":[760,791],"distance":860.5562154792678},{"start_region_id":86,"end_region_id":53,"start_point":[510,757],"end_point":[32,29],"distance":870.9006832010181},{"start_region_id":84,"end_region_id":71,"start_point":[154,180],"end_point":[446,838],"distance":719.8805456462899},{"start_region_id":87,"end_region_id":60,"start_point":[820,915],"end_point":[181,578],"distance":722.419545693498}],"complexity_score":0.6406543700026687}
{"id":1310,"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_28.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":344,"end_region_id":300,"start_point":[752,897],"end_point":[27,33],"distance":1127.8834159610647},{"start_region_id":300,"end_region_id":344,"start_point":[27,33],"end_point":[752,897],"distance":1127.8834159610647},{"start_region_id":338,"end_region_id":302,"start_point":[72,899],"end_point":[789,31],"distance":1125.8387984076583},{"start_region_id":302,"end_region_id":338,"start_point":[789,31],"end_point":[72,899],"distance":1125.8387984076583},{"start_region_id":303,"end_region_id":338,"start_point":[892,210],"end_point":[72,899],"distance":1071.0373476214543}],"complexity_score":0.6406744350902511}
{"id":10927,"query_id":"Q02186","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved area with a hard, flat surface. The terrain includes loose, sandy ground; grassy, uneven fields; compacted, stable surfaces; vehicle lanes; and planted crop areas. You cannot travel through dense vegetation clusters, liquid bodies, or vertical structures. What is the shortest route to your destination?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved 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":"kagera_28.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":306,"end_region_id":93,"start_point":[55,197],"end_point":[728,751],"distance":871.6908855781388},{"start_region_id":338,"end_region_id":72,"start_point":[72,899],"end_point":[660,388],"distance":779.0154042122659},{"start_region_id":305,"end_region_id":93,"start_point":[358,128],"end_point":[728,751],"distance":724.5888489343457},{"start_region_id":302,"end_region_id":93,"start_point":[789,31],"end_point":[728,751],"distance":722.5794074010136},{"start_region_id":302,"end_region_id":88,"start_point":[789,31],"end_point":[444,629],"distance":690.3832269109672}],"complexity_score":0.6406744350902511}
{"id":8250,"query_id":"Q01650","question":"An off-road vehicle starts from loose, sandy ground and needs to reach a paved, hard surface as quickly as possible. The terrain includes areas of soft, uneven earth with scattered rocks, patches of low vegetation and grass, and flat, stable paved surfaces. The vehicle has high clearance and all-terrain tires, allowing it to traverse the soft ground and vegetated areas, but speed will be reduced compared to paved surfaces. What is the fastest route?","agent_category":"Car","specific_agent":"Off-road vehicle","start_land_type":"loose, sandy ground","end_land_type":"paved, hard surface","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":"tyrolw_19.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":78,"start_point":[332,962],"end_point":[77,142],"distance":858.7345340674265},{"start_region_id":6,"end_region_id":56,"start_point":[332,962],"end_point":[731,202],"distance":858.3711318538153},{"start_region_id":6,"end_region_id":104,"start_point":[332,962],"end_point":[900,369],"distance":821.1412789526538},{"start_region_id":5,"end_region_id":104,"start_point":[326,820],"end_point":[900,369],"distance":729.984246405359},{"start_region_id":5,"end_region_id":78,"start_point":[326,820],"end_point":[77,142],"distance":722.2776474459112}],"complexity_score":0.6406842358104778}
{"id":1375,"query_id":"Q00275","question":"An aerial survey drone starts from a grassy field and needs to reach another grassy field while maintaining stable flight and minimizing vibrations. The drone can fly over open grassy areas, cultivated crop fields, and water surfaces. However, flying through dense tree canopies is only possible if the drone has permission to navigate through the branches. The drone must avoid any built structures and cannot land on them. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy field","end_land_type":"grassy field","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_49.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":67,"start_point":[985,82],"end_point":[57,965],"distance":1280.9656513739938},{"start_region_id":67,"end_region_id":5,"start_point":[57,965],"end_point":[985,82],"distance":1280.9656513739938},{"start_region_id":5,"end_region_id":64,"start_point":[985,82],"end_point":[92,913],"distance":1219.8401534627396},{"start_region_id":64,"end_region_id":5,"start_point":[92,913],"end_point":[985,82],"distance":1219.8401534627396},{"start_region_id":5,"end_region_id":59,"start_point":[985,82],"end_point":[51,855],"distance":1212.3881391699606}],"complexity_score":0.6407059221337533}
{"id":2123,"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_52.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":412,"start_point":[122,926],"end_point":[610,25],"distance":1024.6682389925043},{"start_region_id":221,"end_region_id":412,"start_point":[126,879],"end_point":[610,25],"distance":981.6170332670475},{"start_region_id":146,"end_region_id":413,"start_point":[946,74],"end_point":[155,637],"distance":970.9016428042544},{"start_region_id":217,"end_region_id":412,"start_point":[398,916],"end_point":[610,25],"distance":915.8738996171908},{"start_region_id":218,"end_region_id":412,"start_point":[963,864],"end_point":[610,25],"distance":910.2362330735906}],"complexity_score":0.6408348565192558}
{"id":4473,"query_id":"Q00895","question":"A hiker starts from a paved lane and needs to reach another paved lane. The area includes hard, flat surfaces like sidewalks and parking lots, as well as vertical obstacles formed by tall vegetation. The vertical obstacles are passable because they are sparse enough to walk through. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a paved lane","task_description":"What is the shortest path?","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":"bielefeld_22.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":159,"start_point":[293,875],"end_point":[970,97],"distance":1031.3161493935795}],"complexity_score":0.6408457561380604}
{"id":4479,"query_id":"Q00896","question":"A quadcopter drone is starting from a paved area and needs to reach another paved area. The drone can fly over hard surfaces like pavements and roads, as well as liquid surfaces, but it must avoid vertical obstacles like trees and buildings for safety 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 area","end_land_type":"a paved area","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Developed space","Road","Water"],"traverse_vector":[0,0,1,1,0,1,0,0],"cost_vector":[0,0,2,2,0,1,0,0],"image_name":"bielefeld_22.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":75,"end_region_id":134,"start_point":[984,100],"end_point":[373,880],"distance":990.8183486391439},{"start_region_id":134,"end_region_id":75,"start_point":[373,880],"end_point":[984,100],"distance":990.8183486391439},{"start_region_id":74,"end_region_id":134,"start_point":[913,103],"end_point":[373,880],"distance":946.218262347541},{"start_region_id":134,"end_region_id":74,"start_point":[373,880],"end_point":[913,103],"distance":946.218262347541},{"start_region_id":75,"end_region_id":150,"start_point":[984,100],"end_point":[849,962],"distance":872.5073065596642}],"complexity_score":0.6408457561380604}
{"id":7904,"query_id":"Q01581","question":"A delivery drone is starting from a paved road and needs to reach a cultivated field. The drone requires a flight path that avoids turbulence and provides stable air conditions for smooth operation. The drone can fly over bare ground, grassy areas, paved surfaces, roads, and cultivated fields, but must avoid flying directly through dense tree canopies or near buildings, and cannot land on water surfaces. What is the most comfortable route to the destination?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the most comfortable route to the destination?","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":"bielefeld_22.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":212,"start_point":[617,546],"end_point":[15,341],"distance":635.9473248626807},{"start_region_id":159,"end_region_id":216,"start_point":[617,546],"end_point":[143,925],"distance":606.8912587935338},{"start_region_id":159,"end_region_id":210,"start_point":[617,546],"end_point":[177,95],"distance":630.0801536312662},{"start_region_id":159,"end_region_id":214,"start_point":[617,546],"end_point":[57,556],"distance":560.0892785976179},{"start_region_id":159,"end_region_id":215,"start_point":[617,546],"end_point":[122,741],"distance":532.024435529046}],"complexity_score":0.6408457561380604}
{"id":6251,"query_id":"Q01251","question":"An aerial surveillance drone starts from a cultivated field with crops and needs to reach a paved hard surface area. The drone can fly over various surfaces including loose sandy or rocky ground, grassy or shrub-covered areas, paved areas like parking lots or sidewalks, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying directly through dense tree canopies or close to building structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"cultivated field with crops","end_land_type":"paved hard surface 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":"coxsbazar_27.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":180,"end_region_id":90,"start_point":[73,650],"end_point":[813,934],"distance":792.6260152177697},{"start_region_id":186,"end_region_id":90,"start_point":[29,922],"end_point":[813,934],"distance":784.0918313565063},{"start_region_id":184,"end_region_id":90,"start_point":[101,905],"end_point":[813,934],"distance":712.590345149301},{"start_region_id":182,"end_region_id":90,"start_point":[246,756],"end_point":[813,934],"distance":594.2836023314121},{"start_region_id":180,"end_region_id":93,"start_point":[73,650],"end_point":[526,993],"distance":568.2059485785062}],"complexity_score":0.6408675314300601}
{"id":6442,"query_id":"Q01289","question":"An aerial survey drone starts from a paved, hard surface and needs to return to another paved, hard surface while minimizing operational risk. The drone can fly over open ground with loose soil and rocks, areas with low vegetation and shrubs, other paved or compacted surfaces, vehicle lanes, liquid bodies, and cultivated fields with crops. However, it must avoid any tall, dense vertical obstacles that could cause collisions and any large, solid vertical structures that could interfere with its flight path. What is the safest route 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 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":"coxsbazar_27.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":89,"start_point":[813,934],"end_point":[273,957],"distance":540.4895928692799},{"start_region_id":89,"end_region_id":90,"start_point":[273,957],"end_point":[813,934],"distance":540.4895928692799},{"start_region_id":90,"end_region_id":91,"start_point":[813,934],"end_point":[492,917],"distance":321.4498405661449},{"start_region_id":91,"end_region_id":90,"start_point":[492,917],"end_point":[813,934],"distance":321.4498405661449},{"start_region_id":90,"end_region_id":93,"start_point":[813,934],"end_point":[526,993],"distance":293.00170647967224}],"complexity_score":0.6408675314300601}
{"id":11586,"query_id":"Q02318","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a flat, paved surface. The drone can fly over most terrain types, but must avoid flying through dense tree canopies and near tall structures due to collision risks. The drone should also minimize flight over water bodies to reduce the risk of losing the vehicle if it malfunctions. 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":"flat, paved 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":"coxsbazar_27.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":89,"start_point":[903,910],"end_point":[273,957],"distance":631.7507419861096},{"start_region_id":45,"end_region_id":90,"start_point":[269,824],"end_point":[813,934],"distance":555.0099098214373},{"start_region_id":37,"end_region_id":89,"start_point":[702,622],"end_point":[273,957],"distance":544.3032243152708},{"start_region_id":64,"end_region_id":90,"start_point":[335,951],"end_point":[813,934],"distance":478.30220572353625},{"start_region_id":56,"end_region_id":89,"start_point":[698,829],"end_point":[273,957],"distance":443.85695894060285}],"complexity_score":0.6408675314300601}
{"id":16046,"query_id":"Q03210","question":"An aerial survey drone is positioned on a hard, flat, artificial surface and needs to reach a cultivated field with planted crops as quickly as possible. The drone can fly over open grassy areas, other hard artificial surfaces, bodies of liquid, and cultivated fields. It can also navigate around or through areas with tall vertical obstacles, but this will slow it down. The drone cannot land on or take off from vertical structures. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A cultivated field with planted crops","task_description":"What is the fastest path for the drone?","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":"coxsbazar_27.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":170,"start_point":[813,934],"end_point":[71,34],"distance":1166.432166908989},{"start_region_id":93,"end_region_id":170,"start_point":[526,993],"end_point":[71,34],"distance":1061.4640832359803},{"start_region_id":89,"end_region_id":171,"start_point":[273,957],"end_point":[838,96],"distance":1029.828141002177},{"start_region_id":91,"end_region_id":170,"start_point":[492,917],"end_point":[71,34],"distance":978.2279897856123},{"start_region_id":90,"end_region_id":172,"start_point":[813,934],"end_point":[330,94],"distance":968.9628475849835}],"complexity_score":0.6408675314300601}
{"id":5675,"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_49.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":44,"start_point":[323,312],"end_point":[211,625],"distance":332.4349560440358},{"start_region_id":48,"end_region_id":22,"start_point":[323,312],"end_point":[400,20],"distance":301.9817875303079},{"start_region_id":48,"end_region_id":43,"start_point":[323,312],"end_point":[311,601],"distance":289.2490276561012},{"start_region_id":48,"end_region_id":28,"start_point":[323,312],"end_point":[63,232],"distance":272.02941017470886},{"start_region_id":48,"end_region_id":41,"start_point":[323,312],"end_point":[362,560],"distance":251.04780421266383}],"complexity_score":0.6409027499512584}
{"id":7499,"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_49.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":48,"start_point":[593,122],"end_point":[323,312],"distance":330.15148038438355},{"start_region_id":75,"end_region_id":48,"start_point":[178,126],"end_point":[323,312],"distance":235.84104816592043}],"complexity_score":0.6409027499512584}
{"id":10524,"query_id":"Q02105","question":"A passenger vehicle starts from a field with low vegetation and soft ground and needs to reach a paved lane designed for vehicle traffic. The vehicle must avoid any areas with tall vegetation or trees that could obstruct movement or cause damage, and cannot cross any water bodies or structures. The terrain includes hard, stable surfaces suitable for driving, as well as open areas with firm soil that can support the vehicle's weight when dry. What is the safest path to reach the destination?","agent_category":"Car","specific_agent":"A passenger vehicle","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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"vegas_49.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":48,"start_point":[561,50],"end_point":[323,312],"distance":353.96044976804967},{"start_region_id":1,"end_region_id":48,"start_point":[231,22],"end_point":[323,312],"distance":304.2433236736675},{"start_region_id":7,"end_region_id":48,"start_point":[110,122],"end_point":[323,312],"distance":285.4277491765648}],"complexity_score":0.6409027499512584}
{"id":3417,"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":"sechura_5.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":5,"start_point":[577,13],"end_point":[522,241],"distance":234.53997527074142}],"complexity_score":0.6410789389219173}
{"id":7928,"query_id":"Q01586","question":"A quadcopter drone is positioned on a paved lane and needs to reach a nearby paved area. The drone can fly over various surfaces, including loose sandy or rocky ground, hard artificial surfaces like concrete or asphalt, liquid bodies, and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures. 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 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":"sechura_5.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":40,"start_point":[673,585],"end_point":[312,157],"distance":559.9151721466386},{"start_region_id":94,"end_region_id":62,"start_point":[673,585],"end_point":[195,735],"distance":500.9830336448531},{"start_region_id":94,"end_region_id":79,"start_point":[673,585],"end_point":[357,967],"distance":495.7620396924315},{"start_region_id":94,"end_region_id":47,"start_point":[673,585],"end_point":[1016,249],"distance":480.15101790999046},{"start_region_id":94,"end_region_id":54,"start_point":[673,585],"end_point":[179,472],"distance":506.759311705271}],"complexity_score":0.6410789389219173}
{"id":16839,"query_id":"Q03368","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, but must avoid areas with tall, dense vertical obstacles. What is the shortest possible route?","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 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":"sechura_5.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":5,"start_point":[849,925],"end_point":[539,152],"distance":832.8439229531546},{"start_region_id":79,"end_region_id":5,"start_point":[357,967],"end_point":[539,152],"distance":835.0742481959314},{"start_region_id":81,"end_region_id":5,"start_point":[883,885],"end_point":[539,152],"distance":809.7067370350824},{"start_region_id":62,"end_region_id":5,"start_point":[195,735],"end_point":[539,152],"distance":676.9231861888023},{"start_region_id":69,"end_region_id":5,"start_point":[846,739],"end_point":[539,152],"distance":662.4333928781067}],"complexity_score":0.6410789389219173}
{"id":1584,"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_39.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":74,"start_point":[542,993],"end_point":[128,0],"distance":1075.8461785961783}],"complexity_score":0.6411426869297384}
{"id":2757,"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_39.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":69,"start_point":[312,345],"end_point":[844,826],"distance":717.2063859169131},{"start_region_id":74,"end_region_id":59,"start_point":[312,345],"end_point":[827,169],"distance":544.2435116746915},{"start_region_id":74,"end_region_id":70,"start_point":[312,345],"end_point":[625,949],"distance":680.2830293341148},{"start_region_id":74,"end_region_id":57,"start_point":[312,345],"end_point":[401,6],"distance":350.48823090083926},{"start_region_id":74,"end_region_id":73,"start_point":[312,345],"end_point":[50,852],"distance":570.6951900971305}],"complexity_score":0.6411426869297384}
{"id":5754,"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_39.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":74,"start_point":[941,983],"end_point":[57,128],"distance":1229.8296630021573}],"complexity_score":0.6411426869297384}
{"id":15421,"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_39.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":63,"start_point":[844,826],"end_point":[25,149],"distance":1062.5864670698568},{"start_region_id":63,"end_region_id":69,"start_point":[25,149],"end_point":[844,826],"distance":1062.5864670698568},{"start_region_id":59,"end_region_id":73,"start_point":[827,169],"end_point":[50,852],"distance":1034.5134121895182},{"start_region_id":73,"end_region_id":59,"start_point":[50,852],"end_point":[827,169],"distance":1034.5134121895182},{"start_region_id":69,"end_region_id":57,"start_point":[844,826],"end_point":[401,6],"distance":932.0134119206655}],"complexity_score":0.6411426869297384}
{"id":2822,"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_11.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":107,"start_point":[961,900],"end_point":[295,44],"distance":1084.5699608600637},{"start_region_id":107,"end_region_id":196,"start_point":[295,44],"end_point":[961,900],"distance":1084.5699608600637},{"start_region_id":112,"end_region_id":207,"start_point":[808,96],"end_point":[236,972],"distance":1046.21221556623},{"start_region_id":207,"end_region_id":112,"start_point":[236,972],"end_point":[808,96],"distance":1046.21221556623},{"start_region_id":112,"end_region_id":187,"start_point":[808,96],"end_point":[152,870],"distance":1014.5994283459852}],"complexity_score":0.641167667427284}
{"id":15363,"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":"soriano_11.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":219,"start_point":[961,900],"end_point":[497,531],"distance":592.8380891946805},{"start_region_id":207,"end_region_id":219,"start_point":[236,972],"end_point":[497,531],"distance":512.4470704375233},{"start_region_id":107,"end_region_id":219,"start_point":[295,44],"end_point":[497,531],"distance":527.2314482274364},{"start_region_id":112,"end_region_id":219,"start_point":[808,96],"end_point":[497,531],"distance":534.739188764018},{"start_region_id":187,"end_region_id":219,"start_point":[152,870],"end_point":[497,531],"distance":483.6796460468437}],"complexity_score":0.641167667427284}
{"id":1193,"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_20.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":164,"end_region_id":230,"start_point":[934,399],"end_point":[367,678],"distance":631.9256285355106},{"start_region_id":230,"end_region_id":164,"start_point":[367,678],"end_point":[934,399],"distance":631.9256285355106},{"start_region_id":164,"end_region_id":246,"start_point":[934,399],"end_point":[426,750],"distance":617.4665982869033},{"start_region_id":246,"end_region_id":164,"start_point":[426,750],"end_point":[934,399],"distance":617.4665982869033},{"start_region_id":164,"end_region_id":263,"start_point":[934,399],"end_point":[600,907],"distance":607.963814712685}],"complexity_score":0.6412295599894845}
{"id":3671,"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_20.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":118,"start_point":[193,48],"end_point":[747,682],"distance":841.9453663985568}],"complexity_score":0.6412295599894845}
{"id":5491,"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_20.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":1,"start_point":[945,812],"end_point":[26,33],"distance":1204.7414660415736},{"start_region_id":1,"end_region_id":28,"start_point":[26,33],"end_point":[945,812],"distance":1204.7414660415736},{"start_region_id":28,"end_region_id":10,"start_point":[945,812],"end_point":[20,205],"distance":1106.3787778152653},{"start_region_id":10,"end_region_id":28,"start_point":[20,205],"end_point":[945,812],"distance":1106.3787778152653},{"start_region_id":33,"end_region_id":1,"start_point":[589,964],"end_point":[26,33],"distance":1087.9935661574475}],"complexity_score":0.6412295599894845}
{"id":14870,"query_id":"Q02974","question":"A surveillance drone starts from a flat, hard surface and needs to reach a destination over a grassy, open area. The drone can fly over loose, sandy ground, grassy fields, paved lanes, and areas with trees, but it must avoid any structures or water bodies due to safety regulations. The goal is to find the safest path to the grassy area.","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the safest route from the flat surface to the grassy area?","task_type":"Safest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"accra_20.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":118,"end_region_id":28,"start_point":[566,408],"end_point":[945,812],"distance":553.9467483431958},{"start_region_id":118,"end_region_id":1,"start_point":[566,408],"end_point":[26,33],"distance":657.4382100243338},{"start_region_id":118,"end_region_id":7,"start_point":[566,408],"end_point":[957,153],"distance":466.80402740336336},{"start_region_id":118,"end_region_id":33,"start_point":[566,408],"end_point":[589,964],"distance":556.4755160831427},{"start_region_id":118,"end_region_id":10,"start_point":[566,408],"end_point":[20,205],"distance":582.5160941982633}],"complexity_score":0.6412295599894845}
{"id":11926,"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_41.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":63,"end_region_id":54,"start_point":[565,653],"end_point":[80,690],"distance":486.4092926743896},{"start_region_id":63,"end_region_id":52,"start_point":[565,653],"end_point":[137,514],"distance":450.0055555212624},{"start_region_id":63,"end_region_id":55,"start_point":[565,653],"end_point":[136,659],"distance":429.0419559903204},{"start_region_id":63,"end_region_id":48,"start_point":[565,653],"end_point":[489,420],"distance":245.08161905781512},{"start_region_id":63,"end_region_id":62,"start_point":[565,653],"end_point":[707,990],"distance":365.6952282981007}],"complexity_score":0.641358702009514}
{"id":3611,"query_id":"Q00723","question":"A quadcopter drone has taken off from a cultivated field. It needs to reach a paved street as quickly as possible. The airspace above various surfaces is available: rough, sandy or rocky ground; areas with low natural vegetation; hard, artificial surfaces; vehicle lanes; and trees. The drone can fly over all these surfaces, but it must navigate around trees carefully as they are vertical obstacles that could cause collision if flown through carelessly. What is the fastest flight path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the fastest flight path for the drone?","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":"baybay_53.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":133,"start_point":[696,961],"end_point":[502,403],"distance":590.7622195096772},{"start_region_id":217,"end_region_id":133,"start_point":[94,784],"end_point":[502,403],"distance":558.2338219778519},{"start_region_id":216,"end_region_id":133,"start_point":[44,112],"end_point":[502,403],"distance":542.6278651156795},{"start_region_id":218,"end_region_id":133,"start_point":[568,803],"end_point":[502,403],"distance":405.4084360247083},{"start_region_id":215,"end_region_id":133,"start_point":[368,26],"end_point":[502,403],"distance":400.10623589241897}],"complexity_score":0.6413773870781828}
{"id":12693,"query_id":"Q02539","question":"A quadcopter drone starts from a cultivated field with low vegetation and needs to reach another cultivated field in the vicinity. The environment includes areas of wild grass and shrubs, hard paved surfaces, vehicle lanes, and other cultivated fields. You can fly over all these surfaces, including wild grass, paved areas, lanes, and fields, as they are open and unobstructed. However, you must avoid flying through trees or buildings due to collision risk. What is the shortest path to the destination?","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 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":"baybay_53.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":216,"start_point":[696,961],"end_point":[44,112],"distance":1070.469523153275},{"start_region_id":216,"end_region_id":219,"start_point":[44,112],"end_point":[696,961],"distance":1070.469523153275},{"start_region_id":219,"end_region_id":215,"start_point":[696,961],"end_point":[368,26],"distance":990.8627553803806},{"start_region_id":215,"end_region_id":219,"start_point":[368,26],"end_point":[696,961],"distance":990.8627553803806},{"start_region_id":216,"end_region_id":218,"start_point":[44,112],"end_point":[568,803],"distance":867.212200098684}],"complexity_score":0.6413773870781828}
{"id":14151,"query_id":"Q02831","question":"A farmer is starting from a cultivated field and needs to reach another cultivated field. The person wants a smooth, stable walking surface to avoid tripping and ensure comfort. Only three types of terrain are available: loose, uneven soil with no vegetation; hard, paved surfaces like sidewalks or sports courts; and the cultivated fields themselves. The loose soil is uncomfortable due to its roughness, but the paved surfaces are very smooth and stable. The cultivated fields are moderately comfortable but less even than the paved surfaces. What path should the farmer take to reach the destination field while maximizing walking comfort?","agent_category":"Pedestrian","specific_agent":"farmer","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What path should the farmer take to reach the destination field while maximizing walking comfort?","task_type":"Comfort","input_classes":["Bareland","Developed space","Agriculture land"],"traverse_vector":[1,0,1,0,0,0,1,0],"cost_vector":[1,0,3,0,0,0,2,0],"image_name":"baybay_53.tif","subfolder":"baybay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":216,"start_point":[671,193],"end_point":[44,112],"distance":632.2104080130285},{"start_region_id":216,"end_region_id":214,"start_point":[44,112],"end_point":[671,193],"distance":632.2104080130285}],"complexity_score":0.6413773870781828}
{"id":8973,"query_id":"Q01795","question":"An aerial surveillance drone starts from a paved lane and needs to reach another paved lane. The drone can fly over hard surfaces, soft ground with vegetation, and liquid areas, but must avoid vertical obstacles like trees and buildings. Which path should it take to minimize the total travel distance?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"a paved lane","end_land_type":"a paved lane","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":"khartoum_35.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":14,"start_point":[286,214],"end_point":[612,496],"distance":431.0452412450461},{"start_region_id":14,"end_region_id":12,"start_point":[612,496],"end_point":[286,214],"distance":431.0452412450461}],"complexity_score":0.641591791463911}
{"id":13389,"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":"khartoum_35.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":14,"start_point":[286,214],"end_point":[612,496],"distance":431.0452412450461},{"start_region_id":14,"end_region_id":12,"start_point":[612,496],"end_point":[286,214],"distance":431.0452412450461}],"complexity_score":0.641591791463911}
{"id":17872,"query_id":"Q03575","question":"A hiker starts from a paved surface and needs to reach another paved surface. The terrain includes loose, sandy ground; grassy and shrubby areas; paved lanes; areas with tall vertical obstacles; and cultivated fields with crops. The hiker can traverse all these terrain types. 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","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_35.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":14,"start_point":[286,214],"end_point":[612,496],"distance":431.0452412450461},{"start_region_id":14,"end_region_id":12,"start_point":[612,496],"end_point":[286,214],"distance":431.0452412450461}],"complexity_score":0.641591791463911}
{"id":4052,"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_110.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":357,"end_region_id":382,"start_point":[672,972],"end_point":[54,31],"distance":1125.7908331479698},{"start_region_id":349,"end_region_id":382,"start_point":[483,896],"end_point":[54,31],"distance":965.5392275821837},{"start_region_id":302,"end_region_id":382,"start_point":[753,614],"end_point":[54,31],"distance":910.2142604903529},{"start_region_id":346,"end_region_id":382,"start_point":[151,935],"end_point":[54,31],"distance":909.1891992319311},{"start_region_id":345,"end_region_id":382,"start_point":[184,826],"end_point":[54,31],"distance":805.5588122539533}],"complexity_score":0.6416153162836605}
{"id":4837,"query_id":"Q00968","question":"A delivery drone starts from a cultivated field and needs to reach a paved parking lot. The drone can fly over water bodies and agricultural areas, but must avoid trees and buildings to prevent collisions. The goal is to find a path that ensures a smooth and stable flight, minimizing vibrations and abrupt movements.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"cultivated field","end_land_type":"paved parking lot","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":"daressalaam_110.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":382,"end_region_id":196,"start_point":[54,31],"end_point":[833,905],"distance":1170.776238228296},{"start_region_id":382,"end_region_id":177,"start_point":[54,31],"end_point":[913,773],"distance":1135.096912162129},{"start_region_id":382,"end_region_id":205,"start_point":[54,31],"end_point":[405,964],"distance":996.840007222824},{"start_region_id":382,"end_region_id":148,"start_point":[54,31],"end_point":[881,467],"distance":934.8930420106891},{"start_region_id":382,"end_region_id":174,"start_point":[54,31],"end_point":[488,758],"distance":846.6906164591645}],"complexity_score":0.6416153162836605}
{"id":496,"query_id":"Q00100","question":"An aerial surveillance drone is positioned on a flat, hard, paved area and needs to reach a long, straight, paved lane. The drone can fly over open water bodies, cultivated fields with low vegetation, and areas with scattered trees or buildings, but must avoid dense tree canopies and vertical structures to prevent collisions. Which path minimizes the risk of accidents or damage?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, paved area","end_land_type":"A long, straight, paved lane","task_description":"Which path minimizes the risk of accidents or damage?","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":"sechura_27.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":126,"start_point":[860,985],"end_point":[516,456],"distance":631.0126781610652},{"start_region_id":85,"end_region_id":126,"start_point":[977,133],"end_point":[516,456],"distance":562.8943062422998},{"start_region_id":115,"end_region_id":126,"start_point":[913,796],"end_point":[516,456],"distance":522.6939831297085},{"start_region_id":121,"end_region_id":126,"start_point":[234,891],"end_point":[516,456],"distance":518.4100693466515},{"start_region_id":123,"end_region_id":126,"start_point":[601,950],"end_point":[516,456],"distance":501.25941387668723}],"complexity_score":0.6418785627331045}
{"id":4703,"query_id":"Q00941","question":"A hiker starts from a paved lane and needs to reach another paved lane. The hiker can traverse hard, flat surfaces like sidewalks and roads, and can also cross areas with loose soil and rocks, patches of grass and shrubs, cultivated fields with crops, and wooded areas with tall vegetation, but cannot enter buildings or water bodies. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"another paved lane","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":"sechura_27.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":126,"start_point":[969,979],"end_point":[130,120],"distance":1200.750598584069}],"complexity_score":0.6418785627331045}
{"id":8887,"query_id":"Q01778","question":"An aerial survey drone starts from a paved surface and needs to reach a grassy area while maintaining smooth flight. The drone can fly over hard surfaces, loose sandy ground, grassy vegetation, liquid bodies, and vehicle lanes, but must avoid tall vertical obstacles and man-made structures. The drone's sensors are sensitive to turbulence, so it should prioritize surfaces that provide stable airflow and minimal vibration. Which path would provide the most comfortable flight?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"grassy area","task_description":"Which path would provide the most comfortable 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":"sechura_27.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":26,"start_point":[46,560],"end_point":[968,433],"distance":930.7056462706133},{"start_region_id":89,"end_region_id":26,"start_point":[80,279],"end_point":[968,433],"distance":901.2546809864568},{"start_region_id":85,"end_region_id":59,"start_point":[977,133],"end_point":[485,846],"distance":866.2753603791349},{"start_region_id":121,"end_region_id":26,"start_point":[234,891],"end_point":[968,433],"distance":865.1705034269256},{"start_region_id":83,"end_region_id":59,"start_point":[809,122],"end_point":[485,846],"distance":793.1910236506715}],"complexity_score":0.6418785627331045}
{"id":13731,"query_id":"Q02747","question":"A quadcopter drone starts from a grassy field and needs to reach a paved parking lot. Your drone can fly over all types of terrain, including cultivated crop fields, natural grassy or shrubby areas, paved surfaces, vehicle lanes, and liquid surfaces. However, you must avoid flying through wooded areas or near any vertical structures. What is the shortest route to your destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy field","end_land_type":"paved parking lot","task_description":"What is the shortest route 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":"sechura_27.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":106,"start_point":[968,433],"end_point":[46,560],"distance":930.7056462706133},{"start_region_id":26,"end_region_id":89,"start_point":[968,433],"end_point":[80,279],"distance":901.2546809864568},{"start_region_id":59,"end_region_id":85,"start_point":[485,846],"end_point":[977,133],"distance":866.2753603791349},{"start_region_id":26,"end_region_id":121,"start_point":[968,433],"end_point":[234,891],"distance":865.1705034269256},{"start_region_id":59,"end_region_id":83,"start_point":[485,846],"end_point":[809,122],"distance":793.1910236506715}],"complexity_score":0.6418785627331045}
{"id":2330,"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_40.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":113,"start_point":[946,999],"end_point":[162,29],"distance":1247.2193070987958},{"start_region_id":99,"end_region_id":113,"start_point":[662,926],"end_point":[162,29],"distance":1026.9415757481045},{"start_region_id":52,"end_region_id":116,"start_point":[769,42],"end_point":[436,974],"distance":989.7034909506988},{"start_region_id":53,"end_region_id":116,"start_point":[953,138],"end_point":[436,974],"distance":982.9470992886646},{"start_region_id":55,"end_region_id":117,"start_point":[391,28],"end_point":[582,970],"distance":961.1685596189672}],"complexity_score":0.641882992923205}
{"id":15970,"query_id":"Q03194","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open paved area. The drone can fly over loose soil with sparse vegetation, hard surfaces like sidewalks and parking lots, tall leafy structures, liquid surfaces, and cultivated fields with rows of crops. However, flying through tall leafy structures is only allowed if the drone can navigate carefully to avoid collisions. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a densely vegetated area with tall, leafy structures","end_land_type":"a flat, hard, and open paved area","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":"tuscaloosa_40.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":75,"start_point":[977,603],"end_point":[50,730],"distance":935.6591259641515},{"start_region_id":131,"end_region_id":76,"start_point":[977,603],"end_point":[53,667],"distance":926.213798212918},{"start_region_id":131,"end_region_id":89,"start_point":[977,603],"end_point":[194,889],"distance":833.5976247566928},{"start_region_id":131,"end_region_id":55,"start_point":[977,603],"end_point":[391,28],"distance":820.9878196416802},{"start_region_id":131,"end_region_id":62,"start_point":[977,603],"end_point":[197,355],"distance":818.4766337532184}],"complexity_score":0.641882992923205}
{"id":2477,"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_39.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":40,"start_point":[391,106],"end_point":[722,518],"distance":528.4931409204854},{"start_region_id":89,"end_region_id":40,"start_point":[278,649],"end_point":[722,518],"distance":462.9222396904258}],"complexity_score":0.6419531998303213}
{"id":6629,"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_39.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":88,"start_point":[278,649],"end_point":[391,106],"distance":554.6332121321261},{"start_region_id":88,"end_region_id":89,"start_point":[391,106],"end_point":[278,649],"distance":554.6332121321261}],"complexity_score":0.6419531998303213}
{"id":12038,"query_id":"Q02408","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 open grassy fields and low shrubs, paved surfaces, vehicle lanes, and water bodies. However, it must avoid flying through dense tree canopies or close to building structures to maintain speed and stability. 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","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_39.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":36,"start_point":[846,549],"end_point":[600,307],"distance":345.0797009387831},{"start_region_id":36,"end_region_id":39,"start_point":[600,307],"end_point":[846,549],"distance":345.0797009387831},{"start_region_id":38,"end_region_id":36,"start_point":[797,502],"end_point":[600,307],"distance":277.1894658893083},{"start_region_id":36,"end_region_id":38,"start_point":[600,307],"end_point":[797,502],"distance":277.1894658893083}],"complexity_score":0.6419531998303213}
{"id":15404,"query_id":"Q03081","question":"A quadcopter drone is positioned on a flat, hard surface and needs to fly to a planted crop field. The drone can fly over areas covered with short grass and shrubs. The drone can fly over wooded areas with trees, but must maintain altitude to avoid collisions with tree canopies. The drone cannot land on or traverse through any liquid surfaces. The drone cannot fly inside any solid structures. The drone cannot fly over loose, sandy or rocky ground without vegetation. The drone cannot use vehicle lanes or streets. What is the fastest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, hard surface","end_land_type":"A planted crop field","task_description":"What is the fastest flight path to the destination?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Tree","Agriculture land"],"traverse_vector":[0,1,1,0,1,0,1,0],"cost_vector":[0,2,2,0,1,0,2,0],"image_name":"piura_39.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":36,"end_region_id":89,"start_point":[600,307],"end_point":[278,649],"distance":469.7318383929282},{"start_region_id":36,"end_region_id":88,"start_point":[600,307],"end_point":[391,106],"distance":289.968963856479}],"complexity_score":0.6419531998303213}
{"id":13785,"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_31.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":320,"start_point":[162,72],"end_point":[910,861],"distance":1087.2097313766099},{"start_region_id":320,"end_region_id":1,"start_point":[910,861],"end_point":[162,72],"distance":1087.2097313766099},{"start_region_id":4,"end_region_id":346,"start_point":[588,114],"end_point":[212,966],"distance":931.2786908332006},{"start_region_id":346,"end_region_id":4,"start_point":[212,966],"end_point":[588,114],"distance":931.2786908332006},{"start_region_id":346,"end_region_id":171,"start_point":[212,966],"end_point":[907,403],"distance":894.4238368916607}],"complexity_score":0.6419680535617083}
{"id":17665,"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_31.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":488,"end_region_id":320,"start_point":[387,74],"end_point":[910,861],"distance":944.932801843602},{"start_region_id":488,"end_region_id":346,"start_point":[387,74],"end_point":[212,966],"distance":909.0044004293928},{"start_region_id":488,"end_region_id":315,"start_point":[387,74],"end_point":[450,902],"distance":830.3932803196326},{"start_region_id":488,"end_region_id":305,"start_point":[387,74],"end_point":[223,839],"distance":782.3816204385172},{"start_region_id":489,"end_region_id":346,"start_point":[722,494],"end_point":[212,966],"distance":694.8985537472358}],"complexity_score":0.6419680535617083}
{"id":10108,"query_id":"Q02022","question":"A quadcopter drone is positioned on grassy, uneven terrain and needs to reach another patch of grassy, uneven terrain as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; it can also traverse areas with low vegetation and bushes. The drone is permitted to cross over hard, flat surfaces like sidewalks and parking lots. Additionally, it can fly over liquid surfaces such as rivers or ponds. However, the drone must avoid flying through dense clusters of tall vegetation or near vertical structures, as these pose navigation hazards and require slower, more cautious movement. What is the fastest path for the drone to take?","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 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":"melbourne_64.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":24,"start_point":[21,891],"end_point":[639,298],"distance":856.4887623314155},{"start_region_id":24,"end_region_id":51,"start_point":[639,298],"end_point":[21,891],"distance":856.4887623314155},{"start_region_id":2,"end_region_id":51,"start_point":[172,46],"end_point":[21,891],"distance":858.3856941957968},{"start_region_id":51,"end_region_id":2,"start_point":[21,891],"end_point":[172,46],"distance":858.3856941957968},{"start_region_id":47,"end_region_id":2,"start_point":[232,903],"end_point":[172,46],"distance":859.0977825602857}],"complexity_score":0.6420829986949024}
{"id":12818,"query_id":"Q02564","question":"A hiker starts from a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes areas with loose soil and natural vegetation, hard paved surfaces, vehicle lanes, and cultivated fields. 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":"grassy, open field","end_land_type":"wooded area with tall vegetation","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_64.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":51,"end_region_id":116,"start_point":[21,891],"end_point":[990,43],"distance":1287.6587280797658},{"start_region_id":51,"end_region_id":122,"start_point":[21,891],"end_point":[957,206],"distance":1159.8797351449848},{"start_region_id":47,"end_region_id":116,"start_point":[232,903],"end_point":[990,43],"distance":1146.3699228434075},{"start_region_id":51,"end_region_id":134,"start_point":[21,891],"end_point":[954,299],"distance":1104.9674203341924},{"start_region_id":51,"end_region_id":118,"start_point":[21,891],"end_point":[721,75],"distance":1075.107436491814}],"complexity_score":0.6420829986949024}
{"id":17177,"query_id":"Q03436","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can traverse hard surfaces, grassy or shrub-covered terrain, and liquid surfaces, but must avoid vertical structures and areas with tall vegetation. What is the safest route?","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 route 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":"melbourne_64.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":108,"start_point":[639,553],"end_point":[60,39],"distance":774.2331690130565},{"start_region_id":108,"end_region_id":110,"start_point":[60,39],"end_point":[639,553],"distance":774.2331690130565},{"start_region_id":110,"end_region_id":109,"start_point":[639,553],"end_point":[178,110],"distance":639.3512336736358},{"start_region_id":109,"end_region_id":110,"start_point":[178,110],"end_point":[639,553],"distance":639.3512336736358}],"complexity_score":0.6420829986949024}
{"id":936,"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_18.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":116,"start_point":[141,99],"end_point":[966,788],"distance":1074.870224724827},{"start_region_id":44,"end_region_id":62,"start_point":[750,951],"end_point":[126,162],"distance":1005.9309121405903},{"start_region_id":52,"end_region_id":67,"start_point":[336,997],"end_point":[700,69],"distance":996.8349913601548},{"start_region_id":1,"end_region_id":116,"start_point":[202,229],"end_point":[966,788],"distance":946.6662558684554},{"start_region_id":33,"end_region_id":67,"start_point":[64,815],"end_point":[700,69],"distance":980.3121951704977}],"complexity_score":0.6421785372464348}
{"id":13018,"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_18.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":3,"start_point":[654,917],"end_point":[141,99],"distance":965.553209305422},{"start_region_id":152,"end_region_id":1,"start_point":[654,917],"end_point":[202,229],"distance":823.1937803457944},{"start_region_id":148,"end_region_id":44,"start_point":[375,185],"end_point":[750,951],"distance":852.8663435732471},{"start_region_id":152,"end_region_id":2,"start_point":[654,917],"end_point":[348,101],"distance":871.4883820223881},{"start_region_id":148,"end_region_id":52,"start_point":[375,185],"end_point":[336,997],"distance":812.9360368442279}],"complexity_score":0.6421785372464348}
{"id":14355,"query_id":"Q02871","question":"A hiker starts from a grassy, uneven field and needs to reach another grassy, uneven field. You can only travel on surfaces that are either grassy and uneven, loose and rocky, paved and hard, or cultivated and soft. The loose and rocky surfaces are traversable because they are dry and stable. The cultivated and soft surfaces are traversable because they are recently harvested and firm. All other surfaces, including those covered by water, vertical structures, dense vegetation, or vehicle lanes, are not allowed. You want to minimize physical strain and maintain a smooth, stable walk.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a grassy, uneven field","end_land_type":"another grassy, uneven field","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Developed space","Agriculture land"],"traverse_vector":[1,1,1,0,0,0,1,0],"cost_vector":[1,2,4,0,0,0,3,0],"image_name":"dhaka_18.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":25,"start_point":[303,420],"end_point":[462,588],"distance":231.3114783144148},{"start_region_id":25,"end_region_id":16,"start_point":[462,588],"end_point":[303,420],"distance":231.3114783144148},{"start_region_id":2,"end_region_id":3,"start_point":[348,101],"end_point":[141,99],"distance":207.00966161027364},{"start_region_id":3,"end_region_id":2,"start_point":[141,99],"end_point":[348,101],"distance":207.00966161027364}],"complexity_score":0.6421785372464348}
{"id":906,"query_id":"Q00182","question":"A hiker starts from a paved, hard-surfaced area and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The hiker can traverse areas with short, stable grass and shrubs, as the vegetation is low and does not impede movement. However, the hiker cannot cross any water bodies or enter any structures, and must avoid loose, sandy ground or rocky terrain without vegetation. Which path allows the hiker to travel the fastest?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a cultivated field with soft, tilled soil","task_description":"Which path allows the hiker to travel the fastest?","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":"dortmund_70.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":90,"end_region_id":196,"start_point":[51,715],"end_point":[980,116],"distance":1105.3696214389104},{"start_region_id":101,"end_region_id":196,"start_point":[346,873],"end_point":[980,116],"distance":987.4234147517467},{"start_region_id":87,"end_region_id":196,"start_point":[132,597],"end_point":[980,116],"distance":974.9179452651387},{"start_region_id":55,"end_region_id":196,"start_point":[43,331],"end_point":[980,116],"distance":961.3500923180899},{"start_region_id":130,"end_region_id":196,"start_point":[577,974],"end_point":[980,116],"distance":947.9309046549754}],"complexity_score":0.6422079796039512}
{"id":9396,"query_id":"Q01880","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and needs to reach a paved lane used by vehicles. The drone can fly over loose, sandy or rocky ground without vegetation, liquid surfaces like rivers or lakes, and the cultivated field itself, but cannot pass through dense vertical obstacles like individual trees or groups of trees, or man-made structures like buildings. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a cultivated field with rows of crops","end_land_type":"a paved lane used by vehicles","task_description":"What is the shortest path for the quadcopter drone to travel from the cultivated field to the paved lane?","task_type":"Shortest","input_classes":["Bareland","Road","Water","Agriculture land"],"traverse_vector":[1,0,0,1,0,1,1,0],"cost_vector":[1,0,0,1,0,1,1,0],"image_name":"dortmund_70.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":196,"end_region_id":131,"start_point":[980,116],"end_point":[456,116],"distance":524.0}],"complexity_score":0.6422079796039512}
{"id":14517,"query_id":"Q02904","question":"A delivery van is starting from a paved road and needs to reach a cultivated field. The van can only travel on hard surfaces, loose soil, and cultivated ground. It must avoid any areas with trees, water, or buildings. Which path allows the van to reach the field as quickly as possible?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"Which path allows the van to reach the field as quickly as possible?","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":"dortmund_70.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":196,"start_point":[456,116],"end_point":[980,116],"distance":524.0}],"complexity_score":0.6422079796039512}
{"id":903,"query_id":"Q00181","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field. The terrain includes areas with soft, grassy surfaces and patches of loose soil, as well as hard, flat surfaces like paved paths or compacted grounds. However, sandy or rocky expanses, water bodies, dense tree clusters, and built structures are impassable. 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","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":"swietokrzyskie_28.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":98,"start_point":[23,831],"end_point":[987,68],"distance":1229.416528276727},{"start_region_id":98,"end_region_id":101,"start_point":[987,68],"end_point":[23,831],"distance":1229.416528276727},{"start_region_id":97,"end_region_id":101,"start_point":[755,49],"end_point":[23,831],"distance":1071.143314407554},{"start_region_id":101,"end_region_id":97,"start_point":[23,831],"end_point":[755,49],"distance":1071.143314407554},{"start_region_id":96,"end_region_id":102,"start_point":[253,146],"end_point":[976,867],"distance":1021.0631714051781}],"complexity_score":0.6423838259142718}
{"id":5123,"query_id":"Q01025","question":"A delivery drone starts from a paved road and needs to reach a cultivated field while prioritizing safety. The terrain includes loose, sandy ground; hard, flat surfaces; areas with tall vegetation; and cultivated areas. The drone can fly over all these terrains, but must avoid collisions with tall trees and buildings, which are restricted. Water bodies are allowed but pose a risk. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved road","end_land_type":"a cultivated field","task_description":"What is the safest path for the delivery drone to take from the paved road to the 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":"swietokrzyskie_28.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":98,"start_point":[533,569],"end_point":[987,68],"distance":676.1042818974008},{"start_region_id":45,"end_region_id":101,"start_point":[533,569],"end_point":[23,831],"distance":573.3620147864698},{"start_region_id":45,"end_region_id":97,"start_point":[533,569],"end_point":[755,49],"distance":565.4060487826425},{"start_region_id":45,"end_region_id":102,"start_point":[533,569],"end_point":[976,867],"distance":533.9035493420137},{"start_region_id":45,"end_region_id":96,"start_point":[533,569],"end_point":[253,146],"distance":507.2760589659244}],"complexity_score":0.6423838259142718}
{"id":12685,"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":"swietokrzyskie_28.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":102,"start_point":[18,91],"end_point":[976,867],"distance":1232.8584671404906},{"start_region_id":24,"end_region_id":103,"start_point":[18,91],"end_point":[687,1000],"distance":1128.646091562807},{"start_region_id":26,"end_region_id":102,"start_point":[48,327],"end_point":[976,867],"distance":1073.6777915184798},{"start_region_id":25,"end_region_id":101,"start_point":[902,226],"end_point":[23,831],"distance":1067.0829396068518},{"start_region_id":31,"end_region_id":98,"start_point":[136,669],"end_point":[987,68],"distance":1041.8262811044842}],"complexity_score":0.6423838259142718}
{"id":14154,"query_id":"Q02831","question":"A farmer is starting from a cultivated field and needs to reach another cultivated field. The person wants a smooth, stable walking surface to avoid tripping and ensure comfort. Only three types of terrain are available: loose, uneven soil with no vegetation; hard, paved surfaces like sidewalks or sports courts; and the cultivated fields themselves. The loose soil is uncomfortable due to its roughness, but the paved surfaces are very smooth and stable. The cultivated fields are moderately comfortable but less even than the paved surfaces. What path should the farmer take to reach the destination field while maximizing walking comfort?","agent_category":"Pedestrian","specific_agent":"farmer","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What path should the farmer take to reach the destination field while maximizing walking comfort?","task_type":"Comfort","input_classes":["Bareland","Developed space","Agriculture land"],"traverse_vector":[1,0,1,0,0,0,1,0],"cost_vector":[1,0,3,0,0,0,2,0],"image_name":"swietokrzyskie_28.tif","subfolder":"swietokrzyskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":100,"end_region_id":101,"start_point":[269,596],"end_point":[23,831],"distance":340.20728975141026},{"start_region_id":101,"end_region_id":100,"start_point":[23,831],"end_point":[269,596],"distance":340.20728975141026}],"complexity_score":0.6423838259142718}
{"id":4305,"query_id":"Q00861","question":"A hiker starts from a grassy, open terrain and needs to reach another grassy, open terrain area. The terrain includes areas with loose soil and scattered vegetation, cultivated fields with soft, tilled earth, and patches with tall vegetation and uneven ground. The hiker must avoid all paved or hard surfaces, water bodies, and any structures. What is the safest path to take?","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 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":"daressalaam_6.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":46,"start_point":[703,272],"end_point":[110,612],"distance":683.5561425369535},{"start_region_id":46,"end_region_id":17,"start_point":[110,612],"end_point":[703,272],"distance":683.5561425369535},{"start_region_id":48,"end_region_id":17,"start_point":[303,672],"end_point":[703,272],"distance":565.685424949238},{"start_region_id":17,"end_region_id":48,"start_point":[703,272],"end_point":[303,672],"distance":565.685424949238},{"start_region_id":17,"end_region_id":32,"start_point":[703,272],"end_point":[360,448],"distance":385.5191305240247}],"complexity_score":0.6424296016956903}
{"id":4783,"query_id":"Q00957","question":"A quadcopter drone starts from a paved road surface and needs to reach a paved parking lot. The terrain includes loose, sandy ground; paved surfaces like sidewalks and parking lots; paved roads; individual trees with trunks and canopies; and cultivated fields with crops. The drone can fly over all these surfaces, but must avoid flying through dense tree canopies. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","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","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_6.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":83,"start_point":[89,75],"end_point":[891,699],"distance":1016.1594363090863},{"start_region_id":108,"end_region_id":85,"start_point":[89,75],"end_point":[919,522],"distance":942.7136362650112},{"start_region_id":108,"end_region_id":70,"start_point":[89,75],"end_point":[999,203],"distance":918.9581056827346},{"start_region_id":109,"end_region_id":61,"start_point":[742,638],"end_point":[63,44],"distance":902.1513176845667},{"start_region_id":108,"end_region_id":81,"start_point":[89,75],"end_point":[853,533],"distance":890.7637172673795}],"complexity_score":0.6424296016956903}
{"id":14074,"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":"daressalaam_6.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":59,"start_point":[892,22],"end_point":[71,811],"distance":1138.666764246678},{"start_region_id":70,"end_region_id":59,"start_point":[999,203],"end_point":[71,811],"distance":1109.4358926950217},{"start_region_id":69,"end_region_id":59,"start_point":[924,128],"end_point":[71,811],"distance":1092.7479123750363},{"start_region_id":72,"end_region_id":59,"start_point":[876,96],"end_point":[71,811],"distance":1076.6847263707236},{"start_region_id":98,"end_region_id":7,"start_point":[109,856],"end_point":[938,232],"distance":1037.6015612941221}],"complexity_score":0.6424296016956903}
{"id":17525,"query_id":"Q03505","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane. The terrain includes grassy areas, cultivated plots, and tall vertical obstacles. The drone can fly over grassy areas, cultivated plots, and paved lanes, but must avoid liquid surfaces and cannot pass through dense vertical obstacles. 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":"daressalaam_6.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":109,"end_region_id":108,"start_point":[742,638],"end_point":[89,75],"distance":862.1937137325926},{"start_region_id":108,"end_region_id":109,"start_point":[89,75],"end_point":[742,638],"distance":862.1937137325926}],"complexity_score":0.6424296016956903}
{"id":2848,"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_71.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":483,"end_region_id":266,"start_point":[86,730],"end_point":[229,25],"distance":719.3566570207021},{"start_region_id":483,"end_region_id":274,"start_point":[86,730],"end_point":[325,499],"distance":332.3883271115278}],"complexity_score":0.6424322002693783}
{"id":6858,"query_id":"Q01372","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with complex branching patterns and needs to reach a large, flat expanse of regularly patterned, low-lying vegetation. The drone can fly over open, solid ground with no vegetation, as well as over hard, flat, artificial surfaces. However, it must navigate carefully around the tall, vertical structures at the start, as flying directly through them is slow and risky. The goal 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":"A dense cluster of tall, vertical structures with complex branching patterns.","end_land_type":"A large, flat expanse of regularly patterned, low-lying vegetation.","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":"monrovia_71.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":483,"start_point":[793,29],"end_point":[86,730],"distance":995.6153875869938},{"start_region_id":332,"end_region_id":483,"start_point":[903,386],"end_point":[86,730],"distance":886.467709507797},{"start_region_id":399,"end_region_id":483,"start_point":[941,798],"end_point":[86,730],"distance":857.6998309432036},{"start_region_id":301,"end_region_id":483,"start_point":[738,187],"end_point":[86,730],"distance":848.5004419562786},{"start_region_id":363,"end_region_id":483,"start_point":[916,619],"end_point":[86,730],"distance":837.3893956816029}],"complexity_score":0.6424322002693783}
{"id":10706,"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_71.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":483,"end_region_id":292,"start_point":[86,730],"end_point":[793,29],"distance":995.6153875869938},{"start_region_id":483,"end_region_id":332,"start_point":[86,730],"end_point":[903,386],"distance":886.467709507797},{"start_region_id":483,"end_region_id":399,"start_point":[86,730],"end_point":[941,798],"distance":857.6998309432036},{"start_region_id":483,"end_region_id":301,"start_point":[86,730],"end_point":[738,187],"distance":848.5004419562786},{"start_region_id":483,"end_region_id":363,"start_point":[86,730],"end_point":[916,619],"distance":837.3893956816029}],"complexity_score":0.6424322002693783}
{"id":15162,"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_71.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":483,"start_point":[997,264],"end_point":[86,730],"distance":1023.2678046337626},{"start_region_id":18,"end_region_id":483,"start_point":[889,131],"end_point":[86,730],"distance":1001.8033739212501},{"start_region_id":4,"end_region_id":483,"start_point":[720,38],"end_point":[86,730],"distance":938.5201116651683},{"start_region_id":94,"end_region_id":483,"start_point":[877,775],"end_point":[86,730],"distance":792.278991265072},{"start_region_id":1,"end_region_id":483,"start_point":[317,10],"end_point":[86,730],"distance":756.1487948810076}],"complexity_score":0.6424322002693783}
{"id":966,"query_id":"Q00194","question":"A quadcopter drone is positioned in a densely vegetated area with tall, leafy structures. It needs to reach an open area covered with low, non-cultivated vegetation. The drone can fly over most surfaces, but navigating through dense vegetation slows it down significantly. 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":"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, non-cultivated vegetation","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Tree"],"traverse_vector":[0,1,0,1,1,0,0,0],"cost_vector":[0,2,0,2,1,0,0,0],"image_name":"dhaka_63.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":254,"end_region_id":30,"start_point":[773,631],"end_point":[855,949],"distance":328.40219244091537},{"start_region_id":303,"end_region_id":10,"start_point":[756,908],"end_point":[856,578],"distance":344.81879299133334},{"start_region_id":259,"end_region_id":18,"start_point":[278,652],"end_point":[73,763],"distance":233.1222855069845},{"start_region_id":270,"end_region_id":10,"start_point":[863,789],"end_point":[856,578],"distance":211.11608181282637}],"complexity_score":0.6424757673112335}
{"id":3891,"query_id":"Q00779","question":"A hiker is standing in a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open surface as quickly as possible. The hiker can walk on paved areas like sidewalks or parking lots and vehicle lanes without restriction. Loose, sandy or rocky ground; grassy or shrub-covered terrain; and cultivated fields are passable only if they are dry and firm. Dense vegetation can be traversed if there are clear gaps or paths. Water bodies and vertical structures are completely impassable. 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":"a flat, hard, and open surface","task_description":"What is the fastest path for the hiker 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"],"traverse_vector":[1,1,1,1,1,0,1,0],"cost_vector":[2,3,6,5,1,0,4,0],"image_name":"dhaka_63.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":126,"start_point":[663,45],"end_point":[136,938],"distance":1036.907903335682},{"start_region_id":165,"end_region_id":126,"start_point":[808,198],"end_point":[136,938],"distance":999.591916734024},{"start_region_id":156,"end_region_id":126,"start_point":[560,36],"end_point":[136,938],"distance":996.6845037422826},{"start_region_id":156,"end_region_id":145,"start_point":[560,36],"end_point":[877,972],"distance":988.2231529366229},{"start_region_id":165,"end_region_id":114,"start_point":[808,198],"end_point":[24,746],"distance":956.5354149219986}],"complexity_score":0.6424757673112335}
{"id":5106,"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":"dhaka_63.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":155,"end_region_id":61,"start_point":[618,331],"end_point":[448,455],"distance":210.41863035387337}],"complexity_score":0.6424757673112335}
{"id":8562,"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":"dhaka_63.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":114,"start_point":[394,692],"end_point":[24,746],"distance":373.9197774924456},{"start_region_id":114,"end_region_id":111,"start_point":[24,746],"end_point":[394,692],"distance":373.9197774924456},{"start_region_id":126,"end_region_id":111,"start_point":[136,938],"end_point":[394,692],"distance":356.4828186603107},{"start_region_id":111,"end_region_id":126,"start_point":[394,692],"end_point":[136,938],"distance":356.4828186603107},{"start_region_id":126,"end_region_id":114,"start_point":[136,938],"end_point":[24,746],"distance":222.27910383119686}],"complexity_score":0.6424757673112335}
{"id":4316,"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":"daressalaam_57.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":434,"end_region_id":358,"start_point":[857,810],"end_point":[57,398],"distance":899.8577665386903},{"start_region_id":358,"end_region_id":434,"start_point":[57,398],"end_point":[857,810],"distance":899.8577665386903},{"start_region_id":365,"end_region_id":358,"start_point":[688,430],"end_point":[57,398],"distance":631.8108894281579},{"start_region_id":358,"end_region_id":365,"start_point":[57,398],"end_point":[688,430],"distance":631.8108894281579},{"start_region_id":403,"end_region_id":434,"start_point":[368,661],"end_point":[857,810],"distance":511.19663535668934}],"complexity_score":0.642577258553173}
{"id":13862,"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":"daressalaam_57.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":147,"start_point":[830,40],"end_point":[51,699],"distance":1020.3538601877292},{"start_region_id":1,"end_region_id":180,"start_point":[830,40],"end_point":[177,750],"distance":964.6289442060092},{"start_region_id":1,"end_region_id":163,"start_point":[830,40],"end_point":[338,825],"distance":926.438880876661},{"start_region_id":1,"end_region_id":176,"start_point":[830,40],"end_point":[475,832],"distance":867.9222315392088},{"start_region_id":1,"end_region_id":156,"start_point":[830,40],"end_point":[304,572],"distance":748.1310045707236}],"complexity_score":0.642577258553173}
{"id":17616,"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":"daressalaam_57.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":358,"start_point":[830,40],"end_point":[57,398],"distance":851.8761647094019},{"start_region_id":1,"end_region_id":403,"start_point":[830,40],"end_point":[368,661],"distance":774.0058139316526},{"start_region_id":1,"end_region_id":434,"start_point":[830,40],"end_point":[857,810],"distance":770.473231202746},{"start_region_id":1,"end_region_id":365,"start_point":[830,40],"end_point":[688,430],"distance":415.04698529202693}],"complexity_score":0.642577258553173}
{"id":10482,"query_id":"Q02097","question":"A hiker is starting from a grassy, open field with low vegetation and needs to reach a dense cluster of tall, leafy trees. The hiker can walk on paved, hard surfaces and vehicle lanes, but must avoid water bodies and buildings entirely. To traverse bare, rocky ground; grassy, open fields; cultivated crop areas; and tree-covered zones, the hiker has obtained permission or the terrain is dry and stable enough for safe foot travel. The goal is to find the path that minimizes risk of injury or getting lost.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a dense cluster of tall, leafy 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":"houston_45.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":241,"start_point":[126,9],"end_point":[800,984],"distance":1185.2851977477826},{"start_region_id":2,"end_region_id":247,"start_point":[126,9],"end_point":[567,990],"distance":1075.5658975627666},{"start_region_id":4,"end_region_id":247,"start_point":[713,13],"end_point":[567,990],"distance":987.8486726214699},{"start_region_id":5,"end_region_id":241,"start_point":[386,84],"end_point":[800,984],"distance":990.654329218825},{"start_region_id":4,"end_region_id":241,"start_point":[713,13],"end_point":[800,984],"distance":974.8897373549482}],"complexity_score":0.6426449881042506}
{"id":7328,"query_id":"Q01466","question":"An aerial photography drone starts from a paved, hard-surfaced area and needs to reach a dry, open area of loose earth and rocks. The drone must maintain stable flight and minimize vibrations for clear image capture. It can fly over liquid surfaces, but these may cause turbulence. It can also fly over cultivated fields with low vegetation, though these may have some unevenness. The drone cannot fly through dense vertical obstacles or enter enclosed structures. The paved area, loose earth area, liquid surfaces, and cultivated fields are all accessible. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A dry, open area of loose earth and rocks","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":"accra_69.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":3,"start_point":[893,147],"end_point":[108,695],"distance":957.3552109849301},{"start_region_id":9,"end_region_id":2,"start_point":[433,468],"end_point":[948,106],"distance":629.4990071477476},{"start_region_id":10,"end_region_id":1,"start_point":[893,147],"end_point":[273,225],"distance":624.8871898190905},{"start_region_id":13,"end_region_id":3,"start_point":[623,516],"end_point":[108,695],"distance":545.2210560864281},{"start_region_id":13,"end_region_id":2,"start_point":[623,516],"end_point":[948,106],"distance":523.1873469418006}],"complexity_score":0.6427539838135261}
{"id":14368,"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":"accra_69.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":3,"start_point":[893,147],"end_point":[108,695],"distance":957.3552109849301},{"start_region_id":9,"end_region_id":2,"start_point":[433,468],"end_point":[948,106],"distance":629.4990071477476},{"start_region_id":10,"end_region_id":1,"start_point":[893,147],"end_point":[273,225],"distance":624.8871898190905},{"start_region_id":13,"end_region_id":3,"start_point":[623,516],"end_point":[108,695],"distance":545.2210560864281},{"start_region_id":13,"end_region_id":2,"start_point":[623,516],"end_point":[948,106],"distance":523.1873469418006}],"complexity_score":0.6427539838135261}
{"id":14392,"query_id":"Q02879","question":"A delivery drone is hovering above a grassy, uneven field and needs to reach an exposed, rocky ground area. The drone must maintain a smooth, stable flight to protect its payload, so it prefers to fly over terrain that minimizes turbulence. The drone is programmed to avoid flying directly above tall vertical structures and liquid surfaces due to safety protocols. What is the most comfortable path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven field","end_land_type":"exposed, rocky ground","task_description":"What is the most comfortable path from the grassy field to the 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":"accra_69.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":3,"start_point":[890,160],"end_point":[108,695],"distance":947.4961741347561},{"start_region_id":4,"end_region_id":2,"start_point":[375,508],"end_point":[948,106],"distance":699.952141221098},{"start_region_id":5,"end_region_id":1,"start_point":[890,160],"end_point":[273,225],"distance":620.4143776541611},{"start_region_id":4,"end_region_id":3,"start_point":[375,508],"end_point":[108,695],"distance":325.9723914689709},{"start_region_id":4,"end_region_id":1,"start_point":[375,508],"end_point":[273,225],"distance":300.8205445111753}],"complexity_score":0.6427539838135261}
{"id":15817,"query_id":"Q03164","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with low, natural vegetation. The drone can fly over any solid or liquid surface, including paved areas, water bodies, and cultivated fields, but must avoid dense tree canopies and vertical structures like buildings due to collision risk. What is the shortest 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 grassy, shrub-covered area with low, natural 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":"accra_69.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":5,"start_point":[108,695],"end_point":[890,160],"distance":947.4961741347561},{"start_region_id":2,"end_region_id":4,"start_point":[948,106],"end_point":[375,508],"distance":699.952141221098},{"start_region_id":1,"end_region_id":5,"start_point":[273,225],"end_point":[890,160],"distance":620.4143776541611},{"start_region_id":3,"end_region_id":4,"start_point":[108,695],"end_point":[375,508],"distance":325.9723914689709},{"start_region_id":1,"end_region_id":4,"start_point":[273,225],"end_point":[375,508],"distance":300.8205445111753}],"complexity_score":0.6427539838135261}
{"id":4381,"query_id":"Q00877","question":"A quadcopter drone is on a paved surface and must reach another paved surface. The drone can fly over most ground types including hard artificial surfaces, but it must avoid dense vegetation clusters that could entangle its rotors. It cannot land on or traverse through liquid areas. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved surface","end_land_type":"paved surface","task_description":"What is the fastest route 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","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,0,1,1],"cost_vector":[1,1,1,1,0,0,1,1],"image_name":"rio_46.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":30,"start_point":[254,198],"end_point":[73,98],"distance":206.7873303662485},{"start_region_id":30,"end_region_id":31,"start_point":[73,98],"end_point":[254,198],"distance":206.7873303662485}],"complexity_score":0.6428068214482696}
{"id":13396,"query_id":"Q02680","question":"An aerial survey drone starts from an area of natural, uncultivated grassy vegetation and needs to return to another patch of similar grassy vegetation. An aerial survey drone must complete its mission as quickly as possible. The drone can fly over open grassy areas, hard artificial surfaces like pavement, areas with tall vertical obstacles like trees, liquid bodies, and cultivated crop fields. However, flying through or very close to clusters of tall vertical obstacles like trees requires careful navigation and slows it down significantly. What is the fastest path?","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 another patch of similar grassy vegetation","task_description":"What is the fastest path?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Water","Agriculture land"],"traverse_vector":[0,1,1,1,1,1,1,0],"cost_vector":[0,2,2,2,1,2,2,0],"image_name":"rio_46.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":3,"start_point":[186,373],"end_point":[373,297],"distance":201.8539075668341}],"complexity_score":0.6428068214482696}
{"id":12802,"query_id":"Q02561","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved parking lot. The terrain includes grassy or shrub-covered areas that are dry and firm, as well as hard, flat surfaces like sidewalks and vehicle lanes. However, sandy or rocky expanses, areas with dense tree canopies, liquid surfaces, and vertical structures are not accessible. You must travel only on surfaces that provide a smooth and stable walking experience. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a paved parking lot","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":"niamey_9.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":625,"end_region_id":121,"start_point":[391,888],"end_point":[929,92],"distance":960.7601157416975},{"start_region_id":626,"end_region_id":116,"start_point":[563,907],"end_point":[148,41],"distance":960.3025564893597},{"start_region_id":625,"end_region_id":120,"start_point":[391,888],"end_point":[749,50],"distance":911.2672494938024},{"start_region_id":626,"end_region_id":121,"start_point":[563,907],"end_point":[929,92],"distance":893.4097604123206},{"start_region_id":626,"end_region_id":120,"start_point":[563,907],"end_point":[749,50],"distance":876.9521081564261}],"complexity_score":0.6428828554866257}
{"id":17557,"query_id":"Q03512","question":"A delivery drone starts from a paved lane and needs to reach a cultivated field while prioritizing safety. The drone can fly over grassy areas, shrublands, paved surfaces, and cultivated fields. It can also fly over wooded areas and buildings if necessary, but these should be avoided to minimize risk. The drone cannot land on water. What is the safest path to the cultivated field?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest path to the cultivated field?","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":"niamey_9.tif","subfolder":"niamey","coordinate_format":"xy","start_end_pairs":[{"start_region_id":432,"end_region_id":625,"start_point":[579,487],"end_point":[391,888],"distance":442.8826029547785},{"start_region_id":446,"end_region_id":626,"start_point":[171,775],"end_point":[563,907],"distance":413.62785206027894},{"start_region_id":432,"end_region_id":626,"start_point":[579,487],"end_point":[563,907],"distance":420.3046514137097},{"start_region_id":446,"end_region_id":625,"start_point":[171,775],"end_point":[391,888],"distance":247.3236745643247}],"complexity_score":0.6428828554866257}
{"id":4645,"query_id":"Q00929","question":"A farmer starts from a cultivated field with loose soil and crop rows and needs to reach another cultivated field across the area. The terrain includes hard, flat paved surfaces suitable for walking, vehicle lanes with smooth asphalt, and cultivated fields with soft, uneven soil. All other surface types are not traversable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a farmer","start_land_type":"cultivated field","end_land_type":"cultivated field","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":"pomorskie_37.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":94,"start_point":[593,368],"end_point":[276,889],"distance":609.8606398186392},{"start_region_id":94,"end_region_id":91,"start_point":[276,889],"end_point":[593,368],"distance":609.8606398186392},{"start_region_id":91,"end_region_id":92,"start_point":[593,368],"end_point":[251,544],"distance":384.6296920415791},{"start_region_id":92,"end_region_id":91,"start_point":[251,544],"end_point":[593,368],"distance":384.6296920415791},{"start_region_id":94,"end_region_id":92,"start_point":[276,889],"end_point":[251,544],"distance":345.90461112855957}],"complexity_score":0.6429181147748009}
{"id":13480,"query_id":"Q02696","question":"An aerial survey drone starts from a cultivated field and needs to reach a grassy meadow. The drone can fly over all types of terrain, but must avoid areas with dense vertical obstacles like tall trees and man-made structures. The drone's flight controller prioritizes smooth, stable flight paths to protect its sensitive imaging equipment from vibrations. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the most comfortable route for the aerial survey drone to travel from the cultivated field to the grassy meadow?","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":"pomorskie_37.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":1,"start_point":[276,889],"end_point":[870,177],"distance":927.2432259121659},{"start_region_id":94,"end_region_id":5,"start_point":[276,889],"end_point":[948,334],"distance":871.5555059776743},{"start_region_id":93,"end_region_id":14,"start_point":[946,766],"end_point":[86,695],"distance":862.925836906046},{"start_region_id":94,"end_region_id":9,"start_point":[276,889],"end_point":[903,469],"distance":754.6714516927217},{"start_region_id":92,"end_region_id":5,"start_point":[251,544],"end_point":[948,334],"distance":727.9484871884823}],"complexity_score":0.6429181147748009}
{"id":17794,"query_id":"Q03559","question":"A quadcopter drone starts from an area of wild grasses and shrubs and needs to reach a cultivated field with crops. The drone can fly over open grassy areas, wooded patches, bodies of water, and farmed plots, but must avoid flying directly through dense tree canopies or close to structures due to navigation and safety constraints. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of wild grasses and shrubs","end_land_type":"needing to reach a cultivated field with crops","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":"pomorskie_37.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":94,"start_point":[870,177],"end_point":[276,889],"distance":927.2432259121659},{"start_region_id":5,"end_region_id":94,"start_point":[948,334],"end_point":[276,889],"distance":871.5555059776743},{"start_region_id":14,"end_region_id":93,"start_point":[86,695],"end_point":[946,766],"distance":862.925836906046},{"start_region_id":9,"end_region_id":94,"start_point":[903,469],"end_point":[276,889],"distance":754.6714516927217},{"start_region_id":5,"end_region_id":92,"start_point":[948,334],"end_point":[251,544],"distance":727.9484871884823}],"complexity_score":0.6429181147748009}
{"id":17984,"query_id":"Q03597","question":"A quadcopter starts from a cultivated field with loose, tilled soil and needs to reach a wooded area with tall, dense vegetation. The terrain includes rough, uneven ground covered with loose earth and rocks, as well as grassy and shrubby surfaces. A paved, hard lane is available, and liquid surfaces are present but should be avoided for safety. Vertical structures are accessible but risky. To ensure safety, you should prioritize surfaces that are stable, predictable, and low-risk for flying. What is the safest path to the wooded area?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the safest path to the wooded 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":"pomorskie_37.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":37,"start_point":[276,889],"end_point":[954,34],"distance":1091.1961326910941},{"start_region_id":92,"end_region_id":37,"start_point":[251,544],"end_point":[954,34],"distance":868.5096430092184},{"start_region_id":93,"end_region_id":36,"start_point":[946,766],"end_point":[271,200],"distance":880.8978374363284},{"start_region_id":93,"end_region_id":37,"start_point":[946,766],"end_point":[954,34],"distance":732.0437145416932},{"start_region_id":93,"end_region_id":66,"start_point":[946,766],"end_point":[253,675],"distance":698.9492113165305}],"complexity_score":0.6429181147748009}
{"id":1733,"query_id":"Q00347","question":"An agricultural monitoring drone is positioned above a grassy, open area. It needs to fly to a cultivated field with soft soil to survey crop health. The drone can fly over most surfaces, including hard-packed ground and paved routes, but must avoid dense vegetation and structures to prevent collisions. For stable flight and smooth operation, the drone should prioritize open areas that minimize turbulence and navigation hazards.","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","start_land_type":"A grassy, open area","end_land_type":"A cultivated field with soft soil","task_description":"What is the most comfortable flight path for the agricultural drone to take from the grassy area 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":"coxsbazar_36.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":180,"start_point":[814,980],"end_point":[75,43],"distance":1193.3524207039595},{"start_region_id":52,"end_region_id":180,"start_point":[804,896],"end_point":[75,43],"distance":1122.0739726060845},{"start_region_id":48,"end_region_id":180,"start_point":[703,912],"end_point":[75,43],"distance":1072.1683636444418},{"start_region_id":53,"end_region_id":180,"start_point":[512,954],"end_point":[75,43],"distance":1010.3910134200521},{"start_region_id":39,"end_region_id":183,"start_point":[26,715],"end_point":[867,177],"distance":998.3611570969696}],"complexity_score":0.6429862288538053}
{"id":2071,"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_36.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":88,"start_point":[659,926],"end_point":[522,148],"distance":789.9702526044889},{"start_region_id":190,"end_region_id":88,"start_point":[845,728],"end_point":[522,148],"distance":663.874235077699},{"start_region_id":180,"end_region_id":88,"start_point":[75,43],"end_point":[522,148],"distance":459.1666364186318},{"start_region_id":186,"end_region_id":88,"start_point":[716,539],"end_point":[522,148],"distance":436.4825311510187},{"start_region_id":187,"end_region_id":88,"start_point":[294,415],"end_point":[522,148],"distance":351.10254912204783}],"complexity_score":0.6429862288538053}
{"id":6232,"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_36.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":194,"end_region_id":88,"start_point":[659,926],"end_point":[522,148],"distance":789.9702526044889},{"start_region_id":190,"end_region_id":88,"start_point":[845,728],"end_point":[522,148],"distance":663.874235077699},{"start_region_id":180,"end_region_id":88,"start_point":[75,43],"end_point":[522,148],"distance":459.1666364186318},{"start_region_id":186,"end_region_id":88,"start_point":[716,539],"end_point":[522,148],"distance":436.4825311510187},{"start_region_id":187,"end_region_id":88,"start_point":[294,415],"end_point":[522,148],"distance":351.10254912204783}],"complexity_score":0.6429862288538053}
{"id":6463,"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_36.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":194,"start_point":[522,148],"end_point":[659,926],"distance":789.9702526044889},{"start_region_id":88,"end_region_id":190,"start_point":[522,148],"end_point":[845,728],"distance":663.874235077699},{"start_region_id":88,"end_region_id":180,"start_point":[522,148],"end_point":[75,43],"distance":459.1666364186318},{"start_region_id":88,"end_region_id":186,"start_point":[522,148],"end_point":[716,539],"distance":436.4825311510187},{"start_region_id":88,"end_region_id":187,"start_point":[522,148],"end_point":[294,415],"distance":351.10254912204783}],"complexity_score":0.6429862288538053}
{"id":11627,"query_id":"Q02326","question":"An aerial survey drone is perched on a cluster of tall, leafy vegetation. It needs to reach a flat, hard, artificial surface to land and recharge. The drone can fly over most terrain types, but must avoid dense vertical obstacles like tall structures. It can traverse areas of loose, dry earth and rock; open fields of wild grass and shrubs; the flat, hard artificial surface; the tall vegetation clusters; and bodies of liquid. What is the shortest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall, leafy vegetation casting shadows on the ground below.","end_land_type":"A flat, hard, artificial surface.","task_description":"What is the shortest path for the drone to take?","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":"coxsbazar_36.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":70,"start_point":[54,964],"end_point":[969,380],"distance":1085.486526862494},{"start_region_id":113,"end_region_id":82,"start_point":[138,165],"end_point":[783,916],"distance":989.962625557147},{"start_region_id":99,"end_region_id":82,"start_point":[267,95],"end_point":[783,916],"distance":969.6891254417573},{"start_region_id":124,"end_region_id":82,"start_point":[116,318],"end_point":[783,916],"distance":895.8197363309206},{"start_region_id":113,"end_region_id":70,"start_point":[138,165],"end_point":[969,380],"distance":858.3623943300405}],"complexity_score":0.6429862288538053}
{"id":3988,"query_id":"Q00798","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved, hard-surfaced area. The hiker can traverse bare, rocky ground; grassy or shrub-covered terrain; and areas with trees, provided the vegetation is not too dense to pass through. However. The hiker must avoid any liquid surfaces and vertical structures. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a hiker","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 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":[2,3,6,5,1,0,4,0],"image_name":"svaneti_48.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":44,"start_point":[993,972],"end_point":[305,122],"distance":1093.5465239302807},{"start_region_id":223,"end_region_id":44,"start_point":[750,909],"end_point":[305,122],"distance":904.0984459670308},{"start_region_id":224,"end_region_id":44,"start_point":[60,984],"end_point":[305,122],"distance":896.1411719143363},{"start_region_id":225,"end_region_id":43,"start_point":[993,972],"end_point":[526,199],"distance":903.1157179453804},{"start_region_id":224,"end_region_id":43,"start_point":[60,984],"end_point":[526,199],"distance":912.897036910516}],"complexity_score":0.6431196435007025}
{"id":7540,"query_id":"Q01508","question":"A hiker 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 a hiker seeking a smooth and stable walking experience, what is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the most comfortable path to take?","task_type":"Comfort","input_classes":["Bareland","Developed space","Agriculture land"],"traverse_vector":[1,0,1,0,0,0,1,0],"cost_vector":[1,0,3,0,0,0,2,0],"image_name":"svaneti_48.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":219,"end_region_id":220,"start_point":[77,666],"end_point":[234,423],"distance":289.3060663034911},{"start_region_id":220,"end_region_id":219,"start_point":[234,423],"end_point":[77,666],"distance":289.3060663034911}],"complexity_score":0.6431196435007025}
{"id":12872,"query_id":"Q02575","question":"A hiker starts from a cultivated field with loose soil and crop rows and needs to reach a paved lane. The terrain includes areas with hard, smooth surfaces that allow stable movement, patches of soft ground covered by natural grasses and shrubs, and zones with tall vegetation that obstructs visibility and slows progress. You can traverse the cultivated field because the crops are currently low and sparse, and you can pass through the tall vegetation zones because there are existing narrow trails between the trees. However, all other surfaces like water bodies and structures are completely impassable. What is the fastest route to the paved lane?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a cultivated field","end_land_type":"a paved lane","task_description":"What is the fastest route to the paved lane?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[0,1,1,1,1,0,1,0],"cost_vector":[0,2,5,4,1,0,3,0],"image_name":"svaneti_48.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":85,"start_point":[60,984],"end_point":[580,394],"distance":786.4477096412704},{"start_region_id":225,"end_region_id":85,"start_point":[993,972],"end_point":[580,394],"distance":710.3893298748229},{"start_region_id":224,"end_region_id":88,"start_point":[60,984],"end_point":[695,783],"distance":666.0525504793146},{"start_region_id":219,"end_region_id":88,"start_point":[77,666],"end_point":[695,783],"distance":628.9777420545182},{"start_region_id":220,"end_region_id":88,"start_point":[234,423],"end_point":[695,783],"distance":584.9111043568929}],"complexity_score":0.6431196435007025}
{"id":13909,"query_id":"Q02782","question":"A quadcopter drone needs to travel from a cultivated field to a grassy meadow. The drone can fly over areas with loose soil and rocks, open grassy terrain, paved hard surfaces, and cultivated fields. However, it must avoid flying through dense vegetation and solid structures. The drone must reach the grassy meadow as quickly as possible.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path for the quadcopter drone 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":[1,1,1,1,0,0,1,0],"image_name":"svaneti_48.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":4,"start_point":[993,972],"end_point":[40,149],"distance":1259.1814801687642},{"start_region_id":225,"end_region_id":1,"start_point":[993,972],"end_point":[252,126],"distance":1124.6319397918592},{"start_region_id":224,"end_region_id":3,"start_point":[60,984],"end_point":[900,248],"distance":1116.8240685085543},{"start_region_id":224,"end_region_id":2,"start_point":[60,984],"end_point":[721,94],"distance":1108.6121954948899},{"start_region_id":223,"end_region_id":4,"start_point":[750,909],"end_point":[40,149],"distance":1040.0480758118829}],"complexity_score":0.6431196435007025}
{"id":1747,"query_id":"Q00350","question":"A hiker starts from a paved surface and needs to reach a cultivated field while prioritizing a smooth and stable walking experience. The hiker can traverse loose sandy or rocky ground, grassy or shrubby areas, paved surfaces, wooded areas with trees, and cultivated fields. However. The hiker must avoid any liquid surfaces and any solid vertical structures. The hiker seeks the most comfortable path.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved surface","end_land_type":"cultivated field","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":"coxsbazar_56.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":434,"end_region_id":583,"start_point":[95,126],"end_point":[855,871],"distance":1064.248561192356},{"start_region_id":434,"end_region_id":581,"start_point":[95,126],"end_point":[832,567],"distance":858.8655308021157},{"start_region_id":436,"end_region_id":583,"start_point":[499,378],"end_point":[855,871],"distance":608.0994984375501},{"start_region_id":437,"end_region_id":583,"start_point":[339,623],"end_point":[855,871],"distance":572.5032750998024},{"start_region_id":437,"end_region_id":581,"start_point":[339,623],"end_point":[832,567],"distance":496.17033365569125}],"complexity_score":0.6432334342600005}
{"id":11415,"query_id":"Q02283","question":"A hiker is standing in a cultivated field with soft, tilled soil. They need to reach a paved street while prioritizing safety. The hiker can walk on surfaces that are stable and secure: hard, paved areas; firm, compacted ground; grassy or shrub-covered terrain; and cultivated fields. The hiker must avoid any areas with deep liquid or vertical structures that could pose a fall hazard. Starting from the cultivated field, what is the safest path to reach the paved street?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the safest path from the cultivated field to the paved street?","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":"coxsbazar_56.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":583,"end_region_id":434,"start_point":[855,871],"end_point":[95,126],"distance":1064.248561192356},{"start_region_id":581,"end_region_id":434,"start_point":[832,567],"end_point":[95,126],"distance":858.8655308021157},{"start_region_id":583,"end_region_id":436,"start_point":[855,871],"end_point":[499,378],"distance":608.0994984375501},{"start_region_id":583,"end_region_id":437,"start_point":[855,871],"end_point":[339,623],"distance":572.5032750998024},{"start_region_id":581,"end_region_id":437,"start_point":[832,567],"end_point":[339,623],"distance":496.17033365569125}],"complexity_score":0.6432334342600005}
{"id":4285,"query_id":"Q00857","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a vehicle lane. The drone can fly over areas with loose, dry soil or sand, as well as liquid surfaces, but must avoid dense vegetation and trees due to collision risk, and cannot fly through any vertical structures. What is the shortest path to the vehicle lane?","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 shortest path to the vehicle lane?","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":"daressalaam_71.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":292,"start_point":[146,384],"end_point":[356,236],"distance":256.9124364447934},{"start_region_id":155,"end_region_id":292,"start_point":[160,91],"end_point":[356,236],"distance":243.80525014855607}],"complexity_score":0.6432542077432237}
{"id":4798,"query_id":"Q00960","question":"A person on foot 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 are currently dry and firm enough to walk on without sinking. What is the shortest path to the vehicle lane?","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 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_71.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":292,"start_point":[146,384],"end_point":[356,236],"distance":256.9124364447934},{"start_region_id":155,"end_region_id":292,"start_point":[160,91],"end_point":[356,236],"distance":243.80525014855607}],"complexity_score":0.6432542077432237}
{"id":9600,"query_id":"Q01920","question":"A quadcopter drone is on a paved surface and needs to reach another paved surface. The drone can fly over loose, sandy or rocky ground, natural grass or shrub areas, other paved or compacted surfaces, vehicle lanes, and cultivated fields. The drone cannot fly through dense tree canopies or enter any structures. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface","end_land_type":"Another paved surface","task_description":"What is the shortest flight 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":"daressalaam_71.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":243,"start_point":[857,120],"end_point":[185,699],"distance":887.0315665183512},{"start_region_id":243,"end_region_id":157,"start_point":[185,699],"end_point":[857,120],"distance":887.0315665183512},{"start_region_id":155,"end_region_id":267,"start_point":[160,91],"end_point":[492,887],"distance":862.461593347785},{"start_region_id":267,"end_region_id":155,"start_point":[492,887],"end_point":[160,91],"distance":862.461593347785},{"start_region_id":157,"end_region_id":267,"start_point":[857,120],"end_point":[492,887],"distance":849.4198019825062}],"complexity_score":0.6432542077432237}
{"id":14116,"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_71.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":128,"start_point":[155,308],"end_point":[959,928],"distance":1015.2910912639784},{"start_region_id":128,"end_region_id":28,"start_point":[959,928],"end_point":[155,308],"distance":1015.2910912639784},{"start_region_id":133,"end_region_id":22,"start_point":[281,913],"end_point":[990,272],"distance":955.8043732898485},{"start_region_id":22,"end_region_id":133,"start_point":[990,272],"end_point":[281,913],"distance":955.8043732898485},{"start_region_id":3,"end_region_id":128,"start_point":[583,87],"end_point":[959,928],"distance":921.2258137937733}],"complexity_score":0.6432542077432237}
{"id":17496,"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_71.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":524,"start_point":[926,297],"end_point":[87,971],"distance":1076.1956141891678},{"start_region_id":293,"end_region_id":514,"start_point":[926,297],"end_point":[158,890],"distance":970.2953158703798},{"start_region_id":293,"end_region_id":438,"start_point":[926,297],"end_point":[84,587],"distance":890.5414083578596},{"start_region_id":293,"end_region_id":511,"start_point":[926,297],"end_point":[332,934],"distance":870.9793338535651},{"start_region_id":292,"end_region_id":496,"start_point":[356,236],"end_point":[1001,788],"distance":848.9575961141993}],"complexity_score":0.6432542077432237}
{"id":15715,"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_6.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":98,"start_point":[878,669],"end_point":[139,894],"distance":772.4933656673046},{"start_region_id":98,"end_region_id":88,"start_point":[139,894],"end_point":[878,669],"distance":772.4933656673046},{"start_region_id":64,"end_region_id":98,"start_point":[515,280],"end_point":[139,894],"distance":719.9805552929885},{"start_region_id":98,"end_region_id":64,"start_point":[139,894],"end_point":[515,280],"distance":719.9805552929885},{"start_region_id":62,"end_region_id":88,"start_point":[292,259],"end_point":[878,669],"distance":715.1894853813219}],"complexity_score":0.6433136363977052}
{"id":5965,"query_id":"Q01193","question":"An agricultural vehicle starts from a cultivated field and needs to reach another cultivated field across a landscape. The terrain consists of areas with soft, grassy ground and other areas with loose, tilled soil. You are driving an agricultural vehicle that can traverse both grassy and tilled surfaces, but paved surfaces and roads are unavailable due to the remote location. What is the shortest path?","agent_category":"Car","specific_agent":"an agricultural vehicle","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","Agriculture land"],"traverse_vector":[0,1,0,0,0,0,1,0],"cost_vector":[0,1,0,0,0,0,1,0],"image_name":"piura_38.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":245,"start_point":[165,453],"end_point":[340,93],"distance":400.2811511925087},{"start_region_id":245,"end_region_id":246,"start_point":[340,93],"end_point":[165,453],"distance":400.2811511925087}],"complexity_score":0.6433463366795109}
{"id":11217,"query_id":"Q02244","question":"A delivery drone starts from a paved lane and needs to reach another paved lane as quickly as possible. The drone can fly over various surfaces including grassy areas, hard paved zones, vegetated patches, and cultivated fields, but must avoid dense tree canopies and structures unless clearance is sufficient. What is the fastest 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 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":"piura_38.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":91,"start_point":[588,759],"end_point":[811,261],"distance":545.6491546772523},{"start_region_id":91,"end_region_id":92,"start_point":[811,261],"end_point":[588,759],"distance":545.6491546772523}],"complexity_score":0.6433463366795109}
{"id":15493,"query_id":"Q03099","question":"An aerial survey drone starts from a paved, flat surface and needs to reach a cultivated field with soft, tilled soil. The drone can fly over open grassy areas, paved surfaces, water bodies, and cultivated fields, but must avoid tall vegetation and vertical structures. The drone prioritizes smooth, stable flight paths to minimize vibrations and ensure stable sensor readings. 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 cultivated field with soft, tilled soil","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":"piura_38.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":245,"start_point":[857,838],"end_point":[340,93],"distance":906.8153064433793},{"start_region_id":60,"end_region_id":245,"start_point":[168,926],"end_point":[340,93],"distance":850.5721603720639},{"start_region_id":54,"end_region_id":246,"start_point":[857,838],"end_point":[165,453],"distance":791.8895124952722},{"start_region_id":28,"end_region_id":246,"start_point":[913,217],"end_point":[165,453],"distance":784.3468620451031},{"start_region_id":48,"end_region_id":246,"start_point":[925,505],"end_point":[165,453],"distance":761.77687021857}],"complexity_score":0.6433463366795109}
{"id":16360,"query_id":"Q03272","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 includes loose, sandy or rocky areas without vegetation; grassy or shrub-covered ground; paved lanes used by vehicles; and planted fields. However, you cannot use sidewalks, footpaths, or parking lots (developed spaces) because they are blocked or absent, and you cannot enter areas with individual trees or groups of trees because they are too dense to pass through. Water bodies and buildings are completely impassable. What is the shortest path to the destination?","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 to the destination?","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":"piura_38.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":245,"start_point":[482,674],"end_point":[340,93],"distance":598.1011620119125},{"start_region_id":2,"end_region_id":246,"start_point":[483,83],"end_point":[165,453],"distance":487.8770336877931},{"start_region_id":3,"end_region_id":246,"start_point":[482,674],"end_point":[165,453],"distance":386.4324002979046},{"start_region_id":1,"end_region_id":246,"start_point":[291,254],"end_point":[165,453],"distance":235.53555994796199}],"complexity_score":0.6433463366795109}
{"id":3126,"query_id":"Q00626","question":"A hiker starts from a paved, hard surface and needs to reach a loose, sandy area. The sandy ground is firm and dry, making it walkable without sinking, and the paved surface provides a stable starting point. What is the shortest path?","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 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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":1,"start_point":[598,641],"end_point":[307,172],"distance":551.9438377226437},{"start_region_id":91,"end_region_id":2,"start_point":[194,170],"end_point":[497,405],"distance":383.4501271351986},{"start_region_id":92,"end_region_id":2,"start_point":[598,641],"end_point":[497,405],"distance":256.7041098229633}],"complexity_score":0.6435172091028899}
{"id":3773,"query_id":"Q00755","question":"A quadcopter drone is starting from a flat, artificial surface and needs to reach a destination in an open, sandy area as quickly as possible. The drone can fly over hard surfaces, packed dirt paths, grassy expanses, cultivated plots, sandy patches, and water bodies, but must avoid dense tree canopies and building structures. Which route allows the drone to reach the sandy destination fastest?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"flat, artificial surface","end_land_type":"open, sandy area","task_description":"Which route allows the drone to reach the sandy destination 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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":1,"start_point":[870,901],"end_point":[307,172],"distance":921.0917435304694},{"start_region_id":84,"end_region_id":1,"start_point":[146,995],"end_point":[307,172],"distance":838.6000238492722},{"start_region_id":59,"end_region_id":1,"start_point":[945,698],"end_point":[307,172],"distance":826.8736300064237},{"start_region_id":78,"end_region_id":1,"start_point":[381,956],"end_point":[307,172],"distance":787.4846030240845},{"start_region_id":74,"end_region_id":1,"start_point":[106,892],"end_point":[307,172],"distance":747.5299325110667}],"complexity_score":0.6435172091028899}
{"id":4252,"query_id":"Q00851","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a loose, sandy or rocky ground without vegetation. The drone can fly over hard surfaces, loose ground, liquid areas, and vertical structures, but must avoid dense vegetation due to navigation risks. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy or rocky ground without vegetation","task_description":"What is the shortest path?","task_type":"Shortest","input_classes":["Bareland","Developed space","Road","Water","Building"],"traverse_vector":[1,0,1,1,0,1,0,1],"cost_vector":[1,0,1,1,0,1,0,1],"image_name":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":1,"start_point":[36,129],"end_point":[307,172],"distance":274.3902330623304},{"start_region_id":44,"end_region_id":1,"start_point":[109,277],"end_point":[307,172],"distance":224.1182723474371}],"complexity_score":0.6435172091028899}
{"id":6297,"query_id":"Q01260","question":"An aerial surveillance drone starts from a dry, open area of loose soil and scattered rocks and needs to reach a flat, hard, paved surface. The drone must avoid any vertical structures or dense vegetation that could pose collision risks, and should minimize flying over liquid surfaces due to potential signal interference and splash hazards. The drone can traverse open ground, grassy areas, cultivated fields, paved vehicle lanes, and hard artificial surfaces.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, open area of loose soil and scattered rocks.","end_land_type":"needs to reach a flat, hard, paved surface.","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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":70,"start_point":[307,172],"end_point":[870,901],"distance":921.0917435304694},{"start_region_id":1,"end_region_id":84,"start_point":[307,172],"end_point":[146,995],"distance":838.6000238492722},{"start_region_id":1,"end_region_id":59,"start_point":[307,172],"end_point":[945,698],"distance":826.8736300064237},{"start_region_id":1,"end_region_id":78,"start_point":[307,172],"end_point":[381,956],"distance":787.4846030240845},{"start_region_id":1,"end_region_id":74,"start_point":[307,172],"end_point":[106,892],"distance":747.5299325110667}],"complexity_score":0.6435172091028899}
{"id":7911,"query_id":"Q01583","question":"An aerial survey drone starts from a dry, open area of loose soil and scattered rocks and needs to reach a flat, hard-surfaced area suitable for landing. The drone can fly over areas with loose soil, hard surfaces, cultivated fields with low vegetation, and open water bodies, but must avoid tall vertical obstacles that could cause collisions. The drone's priority is to complete the route as quickly as possible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, open area of loose soil and scattered rocks","end_land_type":"needing to reach a flat, hard-surfaced area suitable for landing","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":37,"start_point":[497,405],"end_point":[36,129],"distance":537.3053135787883},{"start_region_id":2,"end_region_id":44,"start_point":[497,405],"end_point":[109,277],"distance":408.5682317557252},{"start_region_id":2,"end_region_id":38,"start_point":[497,405],"end_point":[249,72],"distance":415.20236030157633},{"start_region_id":1,"end_region_id":37,"start_point":[307,172],"end_point":[36,129],"distance":274.3902330623304},{"start_region_id":1,"end_region_id":44,"start_point":[307,172],"end_point":[109,277],"distance":224.1182723474371}],"complexity_score":0.6435172091028899}
{"id":8963,"query_id":"Q01793","question":"An aerial drone 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 drone can fly over most surfaces, including hard, flat areas, grassy or shrub-covered ground, and loose soil and rocks. However, it must avoid liquid surfaces due to splash risk, and be cautious around vertical obstacles like trees and man-made structures with solid walls and roofs, which may require careful navigation. The goal is to minimize risk while flying.","agent_category":"Drone","specific_agent":"aerial drone","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 safest path for the aerial 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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":1,"start_point":[787,823],"end_point":[307,172],"distance":808.8269283351043},{"start_region_id":115,"end_region_id":2,"start_point":[787,823],"end_point":[497,405],"distance":508.74748156624815},{"start_region_id":112,"end_region_id":1,"start_point":[177,576],"end_point":[307,172],"distance":424.40075400498523},{"start_region_id":112,"end_region_id":2,"start_point":[177,576],"end_point":[497,405],"distance":362.8236486228537}],"complexity_score":0.6435172091028899}
{"id":12022,"query_id":"Q02405","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved, hard surface as quickly as possible. The hiker can traverse areas with soft, uneven soil covered by sparse grass and shrubs, as well as cultivated fields with rows of crops, and can pass through wooded areas with tall vegetation, but cannot enter any structures or water bodies. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved, hard surface","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":[2,3,6,5,1,0,4,0],"image_name":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":70,"start_point":[307,172],"end_point":[870,901],"distance":921.0917435304694},{"start_region_id":1,"end_region_id":84,"start_point":[307,172],"end_point":[146,995],"distance":838.6000238492722},{"start_region_id":1,"end_region_id":59,"start_point":[307,172],"end_point":[945,698],"distance":826.8736300064237},{"start_region_id":1,"end_region_id":78,"start_point":[307,172],"end_point":[381,956],"distance":787.4846030240845},{"start_region_id":1,"end_region_id":74,"start_point":[307,172],"end_point":[106,892],"distance":747.5299325110667}],"complexity_score":0.6435172091028899}
{"id":13885,"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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":6,"start_point":[307,172],"end_point":[904,190],"distance":597.271295141496},{"start_region_id":2,"end_region_id":6,"start_point":[497,405],"end_point":[904,190],"distance":460.2977297358743},{"start_region_id":1,"end_region_id":8,"start_point":[307,172],"end_point":[552,511],"distance":418.2654659423845},{"start_region_id":1,"end_region_id":7,"start_point":[307,172],"end_point":[334,568],"distance":396.91938728159903},{"start_region_id":1,"end_region_id":3,"start_point":[307,172],"end_point":[609,409],"distance":383.89191187103694}],"complexity_score":0.6435172091028899}
{"id":14644,"query_id":"Q02929","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a destination on loose, sandy or rocky ground without vegetation. The drone can fly over paved surfaces, loose ground, and cultivated fields, but must avoid trees and buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy or rocky ground without vegetation","task_description":"What is the shortest path from the paved surface to the loose 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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":2,"start_point":[194,170],"end_point":[497,405],"distance":383.4501271351986}],"complexity_score":0.6435172091028899}
{"id":15012,"query_id":"Q03003","question":"A delivery drone is starting from a grassy, uneven terrain and needs to reach an exposed, rocky ground. The drone operator wants to maximize flight comfort by avoiding turbulence and ensuring stable navigation. The drone can fly over most surfaces including grassy areas, loose soil, hard paved areas, and cultivated fields, but it should avoid flying directly through dense vegetation clusters or near solid vertical structures. The drone cannot fly over any water bodies in this mission. What is the most comfortable flight path for the delivery drone?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain","end_land_type":"exposed, rocky ground","task_description":"What is the most comfortable flight path for the delivery drone?","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":"lima_34.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":1,"start_point":[904,190],"end_point":[307,172],"distance":597.271295141496},{"start_region_id":6,"end_region_id":2,"start_point":[904,190],"end_point":[497,405],"distance":460.2977297358743},{"start_region_id":8,"end_region_id":1,"start_point":[552,511],"end_point":[307,172],"distance":418.2654659423845},{"start_region_id":7,"end_region_id":1,"start_point":[334,568],"end_point":[307,172],"distance":396.91938728159903},{"start_region_id":3,"end_region_id":1,"start_point":[609,409],"end_point":[307,172],"distance":383.89191187103694}],"complexity_score":0.6435172091028899}
{"id":14370,"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_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":23,"start_point":[103,664],"end_point":[897,279],"distance":882.4177015450223},{"start_region_id":113,"end_region_id":23,"start_point":[84,294],"end_point":[897,279],"distance":813.1383646096155},{"start_region_id":155,"end_region_id":23,"start_point":[397,881],"end_point":[897,279],"distance":782.5624575712791},{"start_region_id":175,"end_region_id":23,"start_point":[834,995],"end_point":[897,279],"distance":718.7663041629038},{"start_region_id":174,"end_region_id":23,"start_point":[978,971],"end_point":[897,279],"distance":696.7244792599151}],"complexity_score":0.643632201018521}
{"id":14388,"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_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":23,"start_point":[481,219],"end_point":[897,279],"distance":420.3046514137097},{"start_region_id":179,"end_region_id":23,"start_point":[545,437],"end_point":[897,279],"distance":385.83416126621034}],"complexity_score":0.643632201018521}
{"id":15854,"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_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":178,"end_region_id":23,"start_point":[481,219],"end_point":[897,279],"distance":420.3046514137097},{"start_region_id":179,"end_region_id":23,"start_point":[545,437],"end_point":[897,279],"distance":385.83416126621034}],"complexity_score":0.643632201018521}
{"id":15953,"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_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":146,"start_point":[897,279],"end_point":[103,664],"distance":882.4177015450223},{"start_region_id":23,"end_region_id":113,"start_point":[897,279],"end_point":[84,294],"distance":813.1383646096155},{"start_region_id":23,"end_region_id":155,"start_point":[897,279],"end_point":[397,881],"distance":782.5624575712791},{"start_region_id":23,"end_region_id":175,"start_point":[897,279],"end_point":[834,995],"distance":718.7663041629038},{"start_region_id":23,"end_region_id":174,"start_point":[897,279],"end_point":[978,971],"distance":696.7244792599151}],"complexity_score":0.643632201018521}
{"id":17531,"query_id":"Q03507","question":"An aerial survey drone starts from an area of loose, dry soil and scattered rocks without vegetation and needs to reach a cultivated field with orderly rows of crops. The drone can fly over open ground covered by loose earth or rocks, areas with natural grass and shrubs, paved lanes used by vehicles, individual trees or groups of trees, and cultivated crop areas. However. The drone must avoid flying directly through dense tree canopies as they obstruct flight paths. The drone's priority is to complete the survey mission as quickly as possible. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks without vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of crops.","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":"ngaoundere_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":255,"start_point":[897,279],"end_point":[133,998],"distance":1049.1220138763651},{"start_region_id":23,"end_region_id":253,"start_point":[897,279],"end_point":[987,827],"distance":555.3413364769455},{"start_region_id":23,"end_region_id":252,"start_point":[897,279],"end_point":[741,804],"distance":547.6869543817892},{"start_region_id":23,"end_region_id":249,"start_point":[897,279],"end_point":[537,552],"distance":451.80637445702337},{"start_region_id":23,"end_region_id":248,"start_point":[897,279],"end_point":[652,290],"distance":245.246814454337}],"complexity_score":0.643632201018521}
{"id":17536,"query_id":"Q03508","question":"A hiker starts from a patch of loose, dry soil and scattered rocks without vegetation and needs to reach a cultivated field with orderly rows of crops. The hiker can walk on paved lanes used by vehicles and hard artificial surfaces. The hiker is also permitted to traverse loose earth or rocky ground, natural grass and shrub areas, and cultivated crop areas because the ground is firm and dry enough for stable footing. However, the hiker must avoid walking through dense tree clusters as they slow progress. The hiker's priority is to reach the destination as quickly as possible. What is the fastest path for the hiker?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"Starting from a patch of loose, dry soil and scattered rocks without vegetation.","end_land_type":"The destination is a cultivated field with orderly rows of crops.","task_description":"What is the fastest path for the hiker?","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":"ngaoundere_5.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":255,"start_point":[897,279],"end_point":[133,998],"distance":1049.1220138763651},{"start_region_id":23,"end_region_id":253,"start_point":[897,279],"end_point":[987,827],"distance":555.3413364769455},{"start_region_id":23,"end_region_id":252,"start_point":[897,279],"end_point":[741,804],"distance":547.6869543817892},{"start_region_id":23,"end_region_id":249,"start_point":[897,279],"end_point":[537,552],"distance":451.80637445702337},{"start_region_id":23,"end_region_id":248,"start_point":[897,279],"end_point":[652,290],"distance":245.246814454337}],"complexity_score":0.643632201018521}
{"id":1162,"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_61.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":53,"start_point":[23,83],"end_point":[934,767],"distance":1139.200158005607},{"start_region_id":53,"end_region_id":13,"start_point":[934,767],"end_point":[23,83],"distance":1139.200158005607},{"start_region_id":58,"end_region_id":13,"start_point":[674,923],"end_point":[23,83],"distance":1062.7327980259197},{"start_region_id":13,"end_region_id":58,"start_point":[23,83],"end_point":[674,923],"distance":1062.7327980259197},{"start_region_id":43,"end_region_id":13,"start_point":[933,629],"end_point":[23,83],"distance":1061.2332448618447}],"complexity_score":0.6436714214017535}
{"id":3054,"query_id":"Q00611","question":"A quadcopter drone starts from a paved road surface and needs to reach a cultivated crop field. The drone can fly over most surfaces, but trees and buildings are avoided due to collision risks, and water is less preferred for safety. Loose sand or rocky ground are not allowed due to potential landing hazards. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"cultivated crop field","task_description":"What is the safest path?","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":"ngaoundere_61.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":124,"start_point":[477,399],"end_point":[682,975],"distance":611.3926725108831},{"start_region_id":88,"end_region_id":120,"start_point":[477,399],"end_point":[214,847],"distance":519.4930220898063},{"start_region_id":88,"end_region_id":122,"start_point":[477,399],"end_point":[804,849],"distance":556.2634268042435},{"start_region_id":88,"end_region_id":121,"start_point":[477,399],"end_point":[610,818],"distance":439.6020928066653}],"complexity_score":0.6436714214017535}
{"id":5344,"query_id":"Q01069","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vertical obstacles. The drone can fly over liquid surfaces and paved lanes, but must navigate carefully around vertical structures. Which path allows the drone to reach the wooded area most quickly?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"Which path allows the drone to reach the wooded area most quickly?","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_61.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":110,"start_point":[804,849],"end_point":[271,588],"distance":593.472830043634},{"start_region_id":124,"end_region_id":110,"start_point":[682,975],"end_point":[271,588],"distance":564.5263501378832},{"start_region_id":121,"end_region_id":110,"start_point":[610,818],"end_point":[271,588],"distance":409.65961480233807},{"start_region_id":120,"end_region_id":110,"start_point":[214,847],"end_point":[271,588],"distance":265.1980392084376}],"complexity_score":0.6436714214017535}
{"id":14994,"query_id":"Q02999","question":"A family SUV is parked on a cultivated field with loose, uneven soil that could cause loss of traction. The driver needs to reach a paved roadway that provides stable, predictable driving conditions. The vehicle can only travel on three types of surfaces: loose, rocky ground without vegetation; paved lanes used by vehicles; and cultivated fields with crops or grazing vegetation. The loose, rocky ground is extremely hazardous due to unpredictable terrain and high risk of getting stuck or losing control. The cultivated fields are conditionally traversable because the crops are low enough that the vehicle has sufficient ground clearance and the soil is firm enough to support the vehicle's weight without excessive sinking. The paved roadway is the safest option as it offers maximum traction and stability. What is the safest path to reach the paved roadway?","agent_category":"Car","specific_agent":"family SUV","start_land_type":"cultivated field","end_land_type":"paved roadway","task_description":"What is the safest path to reach the paved roadway?","task_type":"Safest","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,3,0,0,2,0],"image_name":"ngaoundere_61.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":124,"end_region_id":88,"start_point":[682,975],"end_point":[477,399],"distance":611.3926725108831},{"start_region_id":120,"end_region_id":88,"start_point":[214,847],"end_point":[477,399],"distance":519.4930220898063},{"start_region_id":122,"end_region_id":88,"start_point":[804,849],"end_point":[477,399],"distance":556.2634268042435},{"start_region_id":121,"end_region_id":88,"start_point":[610,818],"end_point":[477,399],"distance":439.6020928066653}],"complexity_score":0.6436714214017535}
{"id":1330,"query_id":"Q00266","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 with short grass and shrubs, hard paved surfaces, liquid bodies, and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vertical obstacles. What is the fastest route?","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 another area of similar loose, dry soil and scattered rocks","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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[69,61],"end_point":[584,170],"distance":526.4085865561085},{"start_region_id":2,"end_region_id":1,"start_point":[584,170],"end_point":[69,61],"distance":526.4085865561085}],"complexity_score":0.6439107955747854}
{"id":3123,"query_id":"Q00625","question":"A 4x4 off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy area. The vehicle requires a solid, drivable surface to move, and the sandy terrain is accessible due to its firm, compacted condition that provides enough traction for off-road travel. What is the shortest 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 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_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":2,"start_point":[233,280],"end_point":[584,170],"distance":367.83284247059834},{"start_region_id":12,"end_region_id":1,"start_point":[233,280],"end_point":[69,61],"distance":273.60007309940545}],"complexity_score":0.6439107955747854}
{"id":3902,"query_id":"Q00781","question":"A hiker is on loose, sandy ground with scattered rocks and needs to reach a paved vehicle lane. The hiker can traverse areas with loose soil and rocks, grassy or shrubby patches, hard artificial surfaces like sidewalks and parking lots, paved vehicle lanes, individual trees or wooded patches, and cultivated fields. The hiker must avoid all water bodies and cannot enter any buildings. The goal is to find the path that minimizes risk of injury or getting lost.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation.","end_land_type":"The destination is a paved lane used by vehicles.","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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":12,"start_point":[584,170],"end_point":[233,280],"distance":367.83284247059834},{"start_region_id":1,"end_region_id":12,"start_point":[69,61],"end_point":[233,280],"distance":273.60007309940545}],"complexity_score":0.6439107955747854}
{"id":4188,"query_id":"Q00838","question":"A delivery drone is on loose, sandy ground with scattered rocks. It needs to reach a flat, hard, paved landing surface. The drone can fly over grassy or shrub-covered areas, cultivated fields, hard paved surfaces, and liquid surfaces. However, it must avoid flying through or near individual trees or groups of trees, as they pose a collision risk. It also must avoid flying close to or through any structures, as they are hazardous obstacles.","agent_category":"Drone","specific_agent":"A delivery 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, paved surface like a landing pad on a sidewalk.","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"],"traverse_vector":[1,1,1,1,0,1,1,0],"cost_vector":[2,2,2,2,0,1,2,0],"image_name":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":10,"start_point":[69,61],"end_point":[538,547],"distance":675.3939591083118},{"start_region_id":2,"end_region_id":11,"start_point":[584,170],"end_point":[184,582],"distance":574.2334020239506},{"start_region_id":1,"end_region_id":11,"start_point":[69,61],"end_point":[184,582],"distance":533.5410012360812},{"start_region_id":1,"end_region_id":7,"start_point":[69,61],"end_point":[499,335],"distance":509.878416879946},{"start_region_id":2,"end_region_id":8,"start_point":[584,170],"end_point":[172,381],"distance":462.8876753598004}],"complexity_score":0.6439107955747854}
{"id":6333,"query_id":"Q01267","question":"A hiker is standing on a paved, hard-surfaced area and needs to reach a patch of loose, sandy ground without vegetation. The hiker can traverse hard surfaces like sidewalks and roads, as well as grassy areas and shrub-covered terrain, and can also walk through wooded sections with individual trees. However, the hiker cannot cross any liquid bodies or enter any structures.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a paved, hard-surfaced area","end_land_type":"a patch of loose, sandy ground without vegetation","task_description":"What is the shortest path the hiker can take to reach the sandy ground?","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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":1,"start_point":[538,547],"end_point":[69,61],"distance":675.3939591083118},{"start_region_id":11,"end_region_id":2,"start_point":[184,582],"end_point":[584,170],"distance":574.2334020239506},{"start_region_id":11,"end_region_id":1,"start_point":[184,582],"end_point":[69,61],"distance":533.5410012360812},{"start_region_id":7,"end_region_id":1,"start_point":[499,335],"end_point":[69,61],"distance":509.878416879946},{"start_region_id":8,"end_region_id":2,"start_point":[172,381],"end_point":[584,170],"distance":462.8876753598004}],"complexity_score":0.6439107955747854}
{"id":8739,"query_id":"Q01748","question":"An off-road vehicle starts from rocky, unconsolidated surface and needs to reach a hard, paved roadway. The vehicle can drive over grassy fields and loose soil, but cannot pass through any wooded areas, water bodies, or structures. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rocky, unconsolidated surface","end_land_type":"hard, paved roadway","task_description":"What is the shortest path from the rocky, unconsolidated surface to the hard, 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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":12,"start_point":[584,170],"end_point":[233,280],"distance":367.83284247059834},{"start_region_id":1,"end_region_id":12,"start_point":[69,61],"end_point":[233,280],"distance":273.60007309940545}],"complexity_score":0.6439107955747854}
{"id":8872,"query_id":"Q01775","question":"An aerial survey drone starts from a patch of loose, sandy ground and needs to return to another area of similar loose, sandy ground. An aerial survey drone must maintain stable flight for sensor accuracy. The drone can fly over open water bodies, but must avoid flying through dense tree canopies or close to building structures due to collision risk. The drone prefers flat, open surfaces for smoother flight, and should avoid areas with tall vegetation or structures that could cause turbulence. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to another area of similar 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_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[69,61],"end_point":[584,170],"distance":526.4085865561085},{"start_region_id":2,"end_region_id":1,"start_point":[584,170],"end_point":[69,61],"distance":526.4085865561085}],"complexity_score":0.6439107955747854}
{"id":11110,"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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[69,61],"end_point":[584,170],"distance":526.4085865561085},{"start_region_id":2,"end_region_id":1,"start_point":[584,170],"end_point":[69,61],"distance":526.4085865561085}],"complexity_score":0.6439107955747854}
{"id":11789,"query_id":"Q02358","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a paved walkway. The terrain is dry and stable, allowing safe foot travel across the sandy areas. The walkway is accessible and unobstructed. The hiker must avoid any areas with standing liquid and cannot pass through solid structures. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy ground","end_land_type":"a paved walkway","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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":10,"start_point":[69,61],"end_point":[538,547],"distance":675.3939591083118},{"start_region_id":2,"end_region_id":11,"start_point":[584,170],"end_point":[184,582],"distance":574.2334020239506},{"start_region_id":1,"end_region_id":11,"start_point":[69,61],"end_point":[184,582],"distance":533.5410012360812},{"start_region_id":1,"end_region_id":7,"start_point":[69,61],"end_point":[499,335],"distance":509.878416879946},{"start_region_id":2,"end_region_id":8,"start_point":[584,170],"end_point":[172,381],"distance":462.8876753598004}],"complexity_score":0.6439107955747854}
{"id":14713,"query_id":"Q02943","question":"A quadcopter starts from an exposed area of sandy ground and needs to reach a flat, hard surface. The environment includes loose soil regions, grassy patches with low plants, clusters of tall vertical objects with branches, and liquid bodies. You must avoid any vertical structures and dense woody areas that could obstruct flight. The tall vertical objects have enough clearance between them for safe passage. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Road","task_description":"What is the most comfortable path from the sandy ground to the flat, hard 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":"khartoum_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":12,"start_point":[584,170],"end_point":[233,280],"distance":367.83284247059834},{"start_region_id":1,"end_region_id":12,"start_point":[69,61],"end_point":[233,280],"distance":273.60007309940545}],"complexity_score":0.6439107955747854}
{"id":16627,"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_67.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":2,"start_point":[69,61],"end_point":[584,170],"distance":526.4085865561085},{"start_region_id":2,"end_region_id":1,"start_point":[584,170],"end_point":[69,61],"distance":526.4085865561085}],"complexity_score":0.6439107955747854}
{"id":2537,"query_id":"Q00508","question":"An off-road vehicle starts from a grassy, open terrain and needs to reach another grassy, open terrain. The vehicle can traverse grassy areas, but must avoid any paved surfaces like roads or parking lots, any trees, any water bodies, and any buildings. What is the shortest path?","agent_category":"Car","specific_agent":"An off-road vehicle","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":"vegas_10.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":5,"start_point":[138,91],"end_point":[232,289],"distance":219.18029108475972}],"complexity_score":0.6440528197518188}
{"id":5915,"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":"vegas_10.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":41,"start_point":[333,132],"end_point":[298,587],"distance":456.3441683641854},{"start_region_id":41,"end_region_id":26,"start_point":[298,587],"end_point":[333,132],"distance":456.3441683641854},{"start_region_id":37,"end_region_id":38,"start_point":[180,392],"end_point":[596,409],"distance":416.3472108709268},{"start_region_id":38,"end_region_id":37,"start_point":[596,409],"end_point":[180,392],"distance":416.3472108709268},{"start_region_id":26,"end_region_id":38,"start_point":[333,132],"end_point":[596,409],"distance":381.9659670703661}],"complexity_score":0.6440528197518188}
{"id":7038,"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":"vegas_10.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":41,"start_point":[333,132],"end_point":[298,587],"distance":456.3441683641854},{"start_region_id":41,"end_region_id":26,"start_point":[298,587],"end_point":[333,132],"distance":456.3441683641854},{"start_region_id":37,"end_region_id":38,"start_point":[180,392],"end_point":[596,409],"distance":416.3472108709268},{"start_region_id":38,"end_region_id":37,"start_point":[596,409],"end_point":[180,392],"distance":416.3472108709268},{"start_region_id":26,"end_region_id":38,"start_point":[333,132],"end_point":[596,409],"distance":381.9659670703661}],"complexity_score":0.6440528197518188}
{"id":7850,"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_19.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":153,"start_point":[970,455],"end_point":[17,857],"distance":1034.3176494675124},{"start_region_id":96,"end_region_id":147,"start_point":[970,455],"end_point":[42,255],"distance":949.3071157428453},{"start_region_id":96,"end_region_id":150,"start_point":[970,455],"end_point":[47,584],"distance":931.9710295926585},{"start_region_id":96,"end_region_id":145,"start_point":[970,455],"end_point":[165,81],"distance":887.6378766141066},{"start_region_id":95,"end_region_id":153,"start_point":[516,498],"end_point":[17,857],"distance":614.721074960018}],"complexity_score":0.644149623998159}
{"id":13239,"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_19.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":145,"start_point":[843,739],"end_point":[165,81],"distance":944.8005080438938},{"start_region_id":141,"end_region_id":145,"start_point":[337,1002],"end_point":[165,81],"distance":936.9231558671181},{"start_region_id":126,"end_region_id":147,"start_point":[843,739],"end_point":[42,255],"distance":935.8723203514462},{"start_region_id":103,"end_region_id":154,"start_point":[171,228],"end_point":[817,885],"distance":921.3929671969502},{"start_region_id":103,"end_region_id":151,"start_point":[171,228],"end_point":[964,663],"distance":904.4744330272691}],"complexity_score":0.644149623998159}
{"id":13395,"query_id":"Q02679","question":"An aerial surveillance drone begins on a cultivated field with rows of crops and must reach a paved lane used by vehicles. The drone can fly over open grassy areas, hard flat surfaces, and liquid bodies, but must avoid dense vertical obstacles. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"A paved lane used by vehicles","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":"lohur_19.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":153,"end_region_id":96,"start_point":[17,857],"end_point":[970,455],"distance":1034.3176494675124},{"start_region_id":147,"end_region_id":96,"start_point":[42,255],"end_point":[970,455],"distance":949.3071157428453},{"start_region_id":150,"end_region_id":96,"start_point":[47,584],"end_point":[970,455],"distance":931.9710295926585},{"start_region_id":145,"end_region_id":96,"start_point":[165,81],"end_point":[970,455],"distance":887.6378766141066},{"start_region_id":153,"end_region_id":95,"start_point":[17,857],"end_point":[516,498],"distance":614.721074960018}],"complexity_score":0.644149623998159}
{"id":17960,"query_id":"Q03592","question":"A hiker is starting from a grassy, shrub-covered terrain and needs to reach a cluster of tall trees. The terrain includes areas of loose, dry soil and rocks; grassy and shrubby vegetation; paved lanes used by vehicles; individual trees and groups of trees; and cultivated fields with crops. The hiker can traverse grassy and shrubby areas, cultivated fields, and loose soil/rock areas because they are wearing appropriate footwear and the vegetation is not too dense. Paved lanes are also traversable. What is the shortest path to the trees?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, shrub-covered terrain","end_land_type":"a cluster of tall trees","task_description":"What is the shortest path to the trees?","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_19.tif","subfolder":"lohur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":141,"start_point":[925,48],"end_point":[337,1002],"distance":1120.6515961707278},{"start_region_id":42,"end_region_id":103,"start_point":[981,937],"end_point":[171,228],"distance":1076.4669061332077},{"start_region_id":47,"end_region_id":103,"start_point":[899,980],"end_point":[171,228],"distance":1046.6556262687361},{"start_region_id":42,"end_region_id":111,"start_point":[981,937],"end_point":[130,380],"distance":1017.0791512955125},{"start_region_id":8,"end_region_id":141,"start_point":[988,220],"end_point":[337,1002],"distance":1017.5092137174975}],"complexity_score":0.644149623998159}
{"id":6982,"query_id":"Q01397","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with soft, tilled soil as quickly as possible. The hiker can traverse areas with tall, dense vegetation only if they are sparse enough to allow passage without significant obstruction. The hiker cannot cross liquid surfaces or enter solid structures. What is the fastest path?","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 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":[2,3,6,5,1,0,4,0],"image_name":"ngaoundere_47.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":300,"start_point":[884,814],"end_point":[201,103],"distance":985.9056750014172},{"start_region_id":134,"end_region_id":302,"start_point":[28,910],"end_point":[690,285],"distance":910.4224294249345},{"start_region_id":34,"end_region_id":306,"start_point":[579,178],"end_point":[119,956],"distance":903.8163530275384},{"start_region_id":134,"end_region_id":300,"start_point":[28,910],"end_point":[201,103],"distance":825.3350834661035},{"start_region_id":134,"end_region_id":301,"start_point":[28,910],"end_point":[475,239],"distance":806.2567829172044}],"complexity_score":0.6441881411549529}
{"id":9739,"query_id":"Q01948","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone can fly over most terrain types including loose sandy ground, grassy areas, paved surfaces, cultivated fields, and water bodies. However, it must avoid dense clusters of tall vertical obstacles that could interfere with flight. What is the most direct route to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest path 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":"ngaoundere_47.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":62,"start_point":[201,103],"end_point":[884,814],"distance":985.9056750014172},{"start_region_id":302,"end_region_id":134,"start_point":[690,285],"end_point":[28,910],"distance":910.4224294249345},{"start_region_id":306,"end_region_id":34,"start_point":[119,956],"end_point":[579,178],"distance":903.8163530275384},{"start_region_id":300,"end_region_id":134,"start_point":[201,103],"end_point":[28,910],"distance":825.3350834661035},{"start_region_id":301,"end_region_id":134,"start_point":[475,239],"end_point":[28,910],"distance":806.2567829172044}],"complexity_score":0.6441881411549529}
{"id":1579,"query_id":"Q00316","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a cultivated crop field with planted rows. The drone can fly over areas with loose, dry soil and scattered rocks; grassy or shrub-covered terrain; paved lanes used by vehicles; liquid surfaces; and planted agricultural plots. However, vertical structures like trees and buildings are hazardous due to collision risk, and liquid surfaces pose stability risks in windy conditions. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"cultivated crop field with planted rows","task_description":"What is the safest path to the 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":"tokyo_35.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":484,"start_point":[936,83],"end_point":[52,553],"distance":1001.1773069741444},{"start_region_id":48,"end_region_id":484,"start_point":[854,588],"end_point":[52,553],"distance":802.7633524271023},{"start_region_id":93,"end_region_id":479,"start_point":[159,964],"end_point":[526,287],"distance":770.076619564573},{"start_region_id":91,"end_region_id":484,"start_point":[710,936],"end_point":[52,553],"distance":761.3494598408802},{"start_region_id":15,"end_region_id":484,"start_point":[650,220],"end_point":[52,553],"distance":684.4654848858341}],"complexity_score":0.6441999867420646}
{"id":11250,"query_id":"Q02250","question":"A family SUV starts from a paved parking lot and needs to return to another paved parking lot while prioritizing safety. The vehicle can travel on hard, stable surfaces like asphalt or concrete, which provide good traction and control. It can also cross areas with loose soil or gravel if necessary, as long as the ground is firm enough to support its weight without sinking. However, the vehicle must avoid any terrain with standing liquid, dense vertical obstacles, or structures that could cause collisions. What is the safest path?","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","task_description":"What is the safest path for the family SUV to return from the starting paved parking lot to the destination paved parking lot?","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":"tokyo_35.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":291,"end_region_id":125,"start_point":[933,958],"end_point":[80,212],"distance":1133.192393197201},{"start_region_id":125,"end_region_id":291,"start_point":[80,212],"end_point":[933,958],"distance":1133.192393197201},{"start_region_id":105,"end_region_id":293,"start_point":[793,132],"end_point":[80,971],"distance":1101.040417060155},{"start_region_id":293,"end_region_id":105,"start_point":[80,971],"end_point":[793,132],"distance":1101.040417060155},{"start_region_id":271,"end_region_id":125,"start_point":[931,851],"end_point":[80,212],"distance":1064.2001691411253}],"complexity_score":0.6441999867420646}
{"id":11723,"query_id":"Q02345","question":"An aerial survey drone is positioned within a dense cluster of tall, vertical structures with complex branching patterns that create significant overhead obstacles. It needs to reach a wide, flat, hard-surfaced area with no vertical obstructions. The drone can fly over open, exposed ground composed of loose earth and rocks, as well as the flat hard-surfaced area. However, the tall vertical structures are only traversable if the drone maintains a safe altitude to avoid collisions. What is the fastest 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 that create significant overhead obstacles.","end_land_type":"A wide, flat, hard-surfaced area with no vertical obstructions.","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Bareland","Developed space","Tree"],"traverse_vector":[1,0,1,0,1,0,0,0],"cost_vector":[2,0,2,0,1,0,0,0],"image_name":"tokyo_35.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":317,"end_region_id":105,"start_point":[178,64],"end_point":[793,132],"distance":618.7479292894644},{"start_region_id":318,"end_region_id":125,"start_point":[617,87],"end_point":[80,212],"distance":551.3565089848854},{"start_region_id":317,"end_region_id":130,"start_point":[178,64],"end_point":[626,290],"distance":501.77684282955903},{"start_region_id":318,"end_region_id":110,"start_point":[617,87],"end_point":[281,186],"distance":350.2813155165431},{"start_region_id":318,"end_region_id":104,"start_point":[617,87],"end_point":[385,79],"distance":232.13789005675054}],"complexity_score":0.6441999867420646}
{"id":15535,"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_35.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":291,"end_region_id":484,"start_point":[933,958],"end_point":[52,553],"distance":969.6318889145509},{"start_region_id":271,"end_region_id":484,"start_point":[931,851],"end_point":[52,553],"distance":928.1406143467702},{"start_region_id":211,"end_region_id":484,"start_point":[960,612],"end_point":[52,553],"distance":909.9148311792703},{"start_region_id":143,"end_region_id":484,"start_point":[953,401],"end_point":[52,553],"distance":913.7313609590075},{"start_region_id":180,"end_region_id":484,"start_point":[955,523],"end_point":[52,553],"distance":903.4982014370588}],"complexity_score":0.6441999867420646}
{"id":1908,"query_id":"Q00382","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a paved lane or street as quickly as possible. The drone can fly over liquid surfaces and cultivated fields with low vegetation, but must avoid areas with tall, dense vegetation or vertical structures. Which path allows the drone to reach the destination fastest?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"paved lane or street","task_description":"Which path allows the drone to reach the destination 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":"jeremie_59.tif","subfolder":"jeremie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":241,"start_point":[905,139],"end_point":[116,833],"distance":1050.7887513672765},{"start_region_id":160,"end_region_id":241,"start_point":[1000,489],"end_point":[116,833],"distance":948.5736660903042},{"start_region_id":110,"end_region_id":241,"start_point":[724,115],"end_point":[116,833],"distance":940.8443016780194},{"start_region_id":140,"end_region_id":241,"start_point":[871,341],"end_point":[116,833],"distance":901.1598082471277},{"start_region_id":170,"end_region_id":241,"start_point":[995,678],"end_point":[116,833],"distance":892.5614824761374}],"complexity_score":0.6442614138376647}
{"id":1215,"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":"accra_68.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":317,"end_region_id":456,"start_point":[184,838],"end_point":[901,820],"distance":717.225905834417},{"start_region_id":316,"end_region_id":492,"start_point":[926,748],"end_point":[242,988],"distance":724.8834389058699},{"start_region_id":317,"end_region_id":493,"start_point":[184,838],"end_point":[847,980],"distance":678.0361347302959},{"start_region_id":317,"end_region_id":432,"start_point":[184,838],"end_point":[791,806],"distance":607.842907337085},{"start_region_id":312,"end_region_id":492,"start_point":[552,479],"end_point":[242,988],"distance":595.9706368605755}],"complexity_score":0.6442720955259089}
{"id":17041,"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_68.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":317,"end_region_id":316,"start_point":[184,838],"end_point":[926,748],"distance":747.438291767287},{"start_region_id":316,"end_region_id":317,"start_point":[926,748],"end_point":[184,838],"distance":747.438291767287},{"start_region_id":312,"end_region_id":317,"start_point":[552,479],"end_point":[184,838],"distance":514.1060201942786},{"start_region_id":317,"end_region_id":312,"start_point":[184,838],"end_point":[552,479],"distance":514.1060201942786},{"start_region_id":312,"end_region_id":316,"start_point":[552,479],"end_point":[926,748],"distance":460.6918709940517}],"complexity_score":0.6442720955259089}
{"id":12214,"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":"lambayeque_45.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":128,"start_point":[400,32],"end_point":[59,965],"distance":993.3629749492378},{"start_region_id":143,"end_region_id":133,"start_point":[400,32],"end_point":[219,974],"distance":959.2314632037462},{"start_region_id":143,"end_region_id":119,"start_point":[400,32],"end_point":[862,829],"distance":921.2236427708528},{"start_region_id":143,"end_region_id":120,"start_point":[400,32],"end_point":[697,840],"distance":860.8559693700219},{"start_region_id":143,"end_region_id":121,"start_point":[400,32],"end_point":[548,895],"distance":875.5986523516353}],"complexity_score":0.6443045738217466}
{"id":15580,"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":"lambayeque_45.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":165,"end_region_id":143,"start_point":[325,249],"end_point":[400,32],"distance":229.5952961190625},{"start_region_id":143,"end_region_id":165,"start_point":[400,32],"end_point":[325,249],"distance":229.5952961190625}],"complexity_score":0.6443045738217466}
{"id":16303,"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":"lambayeque_45.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":1,"start_point":[604,572],"end_point":[170,100],"distance":641.2019962539106},{"start_region_id":142,"end_region_id":3,"start_point":[604,572],"end_point":[452,58],"distance":536.0037313302959},{"start_region_id":142,"end_region_id":7,"start_point":[604,572],"end_point":[263,249],"distance":469.6913880411264},{"start_region_id":142,"end_region_id":6,"start_point":[604,572],"end_point":[529,156],"distance":422.7067541452348},{"start_region_id":141,"end_region_id":6,"start_point":[208,179],"end_point":[529,156],"distance":321.822932681933}],"complexity_score":0.6443045738217466}
{"id":1525,"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_4.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":26,"end_region_id":26,"start_point":[559,598],"end_point":[54,86],"distance":719.1446307941122}],"complexity_score":0.6443275246047768}
{"id":3010,"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_4.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":23,"start_point":[592,79],"end_point":[25,591],"distance":763.9587685209195},{"start_region_id":23,"end_region_id":13,"start_point":[25,591],"end_point":[592,79],"distance":763.9587685209195},{"start_region_id":24,"end_region_id":13,"start_point":[191,599],"end_point":[592,79],"distance":656.6589678059685},{"start_region_id":13,"end_region_id":24,"start_point":[592,79],"end_point":[191,599],"distance":656.6589678059685},{"start_region_id":19,"end_region_id":15,"start_point":[608,502],"end_point":[35,210],"distance":643.1119653683952}],"complexity_score":0.6443275246047768}
{"id":10521,"query_id":"Q02105","question":"A passenger vehicle starts from a field with low vegetation and soft ground and needs to reach a paved lane designed for vehicle traffic. The vehicle must avoid any areas with tall vegetation or trees that could obstruct movement or cause damage, and cannot cross any water bodies or structures. The terrain includes hard, stable surfaces suitable for driving, as well as open areas with firm soil that can support the vehicle's weight when dry. What is the safest path to reach the destination?","agent_category":"Car","specific_agent":"A passenger vehicle","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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"vegas_4.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":26,"start_point":[82,374],"end_point":[294,347],"distance":213.71242359769354}],"complexity_score":0.6443275246047768}
{"id":16631,"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":"vegas_4.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":26,"start_point":[82,374],"end_point":[294,347],"distance":213.71242359769354}],"complexity_score":0.6443275246047768}
{"id":2554,"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":"panama_city_12.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":285,"start_point":[194,344],"end_point":[948,895],"distance":933.8720469100679},{"start_region_id":201,"end_region_id":301,"start_point":[194,344],"end_point":[793,939],"distance":844.2902344573222},{"start_region_id":205,"end_region_id":285,"start_point":[180,561],"end_point":[948,895],"distance":837.4843282115792},{"start_region_id":200,"end_region_id":206,"start_point":[732,609],"end_point":[99,44],"distance":848.4774599245403},{"start_region_id":205,"end_region_id":210,"start_point":[180,561],"end_point":[771,30],"distance":794.5073945533799}],"complexity_score":0.6443959936633706}
{"id":5810,"query_id":"Q01162","question":"An aerial surveillance drone starts from a vegetated area with tall, leafy structures and needs to reach a paved, linear surface. The drone can fly over most surfaces, but dense overhead vegetation may require careful navigation to avoid collisions. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"a vegetated area with tall, leafy structures","end_land_type":"a paved, linear surface","task_description":"What is the shortest path from the vegetated area to the paved surface?","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":"kagera_22.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":195,"end_region_id":168,"start_point":[995,104],"end_point":[69,854],"distance":1191.6274585624485},{"start_region_id":184,"end_region_id":168,"start_point":[821,32],"end_point":[69,854],"distance":1114.0861726096416},{"start_region_id":201,"end_region_id":168,"start_point":[914,142],"end_point":[69,854],"distance":1104.974660342942},{"start_region_id":181,"end_region_id":168,"start_point":[681,80],"end_point":[69,854],"distance":986.7218453039337},{"start_region_id":345,"end_region_id":152,"start_point":[41,928],"end_point":[502,86],"distance":959.9401022980549}],"complexity_score":0.6443973211887071}
{"id":6729,"query_id":"Q01346","question":"An aerial survey drone starts from a paved, hard surface and needs to reach cultivated crop fields. The drone can fly over areas of loose earth and rocks, grassy or shrub-covered ground, paved surfaces, vegetated areas with tall vertical obstacles, liquid surfaces, and cultivated fields. However. The drone must avoid flying through dense clusters of tall vertical obstacles as they pose collision risks. 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":"cultivated crop fields","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":"kagera_22.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":397,"start_point":[881,952],"end_point":[148,25],"distance":1181.7859366230418},{"start_region_id":144,"end_region_id":398,"start_point":[881,952],"end_point":[261,34],"distance":1107.7562908871246},{"start_region_id":144,"end_region_id":400,"start_point":[881,952],"end_point":[230,174],"distance":1014.4382682056114},{"start_region_id":144,"end_region_id":399,"start_point":[881,952],"end_point":[861,88],"distance":864.2314504807147},{"start_region_id":126,"end_region_id":397,"start_point":[844,485],"end_point":[148,25],"distance":834.275733795488}],"complexity_score":0.6443973211887071}
{"id":16532,"query_id":"Q03307","question":"A quadcopter drone starts from a cultivated field and needs to reach another cultivated field while prioritizing minimal risk. The drone can fly over areas with low, natural vegetation, hard paved surfaces, tall vertical obstacles, liquid surfaces, and cultivated vegetation. However, the tall vertical obstacles are dense and present a collision hazard, and the liquid surfaces are deep and turbulent, posing a stability risk. The drone should avoid any terrain that increases the likelihood of loss of control or damage.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"kagera_22.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":406,"end_region_id":399,"start_point":[111,668],"end_point":[861,88],"distance":948.1033698917012},{"start_region_id":399,"end_region_id":406,"start_point":[861,88],"end_point":[111,668],"distance":948.1033698917012},{"start_region_id":404,"end_region_id":397,"start_point":[828,606],"end_point":[148,25],"distance":894.405389071421},{"start_region_id":397,"end_region_id":404,"start_point":[148,25],"end_point":[828,606],"distance":894.405389071421},{"start_region_id":404,"end_region_id":398,"start_point":[828,606],"end_point":[261,34],"distance":805.4023839050888}],"complexity_score":0.6443973211887071}
{"id":2609,"query_id":"Q00522","question":"A quadcopter drone is on a paved, hard surface and needs to reach a loose, sandy area as quickly as possible. The drone can fly over any terrain except dense vertical obstacles like tall trees or buildings, which are blocked. It must avoid liquid surfaces to maintain stability and speed. What is the fastest 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 fastest path for the drone to reach the loose, sandy area from the paved, hard 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":[1,1,1,1,0,0,1,0],"image_name":"tyrolw_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":4,"start_point":[989,369],"end_point":[327,600],"distance":701.1454913211666},{"start_region_id":84,"end_region_id":4,"start_point":[910,869],"end_point":[327,600],"distance":642.0669746996804},{"start_region_id":79,"end_region_id":4,"start_point":[967,634],"end_point":[327,600],"distance":640.9024886829509},{"start_region_id":65,"end_region_id":4,"start_point":[826,249],"end_point":[327,600],"distance":610.0836008286077},{"start_region_id":74,"end_region_id":4,"start_point":[897,509],"end_point":[327,600],"distance":577.2183295772926}],"complexity_score":0.6444856157998524}
{"id":3345,"query_id":"Q00669","question":"A delivery drone is hovering above a paved, hard-surfaced lane and needs to reach a loose, sandy area. The drone can fly over paved surfaces like lanes and parking lots, as well as over compacted soil used for crop production, but it must avoid flying through dense tree canopies or close to buildings unless necessary. The sandy area is accessible as long as the drone maintains a safe altitude. To ensure a smooth and stable flight, the drone should prioritize areas that are open and free of obstacles. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a 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_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":7,"start_point":[854,674],"end_point":[167,760],"distance":692.3618995872029},{"start_region_id":161,"end_region_id":7,"start_point":[359,245],"end_point":[167,760],"distance":549.626236637226},{"start_region_id":162,"end_region_id":3,"start_point":[854,674],"end_point":[395,312],"distance":584.5724933658785},{"start_region_id":162,"end_region_id":4,"start_point":[854,674],"end_point":[327,600],"distance":532.1700855929428},{"start_region_id":161,"end_region_id":4,"start_point":[359,245],"end_point":[327,600],"distance":356.4393356519451}],"complexity_score":0.6444856157998524}
{"id":3459,"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_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[395,312],"end_point":[167,760],"distance":502.68081324037024},{"start_region_id":7,"end_region_id":3,"start_point":[167,760],"end_point":[395,312],"distance":502.68081324037024},{"start_region_id":4,"end_region_id":3,"start_point":[327,600],"end_point":[395,312],"distance":295.9189078109069},{"start_region_id":3,"end_region_id":4,"start_point":[395,312],"end_point":[327,600],"distance":295.9189078109069},{"start_region_id":4,"end_region_id":7,"start_point":[327,600],"end_point":[167,760],"distance":226.27416997969522}],"complexity_score":0.6444856157998524}
{"id":8280,"query_id":"Q01656","question":"A hiker is standing on loose, sandy ground and needs to reach a grassy area with low shrubs. The hiker can traverse hard, paved surfaces, but must avoid any water bodies or structures. The hiker can also cross the grassy area with low shrubs and the loose, sandy ground, though these surfaces are rougher and slower. What is the fastest route to reach the grassy area?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","end_land_type":"grassy area with low shrubs","task_description":"What is the fastest route to reach the grassy area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road"],"traverse_vector":[1,1,1,1,0,0,0,0],"cost_vector":[1,2,4,3,0,0,0,0],"image_name":"tyrolw_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":32,"start_point":[327,600],"end_point":[915,350],"distance":638.9397467680344},{"start_region_id":3,"end_region_id":13,"start_point":[395,312],"end_point":[629,36],"distance":361.84527079955046},{"start_region_id":3,"end_region_id":29,"start_point":[395,312],"end_point":[115,292],"distance":280.713376952364},{"start_region_id":4,"end_region_id":31,"start_point":[327,600],"end_point":[592,514],"distance":278.6054557972618}],"complexity_score":0.6444856157998524}
{"id":9349,"query_id":"Q01870","question":"A quadcopter starts from a sandy, open area and needs to fly to another sandy, open area. The drone can fly over various surfaces including loose soil, grassy patches, paved areas, roads, and farm fields, but must avoid dense tree canopies and building structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest path for the quadcopter to fly from the starting sandy, open area to the destination sandy, open 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":"tyrolw_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[395,312],"end_point":[167,760],"distance":502.68081324037024},{"start_region_id":7,"end_region_id":3,"start_point":[167,760],"end_point":[395,312],"distance":502.68081324037024},{"start_region_id":4,"end_region_id":3,"start_point":[327,600],"end_point":[395,312],"distance":295.9189078109069},{"start_region_id":3,"end_region_id":4,"start_point":[395,312],"end_point":[327,600],"distance":295.9189078109069},{"start_region_id":4,"end_region_id":7,"start_point":[327,600],"end_point":[167,760],"distance":226.27416997969522}],"complexity_score":0.6444856157998524}
{"id":11610,"query_id":"Q02322","question":"An aerial photography drone starts from loose, sandy ground and needs to reach a flat, paved surface while maintaining stable flight for clear image capture. The drone can fly over grassy areas with low vegetation, but must avoid dense tree canopies that could cause turbulence and damage. Water surfaces are accessible but may create wind disturbances. The drone cannot enter or pass through solid structures. What is the most comfortable path for the drone?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"loose, sandy ground","end_land_type":"flat, paved surface","task_description":"What is the most comfortable path 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":"tyrolw_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":66,"start_point":[167,760],"end_point":[989,369],"distance":910.2554586488345},{"start_region_id":7,"end_region_id":65,"start_point":[167,760],"end_point":[826,249],"distance":833.9076687499642},{"start_region_id":7,"end_region_id":79,"start_point":[167,760],"end_point":[967,634],"distance":809.8617165911721},{"start_region_id":3,"end_region_id":84,"start_point":[395,312],"end_point":[910,869],"distance":758.6000263643549},{"start_region_id":7,"end_region_id":84,"start_point":[167,760],"end_point":[910,869],"distance":750.952728205977}],"complexity_score":0.6444856157998524}
{"id":13082,"query_id":"Q02617","question":"An aerial survey drone starts from a paved surface and needs to reach an exposed earth surface while maintaining stable flight. The drone can fly over open areas with minimal vegetation, hard artificial surfaces, liquid bodies, and cultivated fields. However, it must avoid areas with dense vertical obstacles that could cause turbulence. The drone's flight controller prioritizes smooth, predictable air currents to minimize vibrations and ensure stable sensor operation.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"exposed earth 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":"tyrolw_16.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":7,"start_point":[854,674],"end_point":[167,760],"distance":692.3618995872029},{"start_region_id":161,"end_region_id":7,"start_point":[359,245],"end_point":[167,760],"distance":549.626236637226},{"start_region_id":162,"end_region_id":3,"start_point":[854,674],"end_point":[395,312],"distance":584.5724933658785},{"start_region_id":162,"end_region_id":4,"start_point":[854,674],"end_point":[327,600],"distance":532.1700855929428},{"start_region_id":161,"end_region_id":4,"start_point":[359,245],"end_point":[327,600],"distance":356.4393356519451}],"complexity_score":0.6444856157998524}
{"id":6938,"query_id":"Q01388","question":"An aerial surveillance drone starts from a paved, hard surface, an aerial surveillance drone must navigate to another paved, hard surface area. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid tall trees and structures to minimize collision risk. 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":"tonga_27.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":125,"end_region_id":54,"start_point":[35,889],"end_point":[993,72],"distance":1259.0683063281356},{"start_region_id":54,"end_region_id":125,"start_point":[993,72],"end_point":[35,889],"distance":1259.0683063281356},{"start_region_id":125,"end_region_id":63,"start_point":[35,889],"end_point":[999,191],"distance":1190.1680553602503},{"start_region_id":63,"end_region_id":125,"start_point":[999,191],"end_point":[35,889],"distance":1190.1680553602503},{"start_region_id":116,"end_region_id":54,"start_point":[120,772],"end_point":[993,72],"distance":1118.98570142786}],"complexity_score":0.6445538355381021}
{"id":10902,"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":"tonga_27.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":319,"start_point":[357,912],"end_point":[715,628],"distance":456.9682702332844},{"start_region_id":1,"end_region_id":288,"start_point":[272,258],"end_point":[510,491],"distance":333.06605951372467}],"complexity_score":0.6445538355381021}
{"id":16190,"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":"tonga_27.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":155,"start_point":[26,188],"end_point":[692,903],"distance":977.128957712338},{"start_region_id":2,"end_region_id":155,"start_point":[347,26],"end_point":[692,903],"distance":942.419227308102},{"start_region_id":4,"end_region_id":155,"start_point":[904,130],"end_point":[692,903],"distance":801.5441347798635},{"start_region_id":1,"end_region_id":155,"start_point":[272,258],"end_point":[692,903],"distance":769.69149664005},{"start_region_id":3,"end_region_id":155,"start_point":[618,224],"end_point":[692,903],"distance":683.0204974962318}],"complexity_score":0.6445538355381021}
{"id":2107,"query_id":"Q00422","question":"A delivery drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can fly over hard surfaces, cultivated fields, and liquid areas, but must avoid dense vegetation with obstacles and vertical structures. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the safest path for the delivery 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":"vienna_31.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":41,"start_point":[206,961],"end_point":[960,30],"distance":1198.0304670583298},{"start_region_id":41,"end_region_id":58,"start_point":[960,30],"end_point":[206,961],"distance":1198.0304670583298},{"start_region_id":61,"end_region_id":41,"start_point":[344,990],"end_point":[960,30],"distance":1140.6384177292996},{"start_region_id":41,"end_region_id":61,"start_point":[960,30],"end_point":[344,990],"distance":1140.6384177292996},{"start_region_id":43,"end_region_id":58,"start_point":[953,108],"end_point":[206,961],"distance":1133.850960223609}],"complexity_score":0.6445799629271108}
{"id":2398,"query_id":"Q00480","question":"A quadcopter drone starts from a flat, hard, paved surface and needs to reach a long, linear, hard surface used for vehicle movement. The drone can fly over areas with loose soil and vegetation used for crop growth, as well as liquid bodies, but must avoid vertical structures and dense overhead obstacles. Which path should it take to minimize the overall travel distance?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a long, linear, hard surface used for vehicle movement","task_description":"Which path should it take to minimize the overall 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":"vienna_31.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":37,"end_region_id":39,"start_point":[856,929],"end_point":[510,20],"distance":972.6237710440764},{"start_region_id":37,"end_region_id":41,"start_point":[856,929],"end_point":[960,30],"distance":904.9955800997042},{"start_region_id":33,"end_region_id":57,"start_point":[280,306],"end_point":[868,959],"distance":878.7223679866127},{"start_region_id":37,"end_region_id":43,"start_point":[856,929],"end_point":[953,108],"distance":826.7103483082815},{"start_region_id":37,"end_region_id":49,"start_point":[856,929],"end_point":[109,763],"distance":765.2221899553097}],"complexity_score":0.6445799629271108}
{"id":6847,"query_id":"Q01370","question":"A quadcopter drone starts from a densely vegetated area with tall, leafy canopies and needs to reach another densely vegetated area with tall, leafy canopies. The terrain includes rough, loose soil and rocks; smooth, hard artificial surfaces; cultivated fields with soft, tilled soil; and additional densely vegetated areas with tall, leafy canopies. The drone must navigate carefully through the densely vegetated areas due to potential obstacles, but it can traverse them. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter 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 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":"vienna_31.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":88,"start_point":[443,301],"end_point":[697,805],"distance":564.3863924653039},{"start_region_id":88,"end_region_id":64,"start_point":[697,805],"end_point":[443,301],"distance":564.3863924653039},{"start_region_id":80,"end_region_id":91,"start_point":[876,580],"end_point":[367,840],"distance":571.5601455665012},{"start_region_id":91,"end_region_id":80,"start_point":[367,840],"end_point":[876,580],"distance":571.5601455665012},{"start_region_id":64,"end_region_id":91,"start_point":[443,301],"end_point":[367,840],"distance":544.3317003445601}],"complexity_score":0.6445799629271108}
{"id":2967,"query_id":"Q00594","question":"An off-road vehicle starts from a patch of grassy, shrub-covered ground and needs to reach another area of similar grassy, shrub-covered ground. The vehicle can traverse both loose, sandy or rocky surfaces without vegetation and grassy or shrubby terrain that is not cultivated, provided the ground is firm enough for vehicle traction. All other surface types are impassable for this journey. ","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path the off-road vehicle 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":"mahe_50.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":67,"start_point":[628,750],"end_point":[757,914],"distance":208.65521800328887},{"start_region_id":67,"end_region_id":46,"start_point":[757,914],"end_point":[628,750],"distance":208.65521800328887}],"complexity_score":0.6446406098532868}
{"id":16613,"query_id":"Q03323","question":"An aerial survey drone begins its mission perched on a cluster of tall, leafy vegetation with vertical structures and canopy cover. It needs to reach an open area dominated by low, natural grasses and shrubs to continue its data collection. The drone can fly over most surfaces, but must navigate carefully around dense vertical obstacles like trees. For this mission, the priority is to complete the transit as quickly as possible. The drone can utilize open liquid surfaces, cultivated fields with low, uniform crops, and hard, paved linear surfaces, but passage through or directly above areas with dense vertical vegetation is only possible if there are sufficiently wide gaps in the canopy. Which path allows the drone to reach the destination in the minimum time?","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":"An open area dominated by low, natural grasses and shrubs.","task_description":"Which path allows the drone to reach the destination 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":"mahe_50.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":10,"start_point":[28,886],"end_point":[741,121],"distance":1045.750448242792},{"start_region_id":172,"end_region_id":67,"start_point":[76,127],"end_point":[757,914],"distance":1040.7353169754547},{"start_region_id":171,"end_region_id":67,"start_point":[332,126],"end_point":[757,914],"distance":895.3038590333451},{"start_region_id":208,"end_region_id":29,"start_point":[28,886],"end_point":[783,413],"distance":890.928728911578},{"start_region_id":172,"end_region_id":46,"start_point":[76,127],"end_point":[628,750],"distance":832.3659051162535}],"complexity_score":0.6446406098532868}
{"id":50,"query_id":"Q00010","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface such as a parking lot or sidewalk while prioritizing safety. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, cultivated fields, individual trees or groups of trees, and bodies of water, but must avoid buildings entirely. It can also pass near or between trees and buildings if necessary, but flying directly through dense tree canopies or inside structures is prohibited. The drone's path should minimize risks such as collisions, signal interference, or unstable flight conditions. What is the safest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat surface such as a parking lot or sidewalk","task_description":"What is the safest route for the aerial surveillance drone to take from the paved lane to the hard, flat 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":"khartoum_11.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":11,"start_point":[95,320],"end_point":[558,239],"distance":470.03191381011567},{"start_region_id":31,"end_region_id":7,"start_point":[95,320],"end_point":[512,215],"distance":430.01627876163013},{"start_region_id":31,"end_region_id":27,"start_point":[95,320],"end_point":[339,571],"distance":350.0528531522061},{"start_region_id":31,"end_region_id":23,"start_point":[95,320],"end_point":[398,465],"distance":335.9077254247065},{"start_region_id":31,"end_region_id":8,"start_point":[95,320],"end_point":[380,165],"distance":324.4225639501667}],"complexity_score":0.6447418788251253}
{"id":13534,"query_id":"Q02707","question":"A quadcopter drone is currently on a flat, paved helipad. It needs to reach another flat, paved helipad. The drone can fly over loose, sandy areas, hard artificial surfaces, and liquid bodies, but must avoid areas with tall vegetation or vertical structures due to collision risk. The objective is to find the safest path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, paved helipad","end_land_type":"Another flat, paved helipad","task_description":"What is the safest path for the drone to take?","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":"khartoum_11.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":5,"start_point":[339,571],"end_point":[195,104],"distance":488.6972477925367},{"start_region_id":5,"end_region_id":27,"start_point":[195,104],"end_point":[339,571],"distance":488.6972477925367},{"start_region_id":27,"end_region_id":10,"start_point":[339,571],"end_point":[231,165],"distance":420.11903075200007},{"start_region_id":10,"end_region_id":27,"start_point":[231,165],"end_point":[339,571],"distance":420.11903075200007},{"start_region_id":5,"end_region_id":23,"start_point":[195,104],"end_point":[398,465],"distance":414.16180412973864}],"complexity_score":0.6447418788251253}
{"id":13582,"query_id":"Q02717","question":"An aerial survey drone starts from a paved, hard surface area and needs to reach another paved, hard surface area. The drone can fly over areas with soft, grassy vegetation, other paved or compacted surfaces, liquid bodies, and cultivated fields with low, uniform crops. However, it must avoid flying through dense, tall vegetation or near vertical structures to ensure stable flight and minimize vibrations. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A paved, hard surface area","end_land_type":"A paved, hard surface area","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":"khartoum_11.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":5,"start_point":[339,571],"end_point":[195,104],"distance":488.6972477925367},{"start_region_id":5,"end_region_id":27,"start_point":[195,104],"end_point":[339,571],"distance":488.6972477925367},{"start_region_id":27,"end_region_id":10,"start_point":[339,571],"end_point":[231,165],"distance":420.11903075200007},{"start_region_id":10,"end_region_id":27,"start_point":[231,165],"end_point":[339,571],"distance":420.11903075200007},{"start_region_id":5,"end_region_id":23,"start_point":[195,104],"end_point":[398,465],"distance":414.16180412973864}],"complexity_score":0.6447418788251253}
{"id":13866,"query_id":"Q02774","question":"A quadcopter drone is hovering over grassy, shrub-covered terrain and needs to land on a flat, hard surface. The drone can fly over loose, sandy areas, rocky patches, cultivated fields, and water bodies. However, the drone must avoid flying near any vertical structures or dense tree canopies to minimize risk. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, shrub-covered terrain","end_land_type":"a flat, hard surface","task_description":"What is the safest flight path for the drone?","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_61.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":99,"start_point":[70,889],"end_point":[984,318],"distance":1077.6998654541997},{"start_region_id":34,"end_region_id":46,"start_point":[70,889],"end_point":[812,142],"distance":1052.8879332578563},{"start_region_id":34,"end_region_id":209,"start_point":[70,889],"end_point":[990,445],"distance":1021.5360982363766},{"start_region_id":1,"end_region_id":517,"start_point":[901,17],"end_point":[513,959],"distance":1018.777699009946},{"start_region_id":34,"end_region_id":208,"start_point":[70,889],"end_point":[878,447],"distance":920.9929424268136}],"complexity_score":0.644896517177796}
{"id":17606,"query_id":"Q03522","question":"A hiker starts from a grassy, open field with scattered low vegetation and needs to reach a paved lane used by vehicles. The area includes soft, uneven ground covered with grass and shrubs, which can be traversed on foot, as well as individual trees that can be walked around or between. There are also cultivated crop fields with rows of plants that can be crossed carefully. However, all other surfaces such as loose sand or rock accumulations, artificial hard surfaces like sidewalks or parking lots, liquid bodies, and vertical structures are not accessible. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy, open field with scattered low vegetation","end_land_type":"paved lane used by vehicles","task_description":"What is the shortest path to the destination?","task_type":"Shortest","input_classes":["Rangeland","Road","Tree","Agriculture land"],"traverse_vector":[0,1,0,1,1,0,1,0],"cost_vector":[0,1,0,1,1,0,1,0],"image_name":"mexico_city_61.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":697,"start_point":[901,17],"end_point":[114,922],"distance":1199.33064665254},{"start_region_id":1,"end_region_id":696,"start_point":[901,17],"end_point":[304,798],"distance":983.0411995435389},{"start_region_id":27,"end_region_id":676,"start_point":[936,740],"end_point":[308,10],"distance":962.9558660707146},{"start_region_id":34,"end_region_id":694,"start_point":[70,889],"end_point":[987,786],"distance":922.7664926729839},{"start_region_id":1,"end_region_id":693,"start_point":[901,17],"end_point":[485,832],"distance":915.0306005812046}],"complexity_score":0.644896517177796}
{"id":2886,"query_id":"Q00578","question":"A quadcopter drone is starting from a paved courtyard and needs to reach a crop field. The drone can fly over hard surfaces, loose soil, and cultivated areas, but it must avoid flying through dense vegetation or near vertical obstacles. What is the shortest flight path to the field?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved courtyard","end_land_type":"a crop field","task_description":"What is the shortest flight 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":"muenster_40.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":394,"start_point":[847,972],"end_point":[585,197],"distance":818.0886260057647},{"start_region_id":192,"end_region_id":394,"start_point":[243,908],"end_point":[585,197],"distance":788.9771859819522},{"start_region_id":183,"end_region_id":394,"start_point":[316,890],"end_point":[585,197],"distance":743.3774276906718},{"start_region_id":189,"end_region_id":394,"start_point":[755,890],"end_point":[585,197],"distance":713.5467749208877},{"start_region_id":185,"end_region_id":394,"start_point":[388,869],"end_point":[585,197],"distance":700.2806580221961}],"complexity_score":0.6449560143305643}
{"id":5705,"query_id":"Q01141","question":"A hiker starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, paved area. The terrain includes only grassy, uneven ground with scattered shrubs and flat, paved surfaces; all other surfaces, such as water bodies, buildings, bare sand or rocks, agricultural fields, trees, and roads, are not traversable due to safety hazards or physical barriers. The hiker must find a path that minimizes risk.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a flat, paved area","task_description":"What is the safest path for the hiker to take?","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":"muenster_40.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":193,"start_point":[910,177],"end_point":[847,972],"distance":797.492319712234},{"start_region_id":87,"end_region_id":131,"start_point":[579,892],"end_point":[394,368],"distance":555.6986593469521},{"start_region_id":87,"end_region_id":137,"start_point":[579,892],"end_point":[611,427],"distance":466.0997747263991},{"start_region_id":76,"end_region_id":131,"start_point":[605,781],"end_point":[394,368],"distance":463.7779641164509},{"start_region_id":57,"end_region_id":131,"start_point":[586,685],"end_point":[394,368],"distance":370.6116565894818}],"complexity_score":0.6449560143305643}
{"id":12261,"query_id":"Q02453","question":"A delivery drone is starting from an area with elevated, leafy obstructions and needs to reach a smooth, artificial ground surface. The environment includes open expanses of dry, loose soil and rock, and vertical man-made structures are present but can be flown over if necessary. The drone must navigate while prioritizing a smooth and stable flight, avoiding rough or turbulent areas that could cause shaking or instability.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"An area with elevated, leafy obstructions.","end_land_type":"A smooth, artificial ground 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","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_40.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":226,"end_region_id":192,"start_point":[988,148],"end_point":[243,908],"distance":1064.248561192356},{"start_region_id":226,"end_region_id":183,"start_point":[988,148],"end_point":[316,890],"distance":1001.0734238805863},{"start_region_id":226,"end_region_id":165,"start_point":[988,148],"end_point":[138,645],"distance":984.6364811441834},{"start_region_id":234,"end_region_id":193,"start_point":[209,259],"end_point":[847,972],"distance":956.7721776891299},{"start_region_id":226,"end_region_id":185,"start_point":[988,148],"end_point":[388,869],"distance":937.9984008515153}],"complexity_score":0.6449560143305643}
{"id":9761,"query_id":"Q01953","question":"An aerial survey drone starts from a cultivated field and needs to reach a wooded area. The drone can fly over open, solid ground; grassy or shrub-covered terrain; paved lanes; liquid surfaces; and cultivated plots. However, vertical structures and dense tree canopies are only passable if the drone maintains a safe altitude to avoid collisions. What is the fastest path?","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 for the aerial survey drone to reach the wooded area from 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":"ngaoundere_9.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":252,"end_region_id":190,"start_point":[983,700],"end_point":[43,516],"distance":957.839234944988},{"start_region_id":260,"end_region_id":190,"start_point":[877,949],"end_point":[43,516],"distance":939.7047408627882},{"start_region_id":258,"end_region_id":190,"start_point":[658,913],"end_point":[43,516],"distance":732.0068305692236},{"start_region_id":259,"end_region_id":190,"start_point":[577,929],"end_point":[43,516],"distance":675.0740700100989},{"start_region_id":247,"end_region_id":190,"start_point":[670,490],"end_point":[43,516],"distance":627.5388434192739}],"complexity_score":0.6449911009645507}
{"id":15026,"query_id":"Q03006","question":"A hiker is standing on a paved, hard surface area and needs to reach a cultivated field with crops. The terrain includes loose, sandy or rocky ground without vegetation; open areas covered with natural grass and shrubs; paved, stable surfaces like sidewalks and parking lots; areas with tall, vertical obstacles like individual trees or clusters; and soft, tilled soil used for growing plants. The hiker must avoid any water bodies and cannot enter any buildings. The cultivated field is accessible, and the natural vegetation areas are passable. What is the safest path for the hiker to take?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"A paved, hard surface area","end_land_type":"A cultivated field with crops","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":"ngaoundere_9.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":260,"start_point":[40,72],"end_point":[877,949],"distance":1212.311016200051},{"start_region_id":54,"end_region_id":252,"start_point":[40,72],"end_point":[983,700],"distance":1132.975286579544},{"start_region_id":61,"end_region_id":256,"start_point":[947,42],"end_point":[190,883],"distance":1131.5166812734137},{"start_region_id":61,"end_region_id":255,"start_point":[947,42],"end_point":[79,727],"distance":1105.7345974509435},{"start_region_id":54,"end_region_id":258,"start_point":[40,72],"end_point":[658,913],"distance":1043.6498454941677}],"complexity_score":0.6449911009645507}
{"id":2632,"query_id":"Q00527","question":"A person walking with a heavy backpack starts from a paved, hard-surfaced lane and needs to reach a cultivated field with soft, tilled soil. You can only walk on surfaces that are firm and stable enough to support comfortable movement. The hard, flat paved areas and lanes are always available. You can walk on the cultivated field because the soil is dry and compacted enough for foot traffic. You can also walk through areas with scattered trees because there are clear gaps between them and the ground is relatively even. However, you cannot walk on loose sandy or rocky ground, dense shrubbery, any liquid surfaces, or any solid vertical structures. What is the most comfortable path to take?","agent_category":"Pedestrian","specific_agent":"A person walking with a heavy backpack","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A cultivated field with soft, tilled soil","task_description":"What is the most comfortable path to take?","task_type":"Comfort","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":"pedrogao_grande_3.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":344,"start_point":[850,453],"end_point":[41,65],"distance":897.2318540934667},{"start_region_id":189,"end_region_id":353,"start_point":[850,453],"end_point":[88,828],"distance":849.2755736508616},{"start_region_id":186,"end_region_id":352,"start_point":[250,490],"end_point":[959,803],"distance":775.0161288644256},{"start_region_id":186,"end_region_id":351,"start_point":[250,490],"end_point":[975,420],"distance":728.3714711601492},{"start_region_id":186,"end_region_id":354,"start_point":[250,490],"end_point":[673,855],"distance":558.7074368576098}],"complexity_score":0.6450285486303717}
{"id":16508,"query_id":"Q03302","question":"A delivery drone begins on a paved lane and needs to reach a cultivated field. The drone can fly over all surfaces except densely packed vertical obstacles, which require careful navigation. The drone must avoid any liquid surfaces due to safety protocols. What is the fastest route?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the fastest route for the delivery drone to reach the cultivated field from the paved lane?","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":"pedrogao_grande_3.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":344,"start_point":[850,453],"end_point":[41,65],"distance":897.2318540934667},{"start_region_id":189,"end_region_id":353,"start_point":[850,453],"end_point":[88,828],"distance":849.2755736508616},{"start_region_id":186,"end_region_id":352,"start_point":[250,490],"end_point":[959,803],"distance":775.0161288644256},{"start_region_id":186,"end_region_id":351,"start_point":[250,490],"end_point":[975,420],"distance":728.3714711601492},{"start_region_id":186,"end_region_id":354,"start_point":[250,490],"end_point":[673,855],"distance":558.7074368576098}],"complexity_score":0.6450285486303717}
{"id":1919,"query_id":"Q00384","question":"A hiker starts from a paved lane and needs to reach a cluster of tall vegetation. The hiker can traverse hard surfaces like sidewalks and parking lots, as well as cultivated fields, but must avoid liquid areas and vertical structures. The tall vegetation is conditionally traversable if there are clear gaps between the trunks. 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 vegetation","task_description":"What is the shortest path from the paved lane to the cluster of tall vegetation?","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_30.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":271,"end_region_id":385,"start_point":[660,356],"end_point":[946,870],"distance":588.2108465507926},{"start_region_id":271,"end_region_id":276,"start_point":[660,356],"end_point":[153,52],"distance":591.1556478627266},{"start_region_id":271,"end_region_id":397,"start_point":[660,356],"end_point":[482,961],"distance":630.6417366460929},{"start_region_id":271,"end_region_id":284,"start_point":[660,356],"end_point":[693,57],"distance":300.81555810828667},{"start_region_id":271,"end_region_id":309,"start_point":[660,356],"end_point":[144,346],"distance":516.0968901282006}],"complexity_score":0.6450296786457372}
{"id":7956,"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":"bielefeld_64.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":94,"start_point":[734,456],"end_point":[904,620],"distance":236.21176939348302}],"complexity_score":0.645075623395833}
{"id":13226,"query_id":"Q02646","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, vehicle lanes, water bodies, and farmlands, but must avoid tall vertical obstacles like trees and 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 cultivated field with crops","task_description":"What is the shortest path for the drone to reach 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":"bielefeld_64.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":208,"start_point":[904,620],"end_point":[734,456],"distance":236.21176939348302}],"complexity_score":0.645075623395833}
{"id":6135,"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_13.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":11,"start_point":[465,700],"end_point":[984,158],"distance":750.4165509901817},{"start_region_id":231,"end_region_id":8,"start_point":[465,700],"end_point":[688,97],"distance":642.9136800535512},{"start_region_id":231,"end_region_id":2,"start_point":[465,700],"end_point":[210,141],"distance":614.4151690835765},{"start_region_id":231,"end_region_id":33,"start_point":[465,700],"end_point":[84,277],"distance":569.2890302825094},{"start_region_id":231,"end_region_id":115,"start_point":[465,700],"end_point":[963,926],"distance":546.882071382853}],"complexity_score":0.6450994487539979}
{"id":6668,"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_13.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":218,"end_region_id":137,"start_point":[748,966],"end_point":[560,55],"distance":930.1962158598583},{"start_region_id":137,"end_region_id":218,"start_point":[560,55],"end_point":[748,966],"distance":930.1962158598583},{"start_region_id":153,"end_region_id":180,"start_point":[92,510],"end_point":[951,633],"distance":867.7614879677479},{"start_region_id":180,"end_region_id":153,"start_point":[951,633],"end_point":[92,510],"distance":867.7614879677479},{"start_region_id":201,"end_region_id":137,"start_point":[273,871],"end_point":[560,55],"distance":865.0}],"complexity_score":0.6450994487539979}
{"id":10123,"query_id":"Q02025","question":"A hiker is standing in a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes loose, sandy patches and hard, paved surfaces. The hiker has permission to walk through cultivated crop areas. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"grassy, open field","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":"mahe_10.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":193,"start_point":[867,385],"end_point":[103,891],"distance":916.3689213411812},{"start_region_id":25,"end_region_id":193,"start_point":[992,774],"end_point":[103,891],"distance":896.6660470877661},{"start_region_id":26,"end_region_id":193,"start_point":[878,774],"end_point":[103,891],"distance":783.781857406766},{"start_region_id":13,"end_region_id":193,"start_point":[601,315],"end_point":[103,891],"distance":761.4328598110276},{"start_region_id":25,"end_region_id":148,"start_point":[992,774],"end_point":[450,272],"distance":738.761125127737}],"complexity_score":0.6451160161753445}
{"id":12808,"query_id":"Q02562","question":"A sedan starts from a paved road and needs to reach a grassy field. The terrain includes hard, flat surfaces like parking lots and sidewalks, as well as cultivated fields with firm soil. However, you must avoid any loose, sandy, or rocky ground, and cannot pass through water, trees, or buildings. You seek a path that maximizes ride comfort by prioritizing surfaces that are smooth and stable.","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved road","end_land_type":"a grassy field","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":[0,1,3,4,0,0,2,0],"image_name":"mahe_10.tif","subfolder":"mahe","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":13,"start_point":[930,945],"end_point":[601,315],"distance":710.7327205075055},{"start_region_id":128,"end_region_id":11,"start_point":[930,945],"end_point":[867,385],"distance":563.5326077522045},{"start_region_id":127,"end_region_id":25,"start_point":[527,508],"end_point":[992,774],"distance":535.706076127572},{"start_region_id":127,"end_region_id":26,"start_point":[527,508],"end_point":[878,774],"distance":440.40549497026035},{"start_region_id":127,"end_region_id":11,"start_point":[527,508],"end_point":[867,385],"distance":361.564655352262}],"complexity_score":0.6451160161753445}
{"id":10513,"query_id":"Q02103","question":"A hiker starts from a grassy, uneven terrain with scattered shrubs and needs to reach a flat, hard, paved surface. The area contains patches of loose, sandy soil without vegetation, as well as clusters of tall, vertical obstacles with dense foliage. You must avoid any liquid surfaces and any solid, enclosed structures. 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":"flat, hard, paved surface","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":"joplin_19.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":121,"start_point":[80,157],"end_point":[814,946],"distance":1077.6256307271092},{"start_region_id":4,"end_region_id":121,"start_point":[214,95],"end_point":[814,946],"distance":1041.2497298919218},{"start_region_id":3,"end_region_id":113,"start_point":[80,157],"end_point":[846,817],"distance":1011.1162148833338},{"start_region_id":35,"end_region_id":70,"start_point":[170,834],"end_point":[911,180],"distance":988.3304103385669},{"start_region_id":35,"end_region_id":71,"start_point":[170,834],"end_point":[936,234],"distance":973.013874515672}],"complexity_score":0.6452230104160652}
{"id":12385,"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":"joplin_19.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":116,"start_point":[911,180],"end_point":[294,930],"distance":971.1791801722276},{"start_region_id":116,"end_region_id":70,"start_point":[294,930],"end_point":[911,180],"distance":971.1791801722276},{"start_region_id":71,"end_region_id":116,"start_point":[936,234],"end_point":[294,930],"distance":946.8790841496078},{"start_region_id":116,"end_region_id":71,"start_point":[294,930],"end_point":[936,234],"distance":946.8790841496078},{"start_region_id":70,"end_region_id":108,"start_point":[911,180],"end_point":[268,830],"distance":914.3024663643864}],"complexity_score":0.6452230104160652}
{"id":3,"query_id":"Q00001","question":"An aerial surveillance drone begins on a cultivated field with rows of crops and soft, tilled soil. It needs to reach a flat, hard, paved area such as a parking lot or sports court. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces, vehicle lanes, water bodies, and cultivated fields, but must avoid tall vertical obstacles like trees and structures. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cultivated field with rows of crops and soft, tilled soil.","end_land_type":"A flat, hard, paved area such as a parking lot or sports court.","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":"pisco_17.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":53,"start_point":[918,1002],"end_point":[273,32],"distance":1164.8712375194093},{"start_region_id":210,"end_region_id":106,"start_point":[64,292],"end_point":[841,982],"distance":1039.1482088710927},{"start_region_id":225,"end_region_id":55,"start_point":[918,1002],"end_point":[343,157],"distance":1022.0812100806863},{"start_region_id":210,"end_region_id":86,"start_point":[64,292],"end_point":[776,928],"distance":954.6936681470136},{"start_region_id":208,"end_region_id":87,"start_point":[750,250],"end_point":[101,914],"distance":928.4917877935162}],"complexity_score":0.6452559885743666}
{"id":13305,"query_id":"Q02661","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while minimizing risk. The drone can fly over open grassy areas, hard artificial surfaces, paved lanes, liquid bodies, and cultivated fields, but it must avoid tall vertical obstacles and solid structures. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest path for the aerial survey drone to reach the cultivated field from the paved lane?","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":"pisco_17.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":210,"start_point":[815,971],"end_point":[64,292],"distance":1012.443578674881},{"start_region_id":120,"end_region_id":215,"start_point":[815,971],"end_point":[14,675],"distance":853.9420355035815},{"start_region_id":119,"end_region_id":225,"start_point":[250,527],"end_point":[918,1002],"distance":819.6639555329976},{"start_region_id":120,"end_region_id":208,"start_point":[815,971],"end_point":[750,250],"distance":723.9240291632817},{"start_region_id":119,"end_region_id":211,"start_point":[250,527],"end_point":[888,616],"distance":644.1777704950707}],"complexity_score":0.6452559885743666}
{"id":13315,"query_id":"Q02663","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 sandy or rocky ground, paved areas like parking lots or sidewalks, 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 priority is to minimize the risk of collision, loss of control, or damage to the drone.","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 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":"pisco_17.tif","subfolder":"pisco","coordinate_format":"xy","start_end_pairs":[{"start_region_id":120,"end_region_id":210,"start_point":[815,971],"end_point":[64,292],"distance":1012.443578674881},{"start_region_id":120,"end_region_id":215,"start_point":[815,971],"end_point":[14,675],"distance":853.9420355035815},{"start_region_id":119,"end_region_id":225,"start_point":[250,527],"end_point":[918,1002],"distance":819.6639555329976},{"start_region_id":120,"end_region_id":208,"start_point":[815,971],"end_point":[750,250],"distance":723.9240291632817},{"start_region_id":119,"end_region_id":211,"start_point":[250,527],"end_point":[888,616],"distance":644.1777704950707}],"complexity_score":0.6452559885743666}
{"id":850,"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_32.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":62,"end_region_id":51,"start_point":[282,87],"end_point":[580,785],"distance":758.9519088848779},{"start_region_id":103,"end_region_id":1,"start_point":[982,234],"end_point":[285,39],"distance":723.763773616779},{"start_region_id":103,"end_region_id":51,"start_point":[982,234],"end_point":[580,785],"distance":682.0593815790528},{"start_region_id":198,"end_region_id":1,"start_point":[658,597],"end_point":[285,39],"distance":671.1877531659826},{"start_region_id":97,"end_region_id":51,"start_point":[360,189],"end_point":[580,785],"distance":635.307799416944}],"complexity_score":0.6453358520682969}
{"id":3800,"query_id":"Q00760","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a wooded area with tall vegetation and tree cover. 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 made of asphalt or concrete, and individual trees or groups of trees. You cannot travel across liquid surfaces or enter any structures. What is the shortest path 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 path 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":"kyoto_32.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":582,"end_region_id":520,"start_point":[55,557],"end_point":[981,944],"distance":1003.6159624079322},{"start_region_id":577,"end_region_id":520,"start_point":[369,213],"end_point":[981,944],"distance":953.3650927110767},{"start_region_id":585,"end_region_id":520,"start_point":[178,522],"end_point":[981,944],"distance":907.1344993990692},{"start_region_id":581,"end_region_id":520,"start_point":[303,390],"end_point":[981,944],"distance":875.5569655939013},{"start_region_id":582,"end_region_id":425,"start_point":[55,557],"end_point":[890,595],"distance":835.8642234238764}],"complexity_score":0.6453358520682969}
{"id":4994,"query_id":"Q00999","question":"A farmer starts from a paved road and needs to get to a cultivated field quickly. The farmer can walk on hard surfaces like sidewalks and roads, and is allowed to cross the cultivated field because the soil is not muddy and the crops are low enough to step over easily. What is the fastest route to the field?","agent_category":"Pedestrian","specific_agent":"farmer","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest route to the field?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"kyoto_32.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":316,"end_region_id":577,"start_point":[367,688],"end_point":[369,213],"distance":475.00421050765436},{"start_region_id":316,"end_region_id":589,"start_point":[367,688],"end_point":[606,975],"distance":373.48360071092816},{"start_region_id":316,"end_region_id":591,"start_point":[367,688],"end_point":[510,996],"distance":339.5776788895289},{"start_region_id":316,"end_region_id":582,"start_point":[367,688],"end_point":[55,557],"distance":338.3858744096745},{"start_region_id":316,"end_region_id":581,"start_point":[367,688],"end_point":[303,390],"distance":304.7950130825634}],"complexity_score":0.6453358520682969}
{"id":7310,"query_id":"Q01462","question":"A hiker starts from a paved, hard surface and needs to reach a cultivated field with loose soil and crops. The area includes rough, sandy ground without vegetation; open grassy or shrub-covered terrain; and scattered tall vegetation with vertical obstacles. The paved surface and the cultivated field are traversable. The rough sandy ground is traversable due to firm compaction. The open grassy terrain is traversable as it is dry and stable. The tall vegetation is traversable because there are clear gaps between trees. All other surfaces, including liquid bodies and solid structures, are impassable.","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with loose soil and crops","task_description":"What is the shortest path to the cultivated 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":"kyoto_32.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":582,"start_point":[973,110],"end_point":[55,557],"distance":1021.0450528747494},{"start_region_id":68,"end_region_id":591,"start_point":[973,110],"end_point":[510,996],"distance":999.6824495808656},{"start_region_id":103,"end_region_id":582,"start_point":[982,234],"end_point":[55,557],"distance":981.660837560509},{"start_region_id":62,"end_region_id":589,"start_point":[282,87],"end_point":[606,975],"distance":945.261868478783},{"start_region_id":68,"end_region_id":589,"start_point":[973,110],"end_point":[606,975],"distance":939.6350355324136}],"complexity_score":0.6453358520682969}
{"id":710,"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_40.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":12,"start_point":[633,278],"end_point":[73,74],"distance":596.0},{"start_region_id":3,"end_region_id":25,"start_point":[313,70],"end_point":[619,546],"distance":565.87277722117},{"start_region_id":4,"end_region_id":27,"start_point":[589,45],"end_point":[473,578],"distance":545.4768556043418},{"start_region_id":3,"end_region_id":27,"start_point":[313,70],"end_point":[473,578],"distance":532.6011640993662},{"start_region_id":4,"end_region_id":12,"start_point":[589,45],"end_point":[73,74],"distance":516.8142799884694}],"complexity_score":0.6454426347205585}
{"id":4197,"query_id":"Q00840","question":"A hiker is standing on a paved sidewalk and wants to reach a shaded tree area while prioritizing a comfortable walk. The hiker can walk on hard surfaces like pavement and roads comfortably. Walking on loose soil, grassy patches, or cultivated fields is possible but may be less comfortable due to unevenness. The hiker cannot swim through water or walk through solid structures. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a shaded tree area","task_description":"What is the most comfortable route for the hiker to travel from the paved sidewalk to the shaded tree 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":[2,3,6,5,1,0,4,0],"image_name":"shanghai_40.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":83,"start_point":[607,185],"end_point":[44,547],"distance":669.3377323892626},{"start_region_id":19,"end_region_id":75,"start_point":[607,185],"end_point":[100,516],"distance":605.4832780515083},{"start_region_id":25,"end_region_id":83,"start_point":[619,546],"end_point":[44,547],"distance":575.0008695645598},{"start_region_id":13,"end_region_id":83,"start_point":[523,271],"end_point":[44,547],"distance":552.826374189944},{"start_region_id":19,"end_region_id":50,"start_point":[607,185],"end_point":[128,383],"distance":518.3097529470191}],"complexity_score":0.6454426347205585}
{"id":8764,"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":"shanghai_40.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":11,"start_point":[313,70],"end_point":[633,278],"distance":381.65953414005},{"start_region_id":11,"end_region_id":3,"start_point":[633,278],"end_point":[313,70],"distance":381.65953414005},{"start_region_id":3,"end_region_id":4,"start_point":[313,70],"end_point":[589,45],"distance":277.1299334247385},{"start_region_id":4,"end_region_id":3,"start_point":[589,45],"end_point":[313,70],"distance":277.1299334247385},{"start_region_id":4,"end_region_id":11,"start_point":[589,45],"end_point":[633,278],"distance":237.11811402758752}],"complexity_score":0.6454426347205585}
{"id":1883,"query_id":"Q00377","question":"An aerial survey drone starts from a flat, cultivated field with rows of crops and needs to reach another flat, cultivated field with rows of crops as quickly as possible. The drone can fly over areas with loose, dry soil and rocks; grassy and shrub-covered terrain; individual or clustered tall vertical obstacles with branches and leaves; bodies of liquid; and cultivated vegetation. However, the drone must avoid any built structures and paved surfaces, as these areas are restricted for this mission. The drone's priority is to maintain maximum flight speed while navigating these allowed terrains.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A flat, cultivated field with rows of crops","end_land_type":"Another flat, cultivated field with rows of crops","task_description":"What is the fastest path for the aerial survey drone to reach the destination field?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Tree","Water","Agriculture land"],"traverse_vector":[1,1,0,0,1,1,1,0],"cost_vector":[2,2,0,0,1,2,2,0],"image_name":"gorakhpur_34.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":548,"end_region_id":555,"start_point":[624,415],"end_point":[130,853],"distance":660.2120871356416},{"start_region_id":555,"end_region_id":548,"start_point":[130,853],"end_point":[624,415],"distance":660.2120871356416},{"start_region_id":555,"end_region_id":550,"start_point":[130,853],"end_point":[259,269],"distance":598.0777541423857},{"start_region_id":550,"end_region_id":555,"start_point":[259,269],"end_point":[130,853],"distance":598.0777541423857},{"start_region_id":548,"end_region_id":551,"start_point":[624,415],"end_point":[148,545],"distance":493.4328728408759}],"complexity_score":0.6455220121682325}
{"id":6425,"query_id":"Q01285","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 as quickly as possible. You can traverse areas with loose soil and rocks, as well as paved, hard surfaces like sidewalks and streets, but you must avoid any liquid surfaces and vertical structures. Additionally, you can pass through cultivated fields if they are dry and firm, and you can walk through wooded areas if the trees are sparse enough to allow passage. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"grassy, uneven terrain with scattered shrubs","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":[2,3,6,5,1,0,4,0],"image_name":"gorakhpur_34.tif","subfolder":"gorakhpur","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":1,"start_point":[411,873],"end_point":[971,280],"distance":815.6279789217631},{"start_region_id":1,"end_region_id":111,"start_point":[971,280],"end_point":[411,873],"distance":815.6279789217631},{"start_region_id":29,"end_region_id":6,"start_point":[208,513],"end_point":[1004,464],"distance":797.5067397834327},{"start_region_id":6,"end_region_id":29,"start_point":[1004,464],"end_point":[208,513],"distance":797.5067397834327},{"start_region_id":29,"end_region_id":1,"start_point":[208,513],"end_point":[971,280],"distance":797.7831785642011}],"complexity_score":0.6455220121682325}
{"id":6577,"query_id":"Q01316","question":"A delivery drone starts from a crop-covered agricultural area with low vegetation and needs to reach a flat, hard-surfaced industrial yard. The drone can fly over the crops without obstruction, and the yard is clear of overhead obstacles, allowing unimpeded flight. Which air path allows the drone to complete the delivery in the least time?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a crop-covered agricultural area with low vegetation","end_land_type":"a flat, hard-surfaced industrial yard","task_description":"Which air path allows the drone to complete the delivery in the least 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":"tokyo_34.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":379,"end_region_id":151,"start_point":[132,144],"end_point":[938,836],"distance":1062.308806327049},{"start_region_id":380,"end_region_id":193,"start_point":[866,130],"end_point":[220,955],"distance":1047.826798664741},{"start_region_id":385,"end_region_id":76,"start_point":[237,790],"end_point":[970,75],"distance":1023.9697261149863},{"start_region_id":388,"end_region_id":76,"start_point":[608,997],"end_point":[970,75],"distance":990.5190558490028},{"start_region_id":380,"end_region_id":132,"start_point":[866,130],"end_point":[129,784],"distance":985.334968424444}],"complexity_score":0.6455616942320569}
{"id":11798,"query_id":"Q02360","question":"A hiker is standing in a dense cluster of tall vertical structures with overhead canopy. They need to reach a flat, hard, and open surface. The hiker can walk across loose, dry, and uneven ground composed of sand or rocks, and they are allowed to pass through the vertical structures if there is enough space between them. However, they must avoid any liquid areas and cannot enter solid, enclosed vertical obstacles. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a dense cluster of tall vertical structures with overhead canopy","end_land_type":"a flat, hard, and open surface","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":"tokyo_34.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":360,"end_region_id":76,"start_point":[103,973],"end_point":[970,75],"distance":1248.2359552584599},{"start_region_id":360,"end_region_id":86,"start_point":[103,973],"end_point":[966,165],"distance":1182.215293421634},{"start_region_id":360,"end_region_id":99,"start_point":[103,973],"end_point":[959,290],"distance":1095.0913203929615},{"start_region_id":242,"end_region_id":193,"start_point":[815,34],"end_point":[220,955],"distance":1096.4789099658963},{"start_region_id":240,"end_region_id":151,"start_point":[199,68],"end_point":[938,836],"distance":1065.8072058303978}],"complexity_score":0.6455616942320569}
{"id":104,"query_id":"Q00021","question":"An aerial surveillance drone is currently positioned over a cultivated field with loose, tilled soil and crop rows. It needs to reach a grassy meadow covered with low, dense vegetation. The drone must avoid any tall, dense vegetation that could entangle its rotors and any solid vertical structures that could cause collisions. It can fly over open liquid surfaces, but these are considered less safe due to potential signal interference and lack of emergency landing options. The drone can traverse all other open, flat, or gently sloped surfaces, including bare earth, paved areas, and gravel paths. What is the safest path for the drone to take?","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 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":"lima_18.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":14,"start_point":[932,200],"end_point":[208,818],"distance":951.8928511129811},{"start_region_id":54,"end_region_id":11,"start_point":[932,200],"end_point":[284,852],"distance":919.2431669585584},{"start_region_id":54,"end_region_id":1,"start_point":[932,200],"end_point":[330,592],"distance":718.3787301973799},{"start_region_id":55,"end_region_id":14,"start_point":[899,928],"end_point":[208,818],"distance":699.7006502783887},{"start_region_id":55,"end_region_id":1,"start_point":[899,928],"end_point":[330,592],"distance":660.8002723970383}],"complexity_score":0.6456742180426561}
{"id":4406,"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":"lima_18.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":54,"start_point":[208,818],"end_point":[932,200],"distance":951.8928511129811},{"start_region_id":11,"end_region_id":54,"start_point":[284,852],"end_point":[932,200],"distance":919.2431669585584},{"start_region_id":1,"end_region_id":54,"start_point":[330,592],"end_point":[932,200],"distance":718.3787301973799},{"start_region_id":14,"end_region_id":55,"start_point":[208,818],"end_point":[899,928],"distance":699.7006502783887},{"start_region_id":1,"end_region_id":55,"start_point":[330,592],"end_point":[899,928],"distance":660.8002723970383}],"complexity_score":0.6456742180426561}
{"id":4566,"query_id":"Q00914","question":"An aerial survey drone starts from a cultivated field with rows of crops and needs to reach another cultivated field with rows of crops. The drone can fly over open sandy or rocky ground, paved surfaces like sidewalks and parking lots, vehicle lanes, and areas with tall vertical obstacles, but must avoid liquid surfaces. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial survey 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 route for the aerial survey drone to travel from the starting cultivated field to the destination cultivated field?","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":"lima_18.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":55,"start_point":[932,200],"end_point":[899,928],"distance":728.7475557420415},{"start_region_id":55,"end_region_id":54,"start_point":[899,928],"end_point":[932,200],"distance":728.7475557420415}],"complexity_score":0.6456742180426561}
{"id":7981,"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":"lima_18.tif","subfolder":"lima","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":55,"start_point":[932,200],"end_point":[899,928],"distance":728.7475557420415},{"start_region_id":55,"end_region_id":54,"start_point":[899,928],"end_point":[932,200],"distance":728.7475557420415}],"complexity_score":0.6456742180426561}
{"id":7445,"query_id":"Q01489","question":"A quadcopter drone takes off from a paved landing pad and must land on another paved landing pad. The drone can fly over liquid surfaces and cultivated fields, but trees and buildings are obstructed and must be avoided. What is the fastest path for the quadcopter drone to take?","agent_category":"Drone","specific_agent":"Quadcopter drone","start_land_type":"paved surface","end_land_type":"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","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_33.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":107,"start_point":[275,11],"end_point":[836,877],"distance":1031.8318661487442}],"complexity_score":0.6457407686218568}
{"id":10583,"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":"joplin_33.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":105,"start_point":[185,99],"end_point":[962,979],"distance":1173.9373918569934},{"start_region_id":105,"end_region_id":55,"start_point":[962,979],"end_point":[185,99],"distance":1173.9373918569934},{"start_region_id":56,"end_region_id":105,"start_point":[333,99],"end_point":[962,979],"distance":1081.6843347298693},{"start_region_id":105,"end_region_id":56,"start_point":[962,979],"end_point":[333,99],"distance":1081.6843347298693},{"start_region_id":55,"end_region_id":98,"start_point":[185,99],"end_point":[962,799],"distance":1045.814993199084}],"complexity_score":0.6457407686218568}
{"id":12343,"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":"joplin_33.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":6,"start_point":[422,549],"end_point":[883,149],"distance":610.3449844145522},{"start_region_id":107,"end_region_id":50,"start_point":[422,549],"end_point":[59,983],"distance":565.795899596312},{"start_region_id":107,"end_region_id":1,"start_point":[422,549],"end_point":[77,139],"distance":535.8404613315422},{"start_region_id":107,"end_region_id":49,"start_point":[422,549],"end_point":[776,929],"distance":519.3418912431385},{"start_region_id":107,"end_region_id":29,"start_point":[422,549],"end_point":[858,715],"distance":466.5318852983148}],"complexity_score":0.6457407686218568}
{"id":16573,"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":"joplin_33.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":107,"start_point":[976,878],"end_point":[53,344],"distance":1066.3418776358733}],"complexity_score":0.6457407686218568}
{"id":196,"query_id":"Q00040","question":"A hiker starts from a grassy area with scattered shrubs and needs to reach a wooded area with tall vegetation. The terrain consists of loose, sandy ground; grassy areas with bushes; tall vegetation with tree-like structures; and cultivated fields with crops. You cannot travel on paved surfaces, water bodies, or man-made structures. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"grassy area with scattered shrubs","end_land_type":"wooded area with tall vegetation","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_32.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":25,"start_point":[31,176],"end_point":[370,22],"distance":372.33989847987016},{"start_region_id":1,"end_region_id":25,"start_point":[32,39],"end_point":[370,22],"distance":338.42724476613876},{"start_region_id":3,"end_region_id":33,"start_point":[303,213],"end_point":[64,144],"distance":248.76092940813675},{"start_region_id":2,"end_region_id":25,"start_point":[145,49],"end_point":[370,22],"distance":226.6142096162551},{"start_region_id":3,"end_region_id":25,"start_point":[303,213],"end_point":[370,22],"distance":202.41047403728888}],"complexity_score":0.6457948409372481}
{"id":4439,"query_id":"Q00888","question":"A quadcopter drone starts from a paved lane and needs to reach a cluster of tall vegetation. The drone can fly over hard surfaces, cleared areas with artificial ground cover, and tall vegetation, but must avoid collisions with vertical structures and maintain stable flight over liquid bodies. The tall vegetation can be traversed because the drone is programmed to navigate through gaps in the canopy. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a paved lane","end_land_type":"a cluster of tall vegetation","task_description":"What is the safest path for the quadcopter drone to take from the paved lane to the cluster of tall vegetation?","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":"rio_32.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":25,"start_point":[107,285],"end_point":[370,22],"distance":371.938166904124}],"complexity_score":0.6457948409372481}
{"id":8993,"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_32.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":2,"start_point":[107,285],"end_point":[145,49],"distance":239.0397456491284},{"start_region_id":23,"end_region_id":3,"start_point":[107,285],"end_point":[303,213],"distance":208.806130178211}],"complexity_score":0.6457948409372481}
{"id":13738,"query_id":"Q02748","question":"An off-road vehicle starts from a grassy, open field with scattered shrubs and needs to reach another grassy, open field with scattered shrubs. The terrain includes open, dry earth with loose soil and rocks, hard, flat surfaces made of concrete or asphalt, and cultivated fields with rows of crops. Your off-road vehicle can drive on the grassy fields, dry earth, and cultivated areas, and use the hard, flat surfaces. What is the shortest route to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"grassy, open field with scattered shrubs","end_land_type":"grassy, open field with scattered shrubs","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":"rio_32.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":7,"start_point":[303,213],"end_point":[34,287],"distance":278.9928314491252},{"start_region_id":7,"end_region_id":3,"start_point":[34,287],"end_point":[303,213],"distance":278.9928314491252},{"start_region_id":3,"end_region_id":5,"start_point":[303,213],"end_point":[31,176],"distance":274.5050090617656},{"start_region_id":5,"end_region_id":3,"start_point":[31,176],"end_point":[303,213],"distance":274.5050090617656},{"start_region_id":2,"end_region_id":7,"start_point":[145,49],"end_point":[34,287],"distance":262.6118809193522}],"complexity_score":0.6457948409372481}
{"id":17703,"query_id":"Q03541","question":"A hiker starts from a paved, hard-surfaced lane and needs to reach a grassy, open field. The hiker prefers surfaces that are smooth and stable to maximize comfort during the walk. The grassy field is accessible because the vegetation is low and dry, allowing safe passage. Areas with tall, dense vegetation are not allowed due to potential tripping hazards. What is the most comfortable path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a grassy, open field","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":"rio_32.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":2,"start_point":[107,285],"end_point":[145,49],"distance":239.0397456491284},{"start_region_id":23,"end_region_id":3,"start_point":[107,285],"end_point":[303,213],"distance":208.806130178211}],"complexity_score":0.6457948409372481}
{"id":1228,"query_id":"Q00246","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes soft grassy areas, loose cultivated soil, and paved lanes. You can traverse the grassy areas and the cultivated soil because they are dry and firm enough for walking, but the paved lanes are blocked due to ongoing maintenance. What is the fastest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path to the grassy meadow?","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":"muenster_30.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":295,"end_region_id":64,"start_point":[59,274],"end_point":[32,704],"distance":430.84684053617013}],"complexity_score":0.6458981783264715}
{"id":9847,"query_id":"Q01970","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and low vegetation and needs to reach an area of natural grass and shrubs. The drone can fly over bare, rocky ground; grassy or shrub-covered terrain; paved or compacted surfaces like sidewalks and parking lots; bodies of water such as rivers or ponds; and cultivated fields. However, it must avoid flying through dense tree canopies or close to building structures to minimize collision risks. 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 and low vegetation","end_land_type":"An area of natural grass and shrubs","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":"muenster_30.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":297,"end_region_id":75,"start_point":[947,65],"end_point":[267,805],"distance":1004.987562112089},{"start_region_id":297,"end_region_id":102,"start_point":[947,65],"end_point":[564,911],"distance":928.6576333611865},{"start_region_id":298,"end_region_id":91,"start_point":[379,122],"end_point":[857,888],"distance":902.9064181851849},{"start_region_id":298,"end_region_id":92,"start_point":[379,122],"end_point":[745,846],"distance":811.2533513027851},{"start_region_id":297,"end_region_id":91,"start_point":[947,65],"end_point":[857,888],"distance":827.9063956752599}],"complexity_score":0.6458981783264715}
{"id":2360,"query_id":"Q00472","question":"A small recreational motorboat starts from a calm liquid surface and needs to navigate to another area of liquid surface while minimizing risk. The boat can only travel across liquid surfaces and cannot leave the water or contact any solid ground, vertical structures, or vegetation. What is the safest path to reach the destination?","agent_category":"Boat","specific_agent":"A small recreational motorboat","start_land_type":"liquid surface","end_land_type":"liquid surface","task_description":"What is the safest path to reach the destination?","task_type":"Safest","input_classes":["Water"],"traverse_vector":[0,0,0,0,0,1,0,0],"cost_vector":[0,0,0,0,0,1,0,0],"image_name":"christchurch_2.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":261,"start_point":[821,997],"end_point":[19,626],"distance":883.6543441866849}],"complexity_score":0.6461065188152895}
{"id":15790,"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":"christchurch_2.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":3,"start_point":[942,772],"end_point":[546,79],"distance":798.1635170815564},{"start_region_id":241,"end_region_id":3,"start_point":[974,653],"end_point":[546,79],"distance":716.0027932906407},{"start_region_id":245,"end_region_id":3,"start_point":[874,712],"end_point":[546,79],"distance":712.9326756433597},{"start_region_id":251,"end_region_id":14,"start_point":[942,772],"end_point":[674,142],"distance":684.6342089028271},{"start_region_id":245,"end_region_id":14,"start_point":[874,712],"end_point":[674,142],"distance":604.0695324215583}],"complexity_score":0.6461065188152895}
{"id":1856,"query_id":"Q00372","question":"An aerial survey drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with neat rows of low-growing crops. The drone must avoid any areas with tall, dense vegetation that could entangle its rotors, and any solid, vertical structures that pose collision risks. It can fly over open liquid surfaces, but these are considered less stable due to potential downdraft effects and should be avoided if possible. The primary objective is to minimize the risk of mechanical failure, signal interference, or loss of control during the flight.","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 cultivated field with neat rows of low-growing crops.","task_description":"What is the safest flight 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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":27,"start_point":[674,404],"end_point":[161,747],"distance":617.1045292330951},{"start_region_id":1,"end_region_id":26,"start_point":[674,404],"end_point":[527,146],"distance":296.9393877544709}],"complexity_score":0.6461076959558817}
{"id":2771,"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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":1,"start_point":[161,747],"end_point":[674,404],"distance":617.1045292330951}],"complexity_score":0.6461076959558817}
{"id":3216,"query_id":"Q00644","question":"A hiker is starting from an area of sandy, rocky terrain without plants. They need to reach a paved street used by cars. The hiker can walk on surfaces that offer firm footing: loose sand and rocks, hard paved areas like sidewalks and parking lots, vehicle lanes, and cultivated fields with flat soil. They want to avoid uneven or rough ground to ensure a comfortable walk.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Bareland","end_land_type":"Road","task_description":"What is the most comfortable path for the hiker 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":[1,0,4,3,0,0,2,0],"image_name":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[674,404],"end_point":[48,886],"distance":790.0632886041473}],"complexity_score":0.6461076959558817}
{"id":7346,"query_id":"Q01470","question":"A hiker starts from a cultivated field with loose soil and crop residues and needs to reach a rocky, sandy area with no vegetation. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as areas with individual trees or small groves. You cannot travel across water bodies or enter any structures. What is the shortest route to your destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"rocky, sandy area","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":1,"start_point":[161,747],"end_point":[674,404],"distance":617.1045292330951},{"start_region_id":26,"end_region_id":1,"start_point":[527,146],"end_point":[674,404],"distance":296.9393877544709}],"complexity_score":0.6461076959558817}
{"id":8015,"query_id":"Q01603","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a cultivated field with rows of crops. The drone can fly over open liquid surfaces, but must avoid dense vertical obstacles like tall vegetation or structures. Hard, flat surfaces such as paved areas are available for stable flight. The drone should prioritize a smooth and stable flight path to minimize vibrations and ensure steady operation.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with rows of crops","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":27,"start_point":[674,404],"end_point":[161,747],"distance":617.1045292330951},{"start_region_id":1,"end_region_id":26,"start_point":[674,404],"end_point":[527,146],"distance":296.9393877544709}],"complexity_score":0.6461076959558817}
{"id":9423,"query_id":"Q01885","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cultivated field with neat rows of crops and soft, tilled soil. The drone must avoid any vertical structures or dense clusters of tall vegetation that could cause turbulence or collision risk. The drone can fly over open water bodies, but these are not present in the area. The drone's flight path should prioritize smooth, stable airspace to ensure steady sensor readings and minimize vibration.","agent_category":"Drone","specific_agent":"Aerial survey 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 cultivated field with neat rows of crops and soft, tilled soil.","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":27,"start_point":[674,404],"end_point":[161,747],"distance":617.1045292330951},{"start_region_id":1,"end_region_id":26,"start_point":[674,404],"end_point":[527,146],"distance":296.9393877544709}],"complexity_score":0.6461076959558817}
{"id":10141,"query_id":"Q02029","question":"An aerial survey drone starts from a patch of loose, dry soil and scattered rocks and needs to reach another patch of loose, dry soil and scattered rocks. The drone can fly over areas with sparse, low vegetation, hard paved surfaces, and open water bodies. It must find the most direct route.","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":"to another patch of loose, dry soil and scattered rocks","task_description":"What is the shortest path for the drone to take?","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[539,397],"end_point":[739,436],"distance":203.7670238286853}],"complexity_score":0.6461076959558817}
{"id":10557,"query_id":"Q02112","question":"A quadcopter drone begins above a paved, hard-surfaced lane and needs to reach a dry, open area of loose earth and rocks as quickly as possible. The drone can fly over any open terrain, including firm ground, vegetation-covered areas, and paved surfaces. It must avoid colliding with tall vertical obstacles or enclosed structures. Which route allows the quadcopter drone to reach the destination in the shortest time?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a dry, open area of loose earth and rocks","task_description":"Which route allows the quadcopter drone to reach the destination 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":[1,1,1,1,0,0,1,0],"image_name":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":1,"start_point":[48,886],"end_point":[674,404],"distance":790.0632886041473}],"complexity_score":0.6461076959558817}
{"id":11013,"query_id":"Q02203","question":"A hiker is standing in a cultivated field with soft, tilled soil. They need to get to a destination on a dry, rocky surface without plants. The hiker must avoid any liquid areas and man-made structures, and cannot enter wooded areas. However, they are permitted to walk on any hard, paved surfaces or compacted pathways, as well as open grassy patches. What is the safest route to reach the destination?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"What is the safest route 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":[1,2,5,4,0,0,3,0],"image_name":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":1,"start_point":[161,747],"end_point":[674,404],"distance":617.1045292330951},{"start_region_id":26,"end_region_id":1,"start_point":[527,146],"end_point":[674,404],"distance":296.9393877544709}],"complexity_score":0.6461076959558817}
{"id":13702,"query_id":"Q02741","question":"An off-road vehicle is starting from a cultivated field with loose, tilled soil and needs to reach a destination on sandy, rocky ground. The vehicle can traverse hard, paved surfaces and cultivated fields, but cannot go through dense vegetation, water bodies, or structures. What is the fastest path to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"sandy, rocky ground","task_description":"What is the fastest path to the destination?","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":1,"start_point":[161,747],"end_point":[674,404],"distance":617.1045292330951}],"complexity_score":0.6461076959558817}
{"id":14896,"query_id":"Q02980","question":"A surveillance drone starts from an area of loose, sandy terrain and needs to reach a paved roadway while prioritizing safety. The drone can fly over loose soil, grassy or shrub-covered areas, and paved surfaces, but must avoid flying close to tall vertical obstacles or over liquid surfaces to minimize risk. The drone is permitted to fly near structures if necessary, but they are not present in this scenario. What is the safest path?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"an area of loose, sandy terrain","end_land_type":"a paved roadway","task_description":"What is the safest path for the surveillance drone to take from the loose, sandy terrain to the paved roadway?","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":"mazowieckie_22.tif","subfolder":"mazowieckie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":13,"start_point":[674,404],"end_point":[48,886],"distance":790.0632886041473}],"complexity_score":0.6461076959558817}
{"id":163,"query_id":"Q00033","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another similar grassy, open field. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It cannot fly over any paved or hard surfaces, nor any areas with compacted soil or artificial materials. Only natural terrain with loose soil, sand, rock surfaces, cultivated crop fields, and open water bodies are available for flight. 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":"another grassy, open field with low vegetation","task_description":"What is the safest path for the aerial survey drone to travel from the starting grassy field to the destination grassy field?","task_type":"Safest","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":"rio_48.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":8,"start_point":[316,173],"end_point":[125,79],"distance":212.8778992756176}],"complexity_score":0.6461614748534421}
{"id":4445,"query_id":"Q00889","question":"A quadcopter drone is currently on a paved, hard-surfaced area and needs to reach a paved, hard-surfaced lane or street. The drone can fly over most surfaces, but liquid areas and vertical obstacles are hazardous and should be avoided for safety. What is the safest 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":"A paved, hard-surfaced 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":"rio_48.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":80,"start_point":[116,380],"end_point":[248,196],"distance":226.45087767549057},{"start_region_id":75,"end_region_id":80,"start_point":[348,370],"end_point":[248,196],"distance":200.6888138387389}],"complexity_score":0.6461614748534421}
{"id":4514,"query_id":"Q00903","question":"A quadcopter drone is currently on a paved concrete area and needs to reach another paved concrete area. The drone can fly over most surfaces, including hard paved areas, loose soil, and liquid bodies, but it must avoid vertical obstacles like tall structures and dense vegetation for safety. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved concrete area","end_land_type":"Another paved concrete 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":"rio_48.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":77,"start_point":[368,222],"end_point":[116,380],"distance":297.43570733857763},{"start_region_id":77,"end_region_id":31,"start_point":[116,380],"end_point":[368,222],"distance":297.43570733857763},{"start_region_id":77,"end_region_id":75,"start_point":[116,380],"end_point":[348,370],"distance":232.2154172315008},{"start_region_id":75,"end_region_id":77,"start_point":[348,370],"end_point":[116,380],"distance":232.2154172315008}],"complexity_score":0.6461614748534421}
{"id":10218,"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":"rio_48.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":80,"start_point":[427,76],"end_point":[30,216],"distance":420.9619935338581}],"complexity_score":0.6461614748534421}
{"id":14854,"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":"rio_48.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":8,"start_point":[116,380],"end_point":[228,127],"distance":276.68212808202844},{"start_region_id":75,"end_region_id":8,"start_point":[348,370],"end_point":[228,127],"distance":271.01475974566404}],"complexity_score":0.6461614748534421}
{"id":18002,"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_17.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":30,"end_region_id":88,"start_point":[253,347],"end_point":[595,612],"distance":432.6534409894367},{"start_region_id":30,"end_region_id":90,"start_point":[253,347],"end_point":[433,617],"distance":324.49961479175903},{"start_region_id":30,"end_region_id":85,"start_point":[253,347],"end_point":[389,576],"distance":266.3400082601185},{"start_region_id":30,"end_region_id":44,"start_point":[253,347],"end_point":[216,104],"distance":245.80073230159425}],"complexity_score":0.6463913233494218}
{"id":701,"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_70.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":319,"end_region_id":301,"start_point":[369,547],"end_point":[865,982],"distance":659.7279742439304},{"start_region_id":319,"end_region_id":157,"start_point":[369,547],"end_point":[889,212],"distance":618.5668920981789},{"start_region_id":319,"end_region_id":138,"start_point":[369,547],"end_point":[675,70],"distance":566.714213691522},{"start_region_id":319,"end_region_id":305,"start_point":[369,547],"end_point":[665,1006],"distance":546.1657257646254},{"start_region_id":319,"end_region_id":137,"start_point":[369,547],"end_point":[599,100],"distance":502.70170081271857}],"complexity_score":0.6464978574573503}
{"id":4828,"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":"buenos_aires_70.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":305,"start_point":[439,123],"end_point":[665,1006],"distance":911.4631095112956},{"start_region_id":305,"end_region_id":148,"start_point":[665,1006],"end_point":[439,123],"distance":911.4631095112956},{"start_region_id":137,"end_region_id":305,"start_point":[599,100],"end_point":[665,1006],"distance":908.400792602032},{"start_region_id":305,"end_region_id":137,"start_point":[665,1006],"end_point":[599,100],"distance":908.400792602032},{"start_region_id":253,"end_region_id":137,"start_point":[230,900],"end_point":[599,100],"distance":881.0}],"complexity_score":0.6464978574573503}
{"id":8757,"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_70.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":119,"start_point":[81,128],"end_point":[927,984],"distance":1203.5165142198923},{"start_region_id":119,"end_region_id":1,"start_point":[927,984],"end_point":[81,128],"distance":1203.5165142198923},{"start_region_id":1,"end_region_id":94,"start_point":[81,128],"end_point":[942,851],"distance":1124.2997820866105},{"start_region_id":94,"end_region_id":1,"start_point":[942,851],"end_point":[81,128],"distance":1124.2997820866105},{"start_region_id":3,"end_region_id":119,"start_point":[348,81],"end_point":[927,984],"distance":1072.6835507268675}],"complexity_score":0.6464978574573503}
{"id":13231,"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_70.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":301,"end_region_id":144,"start_point":[865,982],"end_point":[294,87],"distance":1061.633646791585},{"start_region_id":144,"end_region_id":301,"start_point":[294,87],"end_point":[865,982],"distance":1061.633646791585},{"start_region_id":144,"end_region_id":305,"start_point":[294,87],"end_point":[665,1006],"distance":991.0610475646795},{"start_region_id":305,"end_region_id":144,"start_point":[665,1006],"end_point":[294,87],"distance":991.0610475646795},{"start_region_id":138,"end_region_id":271,"start_point":[675,70],"end_point":[284,960],"distance":972.1013321665597}],"complexity_score":0.6464978574573503}
{"id":1484,"query_id":"Q00297","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard surface lane. The drone can fly over loose, sandy or rocky ground without vegetation, areas with herbaceous plants or bushes, liquid bodies, and cultivated crop fields, but must avoid tall, vertical obstacles like individual trees or groups of trees and solid, enclosed structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"paved, hard surface 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":"rotterdam_41.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":289,"start_point":[839,235],"end_point":[64,743],"distance":926.6547361342303},{"start_region_id":6,"end_region_id":291,"start_point":[839,235],"end_point":[279,822],"distance":811.276155202407},{"start_region_id":8,"end_region_id":278,"start_point":[33,286],"end_point":[700,611],"distance":741.966306512634},{"start_region_id":6,"end_region_id":272,"start_point":[839,235],"end_point":[143,260],"distance":696.4488495216285},{"start_region_id":6,"end_region_id":271,"start_point":[839,235],"end_point":[221,335],"distance":626.038337484215}],"complexity_score":0.6466064685773315}
{"id":3095,"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_41.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":289,"end_region_id":25,"start_point":[64,743],"end_point":[835,186],"distance":951.1519331841786},{"start_region_id":291,"end_region_id":25,"start_point":[279,822],"end_point":[835,186],"distance":844.7674236143342},{"start_region_id":289,"end_region_id":157,"start_point":[64,743],"end_point":[774,570],"distance":730.7728785334059},{"start_region_id":278,"end_region_id":28,"start_point":[700,611],"end_point":[115,198],"distance":716.0963622306707},{"start_region_id":272,"end_region_id":157,"start_point":[143,260],"end_point":[774,570],"distance":703.0369833799641}],"complexity_score":0.6466064685773315}
{"id":1639,"query_id":"Q00328","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an area of natural herbaceous vegetation. The drone can fly over loose, sandy or rocky ground without vegetation, natural grassy or shrub-covered areas, paved surfaces used by vehicles, liquid bodies, and cultivated crop fields. However. The drone must avoid any tall, vertical structures that could cause collisions and prioritize terrain that minimizes operational risks. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"area of natural herbaceous 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":"palu_19.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":390,"end_region_id":1,"start_point":[745,833],"end_point":[40,31],"distance":1067.8150588936269},{"start_region_id":390,"end_region_id":21,"start_point":[745,833],"end_point":[27,150],"distance":990.9656906270772},{"start_region_id":390,"end_region_id":4,"start_point":[745,833],"end_point":[324,20],"distance":915.5380931452279},{"start_region_id":386,"end_region_id":1,"start_point":[737,610],"end_point":[40,31],"distance":906.1180938486991},{"start_region_id":371,"end_region_id":129,"start_point":[333,63],"end_point":[544,946],"distance":907.8601213843463}],"complexity_score":0.6467458259718564}
{"id":5777,"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_19.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":310,"end_region_id":371,"start_point":[895,695],"end_point":[333,63],"distance":845.7351831394978},{"start_region_id":289,"end_region_id":387,"start_point":[945,606],"end_point":[116,587],"distance":829.2177036219138},{"start_region_id":310,"end_region_id":387,"start_point":[895,695],"end_point":[116,587],"distance":786.4508884857337},{"start_region_id":289,"end_region_id":371,"start_point":[945,606],"end_point":[333,63],"distance":818.1644089056917},{"start_region_id":294,"end_region_id":371,"start_point":[111,819],"end_point":[333,63],"distance":787.9213158685327}],"complexity_score":0.6467458259718564}
{"id":10692,"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_19.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":371,"end_region_id":310,"start_point":[333,63],"end_point":[895,695],"distance":845.7351831394978},{"start_region_id":387,"end_region_id":289,"start_point":[116,587],"end_point":[945,606],"distance":829.2177036219138},{"start_region_id":387,"end_region_id":310,"start_point":[116,587],"end_point":[895,695],"distance":786.4508884857337},{"start_region_id":371,"end_region_id":289,"start_point":[333,63],"end_point":[945,606],"distance":818.1644089056917},{"start_region_id":371,"end_region_id":294,"start_point":[333,63],"end_point":[111,819],"distance":787.9213158685327}],"complexity_score":0.6467458259718564}
{"id":12265,"query_id":"Q02453","question":"A delivery drone is starting from an area with elevated, leafy obstructions and needs to reach a smooth, artificial ground surface. The environment includes open expanses of dry, loose soil and rock, and vertical man-made structures are present but can be flown over if necessary. The drone must navigate while prioritizing a smooth and stable flight, avoiding rough or turbulent areas that could cause shaking or instability.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"An area with elevated, leafy obstructions.","end_land_type":"A smooth, artificial ground 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","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":"palu_19.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":406,"end_region_id":294,"start_point":[861,138],"end_point":[111,819],"distance":1013.0454086564926},{"start_region_id":608,"end_region_id":172,"start_point":[424,969],"end_point":[922,110],"distance":992.917418519788},{"start_region_id":461,"end_region_id":294,"start_point":[938,432],"end_point":[111,819],"distance":913.0706434882243},{"start_region_id":485,"end_region_id":172,"start_point":[80,456],"end_point":[922,110],"distance":910.3186255372347},{"start_region_id":506,"end_region_id":172,"start_point":[165,605],"end_point":[922,110],"distance":904.4744330272691}],"complexity_score":0.6467458259718564}
{"id":3504,"query_id":"Q00701","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster. The drone must avoid any liquid surfaces entirely, as they pose a risk of water damage and signal interference. It must also avoid all vertical man-made structures, as they present collision hazards and potential signal blockage. The drone can traverse open areas with loose soil or rocks, grassy or shrub-covered terrain, paved or compacted surfaces, vehicle lanes, cultivated fields, and the tall vegetation clusters themselves, but must minimize risk by prioritizing terrain that offers clear visibility, stable flight conditions, and minimal interference. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","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":"maputo_3.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":447,"end_region_id":312,"start_point":[878,843],"end_point":[307,33],"distance":991.0302719897107},{"start_region_id":312,"end_region_id":447,"start_point":[307,33],"end_point":[878,843],"distance":991.0302719897107},{"start_region_id":439,"end_region_id":312,"start_point":[790,759],"end_point":[307,33],"distance":871.98910543653},{"start_region_id":312,"end_region_id":439,"start_point":[307,33],"end_point":[790,759],"distance":871.98910543653},{"start_region_id":428,"end_region_id":312,"start_point":[902,668],"end_point":[307,33],"distance":870.2011261771614}],"complexity_score":0.6467645425749955}
{"id":12579,"query_id":"Q02516","question":"A hiker 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. Given that you're prioritizing safety and minimizing risk of injury or getting lost, what is the safest path to take?","agent_category":"Pedestrian","specific_agent":"A hiker","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":[0,2,4,3,1,0,0,0],"image_name":"maputo_3.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":447,"end_region_id":312,"start_point":[878,843],"end_point":[307,33],"distance":991.0302719897107},{"start_region_id":312,"end_region_id":447,"start_point":[307,33],"end_point":[878,843],"distance":991.0302719897107},{"start_region_id":439,"end_region_id":312,"start_point":[790,759],"end_point":[307,33],"distance":871.98910543653},{"start_region_id":312,"end_region_id":439,"start_point":[307,33],"end_point":[790,759],"distance":871.98910543653},{"start_region_id":428,"end_region_id":312,"start_point":[902,668],"end_point":[307,33],"distance":870.2011261771614}],"complexity_score":0.6467645425749955}
{"id":15049,"query_id":"Q03010","question":"A delivery drone starts from a grassy, uneven area with scattered shrubs and needs to reach a cluster of tall trees. The terrain includes patches of loose, sandy soil; more grassy, uneven ground; flat, paved surfaces; individual trees or groups of trees; and cultivated fields with crops. However, you must avoid flying over any water bodies. You are piloting a delivery drone and want to minimize turbulence and vibration for stable flight. Which path should you take to reach the trees while maximizing comfort?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven terrain with scattered shrubs","end_land_type":"a cluster of tall trees","task_description":"Which path should you take to reach the trees while maximizing 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":[2,2,2,2,1,0,2,0],"image_name":"maputo_3.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":312,"start_point":[923,934],"end_point":[307,33],"distance":1091.4472044034012},{"start_region_id":12,"end_region_id":312,"start_point":[972,745],"end_point":[307,33],"distance":974.2530472110416},{"start_region_id":9,"end_region_id":428,"start_point":[87,659],"end_point":[902,668],"distance":815.049691736645},{"start_region_id":9,"end_region_id":447,"start_point":[87,659],"end_point":[878,843],"distance":812.1188336690635},{"start_region_id":14,"end_region_id":312,"start_point":[194,771],"end_point":[307,33],"distance":746.600964371196}],"complexity_score":0.6467645425749955}
{"id":1389,"query_id":"Q00278","question":"An off-road vehicle starts from a paved, hard surface and needs to reach another paved, hard surface. The terrain includes grassy areas with soft, uneven ground and cultivated fields with loose soil. The vehicle can traverse these surfaces due to its high clearance and all-terrain tires, but must avoid any vertical obstacles and liquid bodies. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved, hard surface","end_land_type":"paved, hard surface","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":"austin_10.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":90,"start_point":[719,919],"end_point":[405,65],"distance":909.8966974332856},{"start_region_id":90,"end_region_id":103,"start_point":[405,65],"end_point":[719,919],"distance":909.8966974332856},{"start_region_id":89,"end_region_id":103,"start_point":[301,535],"end_point":[719,919],"distance":567.609020365251},{"start_region_id":103,"end_region_id":89,"start_point":[719,919],"end_point":[301,535],"distance":567.609020365251},{"start_region_id":89,"end_region_id":90,"start_point":[301,535],"end_point":[405,65],"distance":481.3688814204757}],"complexity_score":0.6467767492413491}
{"id":12569,"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":"austin_10.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":25,"start_point":[672,361],"end_point":[201,822],"distance":659.0614538872684},{"start_region_id":148,"end_region_id":28,"start_point":[208,731],"end_point":[819,921],"distance":639.8601409683213},{"start_region_id":107,"end_region_id":28,"start_point":[672,361],"end_point":[819,921],"distance":578.972365489062}],"complexity_score":0.6467767492413491}
{"id":15082,"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_10.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":35,"start_point":[744,768],"end_point":[94,111],"distance":924.2018177865698},{"start_region_id":108,"end_region_id":77,"start_point":[570,59],"end_point":[290,925],"distance":910.1406484714327},{"start_region_id":108,"end_region_id":79,"start_point":[570,59],"end_point":[756,955],"distance":915.1021800870109},{"start_region_id":128,"end_region_id":79,"start_point":[38,471],"end_point":[756,955],"distance":865.8983774092662},{"start_region_id":108,"end_region_id":75,"start_point":[570,59],"end_point":[714,885],"distance":838.4581086732957}],"complexity_score":0.6467767492413491}
{"id":10383,"query_id":"Q02077","question":"A hiker starts from a paved sidewalk and needs to reach another paved sidewalk as quickly as possible. The hiker can walk on paved surfaces like sidewalks and roads, and can also traverse unpaved areas with loose soil or sparse vegetation if needed, but cannot enter water bodies or buildings. Which route should the hiker follow to minimize travel time?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved sidewalk","end_land_type":"another paved sidewalk","task_description":"Which route should the hiker follow 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":[1,2,4,3,0,0,0,0],"image_name":"austin_22.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":17,"start_point":[98,784],"end_point":[948,15],"distance":1146.2377589313658},{"start_region_id":17,"end_region_id":39,"start_point":[948,15],"end_point":[98,784],"distance":1146.2377589313658},{"start_region_id":40,"end_region_id":17,"start_point":[362,842],"end_point":[948,15],"distance":1013.5704218257358},{"start_region_id":17,"end_region_id":40,"start_point":[948,15],"end_point":[362,842],"distance":1013.5704218257358},{"start_region_id":39,"end_region_id":18,"start_point":[98,784],"end_point":[829,101],"distance":1000.4249097258624}],"complexity_score":0.647004588033337}
{"id":15138,"query_id":"Q03028","question":"An aerial survey drone starts from a paved, hard surface and needs to return to another paved, hard surface while prioritizing safety. The drone can fly over areas of loose, dry soil and rocks; open areas covered with low, non-cultivated vegetation; all paved and compacted surfaces; bodies of liquid; and cultivated fields with crops. However, it must avoid any tall, vertical structures and dense clusters of tall vegetation that could pose collision risks. What is the safest path for the drone?","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 drone?","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_22.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":17,"start_point":[98,784],"end_point":[948,15],"distance":1146.2377589313658},{"start_region_id":17,"end_region_id":39,"start_point":[948,15],"end_point":[98,784],"distance":1146.2377589313658},{"start_region_id":40,"end_region_id":17,"start_point":[362,842],"end_point":[948,15],"distance":1013.5704218257358},{"start_region_id":17,"end_region_id":40,"start_point":[948,15],"end_point":[362,842],"distance":1013.5704218257358},{"start_region_id":39,"end_region_id":18,"start_point":[98,784],"end_point":[829,101],"distance":1000.4249097258624}],"complexity_score":0.647004588033337}
{"id":16858,"query_id":"Q03372","question":"A quadcopter drone is starting from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over grassy or shrub-covered terrain, as well as liquid surfaces, but must avoid any tall, vertical obstacles like trees or structures. Which path should the drone take to minimize the total travel distance?","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":"Which path should the drone 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":"austin_22.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":17,"start_point":[98,784],"end_point":[948,15],"distance":1146.2377589313658},{"start_region_id":17,"end_region_id":39,"start_point":[948,15],"end_point":[98,784],"distance":1146.2377589313658},{"start_region_id":40,"end_region_id":17,"start_point":[362,842],"end_point":[948,15],"distance":1013.5704218257358},{"start_region_id":17,"end_region_id":40,"start_point":[948,15],"end_point":[362,842],"distance":1013.5704218257358},{"start_region_id":39,"end_region_id":18,"start_point":[98,784],"end_point":[829,101],"distance":1000.4249097258624}],"complexity_score":0.647004588033337}
{"id":11222,"query_id":"Q02245","question":"A quadcopter drone starts from a grassy, uneven field and needs to reach another grassy, uneven field while ensuring a smooth and stable flight. The drone can fly over open sandy or rocky ground, grassy or shrubby areas, and liquid surfaces, but must avoid dense vegetation and vertical structures. The flight path should prioritize surfaces that minimize vibration and turbulence for passenger comfort.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A grassy, uneven field","end_land_type":"A grassy, uneven field","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":"palu_2.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":2,"start_point":[575,973],"end_point":[706,90],"distance":892.6645506571883},{"start_region_id":2,"end_region_id":55,"start_point":[706,90],"end_point":[575,973],"distance":892.6645506571883},{"start_region_id":55,"end_region_id":9,"start_point":[575,973],"end_point":[226,157],"distance":887.5004225351107},{"start_region_id":9,"end_region_id":55,"start_point":[226,157],"end_point":[575,973],"distance":887.5004225351107},{"start_region_id":48,"end_region_id":2,"start_point":[514,872],"end_point":[706,90],"distance":805.2254342729121}],"complexity_score":0.6470277452361012}
{"id":8252,"query_id":"Q01651","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over loose, sandy or rocky ground without vegetation, over areas covered with natural grass or shrubs, and over paved, hard-surfaced areas. However, the drone cannot fly through dense vegetation like trees or through buildings, and cannot travel over water surfaces, vehicle lanes, or agricultural fields. 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 for the quadcopter drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space"],"traverse_vector":[1,1,1,0,0,0,0,0],"cost_vector":[1,1,1,0,0,0,0,0],"image_name":"kitsap_39.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":91,"start_point":[382,472],"end_point":[833,159],"distance":548.9717661228126},{"start_region_id":91,"end_region_id":114,"start_point":[833,159],"end_point":[382,472],"distance":548.9717661228126},{"start_region_id":130,"end_region_id":147,"start_point":[800,708],"end_point":[363,943],"distance":496.1794030388605},{"start_region_id":147,"end_region_id":130,"start_point":[363,943],"end_point":[800,708],"distance":496.1794030388605},{"start_region_id":129,"end_region_id":131,"start_point":[70,692],"end_point":[542,699],"distance":472.0519039258289}],"complexity_score":0.647038886304379}
{"id":12726,"query_id":"Q02546","question":"A quadcopter drone starts from a grassy, uneven field with scattered shrubs and needs to reach a flat, paved area with a smooth, stable surface. The drone can only travel across surfaces that are either grassy fields, cultivated crop fields, paved parking lots, or vehicle lanes. The drone is permitted to fly over these surfaces at low altitude. The drone must avoid any areas with tall, dense vegetation or vertical structures that could pose collision risks. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","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":[0,1,1,1,0,0,1,0],"image_name":"kitsap_39.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":130,"start_point":[69,92],"end_point":[800,708],"distance":955.9377594801871},{"start_region_id":56,"end_region_id":79,"start_point":[775,855],"end_point":[144,117],"distance":970.9814622329305},{"start_region_id":51,"end_region_id":91,"start_point":[135,791],"end_point":[833,159],"distance":941.6092607870846},{"start_region_id":21,"end_region_id":129,"start_point":[895,256],"end_point":[70,692],"distance":933.1243218349847},{"start_region_id":1,"end_region_id":147,"start_point":[69,92],"end_point":[363,943],"distance":900.3538193399304}],"complexity_score":0.647038886304379}
{"id":1329,"query_id":"Q00266","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 with short grass and shrubs, hard paved surfaces, liquid bodies, and cultivated fields with crops. However, it must avoid flying through dense clusters of tall vertical obstacles. What is the fastest route?","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 another area of similar loose, dry soil and scattered rocks","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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[847,678],"end_point":[242,100],"distance":836.7251639576762}],"complexity_score":0.6470569466348237}
{"id":1889,"query_id":"Q00378","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, paved lane used by vehicles. The drone must avoid any areas with tall, dense vegetation or vertical structures. It can fly over open grassy fields, cultivated crop areas, and calm water surfaces. The primary concern is minimizing the risk of collision or signal interference.","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, 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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":124,"start_point":[555,409],"end_point":[52,810],"distance":643.2806541471615},{"start_region_id":1,"end_region_id":120,"start_point":[555,409],"end_point":[950,440],"distance":396.21458832304495},{"start_region_id":1,"end_region_id":117,"start_point":[555,409],"end_point":[816,166],"distance":356.6090296108611},{"start_region_id":1,"end_region_id":113,"start_point":[555,409],"end_point":[443,637],"distance":254.02362094891885}],"complexity_score":0.6470569466348237}
{"id":2895,"query_id":"Q00579","question":"An aerial surveillance drone starts from a patch of loose, rocky ground and needs to reach another patch of loose, rocky ground. The drone must avoid all vertical structures and dense vegetation that could cause collisions, and should stay away from liquid surfaces that could cause signal interference or corrosion. The drone can only traverse areas with exposed, solid ground surfaces. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, rocky ground","end_land_type":"another patch of loose, rocky ground","task_description":"What is the safest path for the 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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[868,742],"end_point":[141,6],"distance":1034.5167954170681}],"complexity_score":0.6470569466348237}
{"id":3944,"query_id":"Q00789","question":"A delivery drone starts from a patch of loose, sandy ground and needs to reach another patch of similar loose, sandy ground. The delivery drone can fly over loose sandy areas, grassy fields, paved surfaces, vehicle lanes, cultivated crop fields, and wooded areas. However. The drone must avoid flying directly over buildings or water bodies to ensure stable flight and prevent signal interference. The operator seeks a route that minimizes turbulence and abrupt maneuvers for a steady flight.","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to reach another patch of similar loose, sandy ground","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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[869,689],"end_point":[208,90],"distance":892.032510618307}],"complexity_score":0.6470569466348237}
{"id":6328,"query_id":"Q01266","question":"An aerial drone starts from an exposed sandy area and needs to reach a vegetated grassy zone. Your drone can fly over loose ground, grassy surfaces, paved areas, vehicle lanes, and cultivated fields. However, you must avoid flying through dense vertical obstacles like trees or buildings, and you cannot land on or traverse liquid surfaces. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"exposed sandy area","end_land_type":"vegetated grassy zone","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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[555,409],"end_point":[65,869],"distance":672.0863039818621},{"start_region_id":1,"end_region_id":33,"start_point":[555,409],"end_point":[940,560],"distance":413.55289867198366},{"start_region_id":1,"end_region_id":39,"start_point":[555,409],"end_point":[543,763],"distance":354.2033314354906}],"complexity_score":0.6470569466348237}
{"id":6519,"query_id":"Q01304","question":"An aerial survey drone starts from an area of loose, dry soil and scattered rocks, and need to reach a destination covered in low, natural vegetation and shrubs. The drone's flight path must prioritize smooth, stable flight to protect its sensitive imaging equipment from vibrations. The drone can fly over hard, paved surfaces, vehicle lanes, cultivated fields, and calm water surfaces, but must avoid tall, dense vegetation and vertical structures. The drone cannot fly through areas with tall, dense vegetation or vertical structures as they pose collision risks.","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":"and need to reach a destination covered in 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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":41,"start_point":[555,409],"end_point":[65,869],"distance":672.0863039818621},{"start_region_id":1,"end_region_id":33,"start_point":[555,409],"end_point":[940,560],"distance":413.55289867198366},{"start_region_id":1,"end_region_id":39,"start_point":[555,409],"end_point":[543,763],"distance":354.2033314354906}],"complexity_score":0.6470569466348237}
{"id":7843,"query_id":"Q01569","question":"A quadcopter drone is starting from a sandy or rocky open area and needs to reach a flat, hard artificial surface. The drone can fly over all types of terrain including loose ground, grassy areas, paved surfaces, and roads, but must avoid flying through dense tree canopies or close to buildings that could pose collision risks. What is the fastest route to reach the destination?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy or rocky open area","end_land_type":"flat, hard artificial surface","task_description":"What is the fastest route 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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":106,"start_point":[555,409],"end_point":[971,901],"distance":644.2980676674423},{"start_region_id":1,"end_region_id":109,"start_point":[555,409],"end_point":[241,944],"distance":620.3394232192567},{"start_region_id":1,"end_region_id":62,"start_point":[555,409],"end_point":[121,54],"distance":560.6968878101608},{"start_region_id":1,"end_region_id":108,"start_point":[555,409],"end_point":[717,928],"distance":543.6956869426132},{"start_region_id":1,"end_region_id":71,"start_point":[555,409],"end_point":[906,125],"distance":451.5052602129902}],"complexity_score":0.6470569466348237}
{"id":9756,"query_id":"Q01952","question":"A quadcopter drone starts from a dry, sandy patch of ground and aiming to reach a tall, leafy canopy, a quadcopter drone must navigate through an area with varied surfaces. The drone can fly over open sandy expanses, grassy fields, paved lanes, cultivated crop rows, and liquid surfaces, but it must avoid vertical structures and dense vegetation clusters unless they are sparse enough to allow safe passage. The goal is to minimize risk during flight.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a dry, sandy patch of ground","end_land_type":"and aiming to reach a tall, leafy canopy","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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":171,"start_point":[555,409],"end_point":[137,685],"distance":500.89919145472777},{"start_region_id":1,"end_region_id":163,"start_point":[555,409],"end_point":[59,461],"distance":498.7183573922259},{"start_region_id":1,"end_region_id":178,"start_point":[555,409],"end_point":[801,839],"distance":495.39479205982775},{"start_region_id":1,"end_region_id":170,"start_point":[555,409],"end_point":[876,603],"distance":375.0693269250366},{"start_region_id":1,"end_region_id":158,"start_point":[555,409],"end_point":[864,550],"distance":339.6498196672567}],"complexity_score":0.6470569466348237}
{"id":9906,"query_id":"Q01982","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a dry, exposed area of loose soil and rocks. The drone must maintain stable flight and avoid vibrations. It can fly over open grassy areas, dry loose ground, paved surfaces, cultivated fields, and calm water surfaces. However, it must avoid flying through dense tree canopies or near tall vertical structures, as these could cause turbulence and instability. The drone can fly over calm water surfaces, but this may introduce slight instability from surface reflections and humidity. What is the most comfortable route for the drone?","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 dry, exposed area of loose soil and rocks.","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":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":1,"start_point":[65,869],"end_point":[555,409],"distance":672.0863039818621},{"start_region_id":33,"end_region_id":1,"start_point":[940,560],"end_point":[555,409],"distance":413.55289867198366},{"start_region_id":39,"end_region_id":1,"start_point":[543,763],"end_point":[555,409],"distance":354.2033314354906}],"complexity_score":0.6470569466348237}
{"id":16589,"query_id":"Q03318","question":"An aerial survey drone starts from a location with tall vertical obstacles that provide overhead cover and needs to reach a flat, open area with loose, dry surface material that offers no vegetation cover. The drone must maintain stable flight and minimize vibrations for sensor accuracy. The available terrain includes: flat open areas with loose surface material; areas covered with low, natural vegetation; vertical obstacles that can be navigated around with careful maneuvering; and liquid surfaces that may cause turbulence. Hard artificial surfaces, vehicle pathways, cultivated fields, and permanent structures are not accessible.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall vertical obstacles that provide overhead cover.","end_land_type":"The destination is a flat, open area with loose, dry surface material that offers no vegetation cover.","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","input_classes":["Bareland","Rangeland","Tree","Water"],"traverse_vector":[1,1,0,0,1,1,0,0],"cost_vector":[3,3,0,0,1,2,0,0],"image_name":"duesseldorf_9.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":1,"start_point":[707,674],"end_point":[555,409],"distance":305.49795416663596}],"complexity_score":0.6470569466348237}
{"id":36,"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":"bielefeld_27.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":19,"start_point":[859,875],"end_point":[948,144],"distance":736.3979902199625},{"start_region_id":270,"end_region_id":8,"start_point":[859,875],"end_point":[782,162],"distance":717.1457313545135},{"start_region_id":270,"end_region_id":48,"start_point":[859,875],"end_point":[692,369],"distance":532.8461316365166},{"start_region_id":269,"end_region_id":61,"start_point":[803,222],"end_point":[670,727],"distance":522.220260043595},{"start_region_id":269,"end_region_id":68,"start_point":[803,222],"end_point":[941,700],"distance":497.5218588162735}],"complexity_score":0.647065650205059}
{"id":4401,"query_id":"Q00881","question":"A quadcopter drone is starting from a cultivated field and needs to reach another cultivated field. The terrain includes soft, grassy ground and areas with dense, tall vegetation. The drone can fly over most surfaces but must avoid any hard, paved areas, liquid bodies, and solid structures due to safety regulations. The grassy areas and cultivated fields are safe to fly over, and the dense vegetation can be navigated if it is not too thick. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the safest path for the quadcopter 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":"bielefeld_27.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":269,"start_point":[859,875],"end_point":[803,222],"distance":655.3968263578944},{"start_region_id":269,"end_region_id":270,"start_point":[803,222],"end_point":[859,875],"distance":655.3968263578944}],"complexity_score":0.647065650205059}
{"id":17882,"query_id":"Q03577","question":"A hiker is standing in a cultivated field with loose, tilled soil and needs to reach a paved lane used by vehicles. The hiker can traverse areas with loose, dry soil and rocks, grassy or shrub-covered ground, and wooded areas with individual trees, but cannot enter any structures or water bodies. What is the shortest path from the field to the paved lane?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field","end_land_type":"paved lane","task_description":"What is the shortest path from the field 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_27.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":196,"start_point":[859,875],"end_point":[115,64],"distance":1100.5712153241152},{"start_region_id":270,"end_region_id":197,"start_point":[859,875],"end_point":[397,124],"distance":881.7284162371087},{"start_region_id":270,"end_region_id":201,"start_point":[859,875],"end_point":[342,260],"distance":803.4388589058908},{"start_region_id":270,"end_region_id":198,"start_point":[859,875],"end_point":[660,156],"distance":746.0308304621198},{"start_region_id":268,"end_region_id":203,"start_point":[795,90],"end_point":[243,571],"distance":732.1645989803112}],"complexity_score":0.647065650205059}
{"id":4656,"query_id":"Q00932","question":"An aerial drone starts from a paved, hard surface and needs to reach another paved, hard surface area. The drone can fly over areas with tall, vertical obstacles that require careful navigation to avoid collisions. It can also cross over liquid surfaces, though these present stability risks in case of system failure. The primary objective is to minimize operational hazards during flight.","agent_category":"Drone","specific_agent":"Aerial 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","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_34.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":3,"start_point":[282,415],"end_point":[554,130],"distance":393.96573455060786},{"start_region_id":3,"end_region_id":4,"start_point":[554,130],"end_point":[282,415],"distance":393.96573455060786}],"complexity_score":0.6473141656832458}
{"id":11713,"query_id":"Q02343","question":"An aerial surveillance drone starts from a paved, flat, hard surface area and needs to reach another paved, flat, hard surface area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The route can include open ground with loose soil or rocks, areas with low vegetation like grass and shrubs, and bodies of liquid. The primary objective is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, hard surface area","end_land_type":"Another paved, flat, 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":"tokyo_69.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":387,"end_region_id":104,"start_point":[856,1003],"end_point":[95,124],"distance":1162.653000684211},{"start_region_id":104,"end_region_id":387,"start_point":[95,124],"end_point":[856,1003],"distance":1162.653000684211},{"start_region_id":92,"end_region_id":351,"start_point":[765,30],"end_point":[99,900],"distance":1095.6532298131558},{"start_region_id":351,"end_region_id":92,"start_point":[99,900],"end_point":[765,30],"distance":1095.6532298131558},{"start_region_id":286,"end_region_id":104,"start_point":[999,731],"end_point":[95,124],"distance":1088.882454629516}],"complexity_score":0.6473880962146283}
{"id":15540,"query_id":"Q03108","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field. The drone must avoid any areas with tall vertical obstacles or structures that could cause collisions. The drone can fly over open grassy areas, hard paved surfaces, liquid bodies, and cultivated fields. What is the safest path for the drone to take?","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 drone to take?","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":"tokyo_69.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":616,"end_region_id":611,"start_point":[427,886],"end_point":[741,516],"distance":485.27930102158695},{"start_region_id":611,"end_region_id":616,"start_point":[741,516],"end_point":[427,886],"distance":485.27930102158695},{"start_region_id":617,"end_region_id":611,"start_point":[810,954],"end_point":[741,516],"distance":443.40162381299416},{"start_region_id":611,"end_region_id":617,"start_point":[741,516],"end_point":[810,954],"distance":443.40162381299416},{"start_region_id":613,"end_region_id":617,"start_point":[547,603],"end_point":[810,954],"distance":438.60004559963284}],"complexity_score":0.6473880962146283}
{"id":6012,"query_id":"Q01203","question":"An aerial survey drone starts from a hard, flat, artificial surface and needs to reach an area of natural, uncultivated vegetation as quickly as possible. The drone can fly over open ground composed of loose earth or rocks, areas with natural grass or shrubs, all hard artificial surfaces, vehicle lanes, bodies of liquid, and cultivated crop fields. It must avoid flying directly through dense clusters of tall vertical obstacles and cannot enter enclosed vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the fastest path for the aerial survey drone to reach the area of natural, uncultivated vegetation?","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":"tonga_35.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":7,"start_point":[971,714],"end_point":[49,88],"distance":1114.4325910525051},{"start_region_id":58,"end_region_id":35,"start_point":[125,326],"end_point":[1004,747],"distance":974.6188998783063},{"start_region_id":88,"end_region_id":13,"start_point":[971,714],"end_point":[212,142],"distance":950.4025462928853},{"start_region_id":58,"end_region_id":41,"start_point":[125,326],"end_point":[909,788],"distance":910.0},{"start_region_id":55,"end_region_id":35,"start_point":[273,248],"end_point":[1004,747],"distance":885.0773977455304}],"complexity_score":0.6474874100935929}
{"id":12033,"query_id":"Q02407","question":"A jogger starts from a paved sidewalk and needs to reach a paved street as quickly as possible. The jogger can only move on hard, stable surfaces that allow for steady running, such as compacted gravel or asphalt, and cannot traverse soft, loose soil, vegetation, liquid, or vertical obstacles. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved sidewalk","end_land_type":"a paved street","task_description":"What is the fastest path for the jogger to travel from the paved sidewalk to the paved street?","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":"tonga_35.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":106,"start_point":[971,714],"end_point":[565,486],"distance":465.6393454166003},{"start_region_id":58,"end_region_id":106,"start_point":[125,326],"end_point":[565,486],"distance":468.187996428785},{"start_region_id":55,"end_region_id":106,"start_point":[273,248],"end_point":[565,486],"distance":376.70678252455184}],"complexity_score":0.6474874100935929}
{"id":16149,"query_id":"Q03230","question":"An off-road rally car begins on a grassy, uneven field and must reach another grassy, uneven field as quickly as possible. The vehicle can traverse loose, sandy or rocky ground, grassy or shrubby areas, paved lanes, and cultivated crop fields. However, it cannot drive through dense tree stands, water bodies, or structures. What is the fastest route?","agent_category":"Car","specific_agent":"off-road rally car","start_land_type":"grassy, uneven field","end_land_type":"grassy, uneven field","task_description":"What is the fastest route for the off-road rally car to travel from the starting grassy field to the destination grassy 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":"tonga_35.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":35,"start_point":[49,88],"end_point":[1004,747],"distance":1160.3042704394395},{"start_region_id":35,"end_region_id":7,"start_point":[1004,747],"end_point":[49,88],"distance":1160.3042704394395},{"start_region_id":7,"end_region_id":41,"start_point":[49,88],"end_point":[909,788],"distance":1108.873302050329},{"start_region_id":41,"end_region_id":7,"start_point":[909,788],"end_point":[49,88],"distance":1108.873302050329},{"start_region_id":42,"end_region_id":7,"start_point":[596,966],"end_point":[49,88],"distance":1034.4529955488554}],"complexity_score":0.6474874100935929}
{"id":3916,"query_id":"Q00784","question":"A quadcopter drone starts from a paved road surface and needs to reach a cultivated field with crops while prioritizing safety. The route must avoid all liquid bodies, vertical structures like buildings, and wooded areas with trees due to collision risk. The path can include areas of loose earth and rocks, grassy or shrub-covered ground, artificial hard surfaces, vehicle lanes, and farmed land. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved road surface","end_land_type":"cultivated field with crops","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":"slaskie_1.tif","subfolder":"slaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":154,"start_point":[354,417],"end_point":[816,124],"distance":547.0767770615016},{"start_region_id":81,"end_region_id":154,"start_point":[913,595],"end_point":[816,124],"distance":480.88460154178364},{"start_region_id":81,"end_region_id":155,"start_point":[913,595],"end_point":[546,853],"distance":448.61230477997367},{"start_region_id":80,"end_region_id":155,"start_point":[354,417],"end_point":[546,853],"distance":476.40319058545356}],"complexity_score":0.6475044505441265}
{"id":9176,"query_id":"Q01836","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field. The drone must avoid any vertical obstacles or structures that could pose collision risks, and it should prioritize open, stable surfaces to ensure safe flight. The path must not include any liquid surfaces or built structures. What is the safest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated 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":[1,1,1,1,0,0,1,0],"image_name":"slaskie_1.tif","subfolder":"slaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":155,"end_region_id":154,"start_point":[546,853],"end_point":[816,124],"distance":777.3937226399503},{"start_region_id":154,"end_region_id":155,"start_point":[816,124],"end_point":[546,853],"distance":777.3937226399503}],"complexity_score":0.6475044505441265}
{"id":12831,"query_id":"Q02567","question":"A sedan starts from a paved street and needs to reach a cultivated field. The terrain includes areas with soft, grassy ground; hard, flat surfaces like parking lots and sidewalks; paved streets; and loose, tilled soil. The sedan requires surfaces that are smooth and stable to maximize ride comfort, avoiding rough or uneven ground that could cause vibration. Which path should the sedan take?","agent_category":"Car","specific_agent":"a sedan","start_land_type":"a paved street","end_land_type":"a cultivated field","task_description":"Which path should the sedan take to reach the cultivated field while maximizing comfort?","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":"slaskie_1.tif","subfolder":"slaskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":81,"end_region_id":155,"start_point":[913,595],"end_point":[546,853],"distance":448.61230477997367},{"start_region_id":80,"end_region_id":155,"start_point":[354,417],"end_point":[546,853],"distance":476.40319058545356}],"complexity_score":0.6475044505441265}
{"id":192,"query_id":"Q00039","question":"A quadcopter drone starts from a dry, sandy area with loose earth and rocks and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces but must avoid areas with tall, dense vegetation that could cause turbulence and instability. You cannot use hard paved surfaces or vertical structures that require precise maneuvering. What is the most comfortable path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the most comfortable path to reach the destination?","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":"tokyo_54.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":329,"start_point":[920,531],"end_point":[671,693],"distance":297.0605998782067},{"start_region_id":7,"end_region_id":329,"start_point":[844,883],"end_point":[671,693],"distance":256.96108654813867},{"start_region_id":5,"end_region_id":329,"start_point":[734,486],"end_point":[671,693],"distance":216.37467504308356}],"complexity_score":0.6476399399660595}
{"id":426,"query_id":"Q00086","question":"A delivery drone starts from an open area of sandy, rocky ground and needs to reach a cultivated crop field. The drone prioritizes a smooth flight to protect its payload. Grassy patches and areas with low vegetation are easily traversable. Regions with dense tree cover are accessible but require maneuvering through branches, which may cause turbulence. The drone must avoid flying over any liquid surfaces, vertical structures, or artificial hard surfaces.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from an open area of sandy, rocky ground","end_land_type":"and needs to reach a cultivated crop field","task_description":"What is the most comfortable path for the delivery drone to take?","task_type":"Comfort","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":"tokyo_54.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":329,"start_point":[844,883],"end_point":[671,693],"distance":256.96108654813867},{"start_region_id":5,"end_region_id":329,"start_point":[734,486],"end_point":[671,693],"distance":216.37467504308356}],"complexity_score":0.6476399399660595}
{"id":7329,"query_id":"Q01466","question":"An aerial photography drone starts from a paved, hard-surfaced area and needs to reach a dry, open area of loose earth and rocks. The drone must maintain stable flight and minimize vibrations for clear image capture. It can fly over liquid surfaces, but these may cause turbulence. It can also fly over cultivated fields with low vegetation, though these may have some unevenness. The drone cannot fly through dense vertical obstacles or enter enclosed structures. The paved area, loose earth area, liquid surfaces, and cultivated fields are all accessible. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A dry, open area of loose earth and rocks","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":"tokyo_54.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":9,"start_point":[36,202],"end_point":[836,990],"distance":1122.9176283236452},{"start_region_id":79,"end_region_id":9,"start_point":[167,167],"end_point":[836,990],"distance":1060.6083160149178},{"start_region_id":77,"end_region_id":7,"start_point":[36,202],"end_point":[844,883],"distance":1056.7047837499365},{"start_region_id":93,"end_region_id":9,"start_point":[55,338],"end_point":[836,990],"distance":1017.381442724409},{"start_region_id":79,"end_region_id":7,"start_point":[167,167],"end_point":[844,883],"distance":985.3857112826429}],"complexity_score":0.6476399399660595}
{"id":11388,"query_id":"Q02278","question":"A hiker starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cultivated field with planted crops and tilled soil. The hiker can walk across the sandy ground, can traverse through areas with wild grasses and shrubs, and can cross the cultivated field. The hiker cannot enter any structures, cannot walk on paved surfaces like sidewalks or roads, cannot go through dense tree stands, and cannot cross any water bodies.","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Starting from a patch of loose, sandy ground with scattered rocks and no vegetation","end_land_type":"and needing to reach a cultivated field with planted crops and tilled soil","task_description":"What is the shortest path to reach 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":"tokyo_54.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":329,"start_point":[844,883],"end_point":[671,693],"distance":256.96108654813867},{"start_region_id":5,"end_region_id":329,"start_point":[734,486],"end_point":[671,693],"distance":216.37467504308356}],"complexity_score":0.6476399399660595}
{"id":17490,"query_id":"Q03498","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks, an aerial surveillance drone must navigate to a tall, leafy structure with dense foliage overhead. The drone can fly over open sandy areas, grassy fields, paved lanes, liquid surfaces, and cultivated fields, but must avoid flying directly through dense overhead vegetation unless absolutely necessary due to collision risk. Tall vertical structures are only accessible for landing if there is a clear, stable platform. The liquid surface presents a risk if the drone malfunctions and falls. What is the safest path to reach the destination?","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":"and needs to reach a tall, leafy structure with dense foliage overhead","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":"tokyo_54.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":163,"start_point":[836,990],"end_point":[220,33],"distance":1138.1146690909488},{"start_region_id":7,"end_region_id":163,"start_point":[844,883],"end_point":[220,33],"distance":1054.4553096267286},{"start_region_id":9,"end_region_id":184,"start_point":[836,990],"end_point":[365,224],"distance":899.2202177442409},{"start_region_id":3,"end_region_id":163,"start_point":[920,531],"end_point":[220,33],"distance":859.0715918944124},{"start_region_id":3,"end_region_id":299,"start_point":[920,531],"end_point":[187,958],"distance":848.3030119008183}],"complexity_score":0.6476399399660595}
{"id":3338,"query_id":"Q00668","question":"A family sedan is parked on a paved, hard-surfaced lane and needs to reach a loose, sandy area. The sedan can travel on paved surfaces like lanes and parking lots, as well as on compacted soil used for crop production, but it must avoid any areas with trees, water bodies, or buildings. The sandy area is accessible only if the ground is firm enough to support the vehicle without sinking. To ensure a smooth and stable ride, the sedan should prioritize surfaces that are flat and even. What is the most comfortable path for the sedan to take?","agent_category":"Car","specific_agent":"a family sedan","start_land_type":"a paved, hard-surfaced lane","end_land_type":"a loose, sandy area","task_description":"What is the most comfortable path for the sedan 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":[1,0,3,4,0,0,2,0],"image_name":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":1,"start_point":[897,905],"end_point":[116,297],"distance":989.7600719366285},{"start_region_id":186,"end_region_id":1,"start_point":[903,63],"end_point":[116,297],"distance":821.0511555317366},{"start_region_id":188,"end_region_id":1,"start_point":[888,567],"end_point":[116,297],"distance":817.85328757669},{"start_region_id":185,"end_region_id":1,"start_point":[360,416],"end_point":[116,297],"distance":271.4719138327205}],"complexity_score":0.6476684078785307}
{"id":5212,"query_id":"Q01043","question":"A quadcopter starts from a paved platform and needs to reach a sandy patch while prioritizing flight comfort. The drone prefers open areas with minimal obstacles for smooth operation, but can fly over cultivated fields if they are currently clear of tall crops. The drone cannot fly through dense vertical obstacles that require aggressive maneuvering. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved platform","end_land_type":"sandy patch","task_description":"What is the most comfortable flight path from the paved platform to the sandy patch?","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_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":1,"start_point":[820,953],"end_point":[116,297],"distance":962.2639970403133},{"start_region_id":168,"end_region_id":1,"start_point":[833,822],"end_point":[116,297],"distance":888.6585395977468},{"start_region_id":162,"end_region_id":1,"start_point":[878,642],"end_point":[116,297],"distance":836.462192809693},{"start_region_id":152,"end_region_id":1,"start_point":[880,144],"end_point":[116,297],"distance":779.1694295851191},{"start_region_id":159,"end_region_id":1,"start_point":[850,485],"end_point":[116,297],"distance":757.6938695805846}],"complexity_score":0.6476684078785307}
{"id":5349,"query_id":"Q01070","question":"A quadcopter drone is launched from a point among elevated, branching structures with foliage. It needs to fly to a position over a barren, dusty ground surface. The mission priority is to minimize operational risks. The drone can freely fly over open ground, vegetated areas, all hard artificial surfaces, vehicle pathways, and cultivated plots, as these are generally low-risk. It can also fly over large, solid, man-made structures and bodies of water, though these introduce higher navigation risks and must be considered carefully. However, flying directly through or very close to dense clusters of tall, vertical obstacles with complex geometry is permitted only if absolutely necessary, as it significantly increases the risk of collision and should be minimized for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"among elevated, branching structures with foliage","end_land_type":"over a barren, dusty ground surface","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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":1,"start_point":[911,739],"end_point":[116,297],"distance":909.6092567690811},{"start_region_id":278,"end_region_id":1,"start_point":[727,833],"end_point":[116,297],"distance":812.7834890055285},{"start_region_id":293,"end_region_id":1,"start_point":[447,948],"end_point":[116,297],"distance":730.3163698014718},{"start_region_id":198,"end_region_id":1,"start_point":[778,33],"end_point":[116,297],"distance":712.6990949903052},{"start_region_id":280,"end_region_id":1,"start_point":[531,870],"end_point":[116,297],"distance":707.498409892206}],"complexity_score":0.6476684078785307}
{"id":7175,"query_id":"Q01435","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a dry, loose soil area without vegetation. The drone can fly over liquid surfaces and cultivated fields with low vegetation, but cannot pass through dense vertical obstacles or solid structures. It must avoid any terrain with tall, dense vegetation or solid vertical barriers. 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":"dry, loose soil without vegetation","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_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":1,"start_point":[820,953],"end_point":[116,297],"distance":962.2639970403133},{"start_region_id":168,"end_region_id":1,"start_point":[833,822],"end_point":[116,297],"distance":888.6585395977468},{"start_region_id":162,"end_region_id":1,"start_point":[878,642],"end_point":[116,297],"distance":836.462192809693},{"start_region_id":152,"end_region_id":1,"start_point":[880,144],"end_point":[116,297],"distance":779.1694295851191},{"start_region_id":159,"end_region_id":1,"start_point":[850,485],"end_point":[116,297],"distance":757.6938695805846}],"complexity_score":0.6476684078785307}
{"id":8284,"query_id":"Q01657","question":"A quadcopter is hovering above a sandy, open area and needs to reach a grassy patch with shrubs. The drone can fly over hard, flat surfaces, but must avoid any dense tree canopies or structures. The drone can also fly over the grassy patch with shrubs and the sandy, open area. What is the fastest route to the grassy patch?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"sandy, open area","end_land_type":"grassy patch with shrubs","task_description":"What is the fastest route to the grassy patch?","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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[116,297],"end_point":[943,957],"distance":1058.0779744423376},{"start_region_id":1,"end_region_id":136,"start_point":[116,297],"end_point":[598,953],"distance":814.0393110900726},{"start_region_id":1,"end_region_id":111,"start_point":[116,297],"end_point":[631,821],"distance":734.7115080084155},{"start_region_id":1,"end_region_id":80,"start_point":[116,297],"end_point":[706,552],"distance":642.7480066091221},{"start_region_id":1,"end_region_id":99,"start_point":[116,297],"end_point":[595,678],"distance":612.0473837865824}],"complexity_score":0.6476684078785307}
{"id":8415,"query_id":"Q01683","question":"A quadcopter drone begins on a sandy, open area and must fly to a grassy meadow in the shortest possible time. The drone can fly over most surfaces but must avoid tall, dense obstacles like trees and buildings to maintain speed and stability. Which route enables the drone to reach its destination fastest?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, open area","end_land_type":"grassy meadow","task_description":"Which route enables the drone to reach its destination 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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":137,"start_point":[116,297],"end_point":[943,957],"distance":1058.0779744423376},{"start_region_id":1,"end_region_id":136,"start_point":[116,297],"end_point":[598,953],"distance":814.0393110900726},{"start_region_id":1,"end_region_id":111,"start_point":[116,297],"end_point":[631,821],"distance":734.7115080084155},{"start_region_id":1,"end_region_id":80,"start_point":[116,297],"end_point":[706,552],"distance":642.7480066091221},{"start_region_id":1,"end_region_id":99,"start_point":[116,297],"end_point":[595,678],"distance":612.0473837865824}],"complexity_score":0.6476684078785307}
{"id":14444,"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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":193,"end_region_id":1,"start_point":[897,905],"end_point":[116,297],"distance":989.7600719366285},{"start_region_id":186,"end_region_id":1,"start_point":[903,63],"end_point":[116,297],"distance":821.0511555317366},{"start_region_id":188,"end_region_id":1,"start_point":[888,567],"end_point":[116,297],"distance":817.85328757669},{"start_region_id":185,"end_region_id":1,"start_point":[360,416],"end_point":[116,297],"distance":271.4719138327205}],"complexity_score":0.6476684078785307}
{"id":15527,"query_id":"Q03106","question":"An aerial surveillance drone is positioned on a hard, flat, artificial surface and needs to reach an area of loose, dry earth and rocks without vegetation. The drone can fly over most surfaces, but must avoid dense clusters of tall, vertical structures that could obstruct its flight path. The drone's mission requires it to find the most direct route possible.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"An area of loose, dry earth and rocks without vegetation","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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":1,"start_point":[820,953],"end_point":[116,297],"distance":962.2639970403133},{"start_region_id":168,"end_region_id":1,"start_point":[833,822],"end_point":[116,297],"distance":888.6585395977468},{"start_region_id":162,"end_region_id":1,"start_point":[878,642],"end_point":[116,297],"distance":836.462192809693},{"start_region_id":152,"end_region_id":1,"start_point":[880,144],"end_point":[116,297],"distance":779.1694295851191},{"start_region_id":159,"end_region_id":1,"start_point":[850,485],"end_point":[116,297],"distance":757.6938695805846}],"complexity_score":0.6476684078785307}
{"id":16062,"query_id":"Q03213","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a wide, paved lane used by vehicles. The drone can fly over open areas with sparse or no vegetation, hard surfaces like sidewalks and parking lots, liquid surfaces, and cultivated fields. It can also navigate around vertical structures like buildings if necessary, but must avoid dense clusters of tall vegetation that could entangle its rotors. The priority is to minimize the risk of collision, loss of control, or damage to the drone.","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 wide, 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","Building"],"traverse_vector":[1,1,1,1,0,1,1,1],"cost_vector":[2,2,2,2,0,1,2,1],"image_name":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":193,"start_point":[116,297],"end_point":[897,905],"distance":989.7600719366285},{"start_region_id":1,"end_region_id":186,"start_point":[116,297],"end_point":[903,63],"distance":821.0511555317366},{"start_region_id":1,"end_region_id":188,"start_point":[116,297],"end_point":[888,567],"distance":817.85328757669},{"start_region_id":1,"end_region_id":185,"start_point":[116,297],"end_point":[360,416],"distance":271.4719138327205}],"complexity_score":0.6476684078785307}
{"id":17427,"query_id":"Q03486","question":"A quadcopter drone starts from a vegetated area with tall, vertical structures and needs to reach an open, dry area with loose, granular material. The drone must avoid any liquid surfaces and built structures entirely, as they pose significant risks. It can fly over soft ground covered with low vegetation, hard paved surfaces, and vertical obstacles, but must exercise caution around the latter due to collision hazards. The goal is to find the path that minimizes risk.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a vegetated area with tall, vertical structures","end_land_type":"an open, dry area with loose, granular material","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":"chicago_42.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":1,"start_point":[911,739],"end_point":[116,297],"distance":909.6092567690811},{"start_region_id":278,"end_region_id":1,"start_point":[727,833],"end_point":[116,297],"distance":812.7834890055285},{"start_region_id":293,"end_region_id":1,"start_point":[447,948],"end_point":[116,297],"distance":730.3163698014718},{"start_region_id":198,"end_region_id":1,"start_point":[778,33],"end_point":[116,297],"distance":712.6990949903052},{"start_region_id":280,"end_region_id":1,"start_point":[531,870],"end_point":[116,297],"distance":707.498409892206}],"complexity_score":0.6476684078785307}
{"id":647,"query_id":"Q00130","question":"An aerial surveillance drone is starting from a paved lane and needs to reach another paved lane. The drone must avoid any surfaces that could cause instability or signal interference, such as dense vegetation or vertical structures, and should also steer clear of liquid areas to prevent moisture damage. The drone can fly over hard surfaces, soft ground, and cultivated fields, but must prioritize safety by minimizing risks from obstacles and environmental hazards. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved 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":"daressalaam_82.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":223,"start_point":[484,863],"end_point":[765,158],"distance":758.9374150745238},{"start_region_id":223,"end_region_id":230,"start_point":[765,158],"end_point":[484,863],"distance":758.9374150745238},{"start_region_id":222,"end_region_id":230,"start_point":[587,242],"end_point":[484,863],"distance":629.4839156007085},{"start_region_id":230,"end_region_id":222,"start_point":[484,863],"end_point":[587,242],"distance":629.4839156007085},{"start_region_id":230,"end_region_id":228,"start_point":[484,863],"end_point":[998,418],"distance":679.8683696128244}],"complexity_score":0.6476791642058652}
{"id":4808,"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":"daressalaam_82.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":223,"start_point":[85,891],"end_point":[765,158],"distance":999.8444879079947},{"start_region_id":190,"end_region_id":223,"start_point":[174,922],"end_point":[765,158],"distance":965.9073454529683},{"start_region_id":171,"end_region_id":222,"start_point":[85,891],"end_point":[587,242],"distance":820.4907068334169},{"start_region_id":98,"end_region_id":230,"start_point":[743,32],"end_point":[484,863],"distance":870.4263323222707},{"start_region_id":190,"end_region_id":222,"start_point":[174,922],"end_point":[587,242],"distance":795.5934891639072}],"complexity_score":0.6476791642058652}
{"id":9609,"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_82.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":230,"end_region_id":223,"start_point":[484,863],"end_point":[765,158],"distance":758.9374150745238},{"start_region_id":223,"end_region_id":230,"start_point":[765,158],"end_point":[484,863],"distance":758.9374150745238},{"start_region_id":222,"end_region_id":230,"start_point":[587,242],"end_point":[484,863],"distance":629.4839156007085},{"start_region_id":230,"end_region_id":222,"start_point":[484,863],"end_point":[587,242],"distance":629.4839156007085},{"start_region_id":230,"end_region_id":228,"start_point":[484,863],"end_point":[998,418],"distance":679.8683696128244}],"complexity_score":0.6476791642058652}
{"id":14134,"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_82.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":228,"start_point":[111,86],"end_point":[998,418],"distance":947.0971439086911},{"start_region_id":243,"end_region_id":230,"start_point":[111,86],"end_point":[484,863],"distance":861.8921046163493},{"start_region_id":249,"end_region_id":230,"start_point":[980,222],"end_point":[484,863],"distance":810.4918259920947},{"start_region_id":253,"end_region_id":228,"start_point":[193,382],"end_point":[998,418],"distance":805.8045668771058},{"start_region_id":316,"end_region_id":223,"start_point":[685,822],"end_point":[765,158],"distance":668.8019138728597}],"complexity_score":0.6476791642058652}
{"id":17493,"query_id":"Q03499","question":"A hiker starts from a patch of ground shaded by tall vegetation with visible trunks and branches and needs to reach a paved lane used by motor vehicles. The terrain includes areas of soft, grassy ground and cultivated fields with planted crops. The tall vegetation areas are passable as there are clear gaps between the trunks. You must avoid any built structures and any liquid surfaces. 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 branches","end_land_type":"a paved lane used by motor vehicles","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_82.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":228,"start_point":[111,86],"end_point":[998,418],"distance":947.0971439086911},{"start_region_id":243,"end_region_id":230,"start_point":[111,86],"end_point":[484,863],"distance":861.8921046163493},{"start_region_id":249,"end_region_id":230,"start_point":[980,222],"end_point":[484,863],"distance":810.4918259920947},{"start_region_id":253,"end_region_id":228,"start_point":[193,382],"end_point":[998,418],"distance":805.8045668771058},{"start_region_id":316,"end_region_id":223,"start_point":[685,822],"end_point":[765,158],"distance":668.8019138728597}],"complexity_score":0.6476791642058652}
{"id":5718,"query_id":"Q01144","question":"A delivery person needs to move quickly between two paved lanes. The agent must stay on hard, stable surfaces that provide good traction and minimal obstacles. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"a delivery person","start_land_type":"a paved lane","end_land_type":"another paved lane","task_description":"What is the fastest route between the two paved lanes?","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":"monrovia_36.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":82,"start_point":[925,493],"end_point":[818,94],"distance":413.09805131469693},{"start_region_id":82,"end_region_id":86,"start_point":[818,94],"end_point":[925,493],"distance":413.09805131469693}],"complexity_score":0.6476888760395987}
{"id":10728,"query_id":"Q02146","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field while prioritizing minimal risk. The drone can fly over loose, dry earth surfaces; hard, paved surfaces; areas with tall vertical obstacles; liquid surfaces; and other cultivated fields. However. The drone must avoid any areas with tall vertical obstacles that could cause collisions or unstable flight conditions. What is the safest path 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 path for the drone?","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":"monrovia_36.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":342,"start_point":[967,331],"end_point":[168,695],"distance":878.0074031578549},{"start_region_id":342,"end_region_id":339,"start_point":[168,695],"end_point":[967,331],"distance":878.0074031578549},{"start_region_id":342,"end_region_id":338,"start_point":[168,695],"end_point":[779,197],"distance":788.2417141968573},{"start_region_id":338,"end_region_id":342,"start_point":[779,197],"end_point":[168,695],"distance":788.2417141968573},{"start_region_id":337,"end_region_id":342,"start_point":[491,316],"end_point":[168,695],"distance":497.96586228375133}],"complexity_score":0.6476888760395987}
{"id":16664,"query_id":"Q03333","question":"A quadcopter drone is starting from a cultivated field with loose soil and crop residues and needs to reach a paved lane used by vehicles. The drone can fly over areas with loose, dry soil, sparse vegetation, compacted dirt tracks, and paved surfaces, but must avoid dense tree canopies and buildings. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","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_36.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":84,"start_point":[967,331],"end_point":[43,388],"distance":925.7564474525684},{"start_region_id":342,"end_region_id":82,"start_point":[168,695],"end_point":[818,94],"distance":885.2688857064841},{"start_region_id":342,"end_region_id":86,"start_point":[168,695],"end_point":[925,493],"distance":783.4877152833986},{"start_region_id":338,"end_region_id":84,"start_point":[779,197],"end_point":[43,388],"distance":760.3795105077464},{"start_region_id":337,"end_region_id":86,"start_point":[491,316],"end_point":[925,493],"distance":468.70566456999427}],"complexity_score":0.6476888760395987}
{"id":12931,"query_id":"Q02587","question":"A quadcopter drone is hovering above a cultivated field with patterned rows of crops. It needs to fly to a grassy area with low, wild vegetation. The operator wants to maximize flight comfort by avoiding turbulent or obstructed airspace, preferring open areas with stable conditions. The drone can fly over the cultivated field, grassy area, paved surfaces, and vehicle lanes because they are open and clear. However, it cannot fly through dense tree canopies or inside buildings due to collision risk. What is the most comfortable flight path from the cultivated field to the grassy area?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the most comfortable flight path from the cultivated field to the grassy 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":"shanghai_39.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":5,"start_point":[37,602],"end_point":[537,460],"distance":519.7730273879167}],"complexity_score":0.6477428184760393}
{"id":13833,"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_39.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":94,"start_point":[589,234],"end_point":[37,602],"distance":663.421434685374},{"start_region_id":32,"end_region_id":94,"start_point":[610,377],"end_point":[37,602],"distance":615.5923976138756},{"start_region_id":30,"end_region_id":95,"start_point":[143,302],"end_point":[571,618],"distance":532.0150373814635},{"start_region_id":50,"end_region_id":94,"start_point":[469,587],"end_point":[37,602],"distance":432.2603382222338},{"start_region_id":37,"end_region_id":94,"start_point":[400,424],"end_point":[37,602],"distance":404.293210430252}],"complexity_score":0.6477428184760393}
{"id":17628,"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_39.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":94,"start_point":[303,434],"end_point":[37,602],"distance":314.61087075941924},{"start_region_id":57,"end_region_id":95,"start_point":[303,434],"end_point":[571,618],"distance":325.0846043724618}],"complexity_score":0.6477428184760393}
{"id":4289,"query_id":"Q00858","question":"A quadcopter drone starts from a grassy, vegetated area with soft ground and needs to reach a cultivated field with loose soil. The agent is a quadcopter drone, which can fly over most surfaces but avoids dense vertical obstacles like trees and buildings unless explicitly permitted. For this journey, only grassy vegetated areas, liquid surfaces, and cultivated loose-soil fields are accessible; all other surfaces like hard pavements, rocky ground, vertical structures, and wooded areas are blocked due to restricted airspace or physical hazards. The drone prioritizes flying over stable, predictable terrains to ensure a smooth and comfortable flight, avoiding areas that might cause turbulence or instability.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the most comfortable path for the quadcopter drone to take?","task_type":"Comfort","input_classes":["Rangeland","Water","Agriculture land"],"traverse_vector":[0,1,0,0,0,1,1,0],"cost_vector":[0,2,0,0,0,1,2,0],"image_name":"pomorskie_18.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":114,"start_point":[820,329],"end_point":[337,985],"distance":814.6318186763883},{"start_region_id":34,"end_region_id":112,"start_point":[103,812],"end_point":[817,534],"distance":766.211459063358},{"start_region_id":32,"end_region_id":112,"start_point":[198,683],"end_point":[817,534],"distance":636.6804536029043},{"start_region_id":34,"end_region_id":113,"start_point":[103,812],"end_point":[561,668],"distance":480.10415536631217},{"start_region_id":37,"end_region_id":112,"start_point":[515,881],"end_point":[817,534],"distance":460.01413021775755}],"complexity_score":0.6478454475194396}
{"id":13194,"query_id":"Q02639","question":"A hiker starts from a cultivated field and needs to reach a wooded area. The terrain includes grassy and shrubby areas, paved surfaces, vehicle lanes, and individual trees. You cannot travel across water bodies or through buildings. What is the shortest path 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 path to the wooded 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":"pomorskie_18.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":114,"end_region_id":78,"start_point":[337,985],"end_point":[755,60],"distance":1015.0610819059117},{"start_region_id":114,"end_region_id":76,"start_point":[337,985],"end_point":[119,82],"distance":928.9418711630992},{"start_region_id":114,"end_region_id":80,"start_point":[337,985],"end_point":[764,176],"distance":914.7731959343803},{"start_region_id":109,"end_region_id":102,"start_point":[1007,219],"end_point":[280,747],"distance":898.5059821726286},{"start_region_id":109,"end_region_id":76,"start_point":[1007,219],"end_point":[119,82],"distance":898.5059821726286}],"complexity_score":0.6478454475194396}
{"id":5638,"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_40.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":99,"start_point":[660,90],"end_point":[310,994],"distance":969.3894986020841},{"start_region_id":99,"end_region_id":6,"start_point":[310,994],"end_point":[660,90],"distance":969.3894986020841},{"start_region_id":44,"end_region_id":81,"start_point":[70,648],"end_point":[946,876],"distance":905.1850639510133},{"start_region_id":81,"end_region_id":44,"start_point":[946,876],"end_point":[70,648],"distance":905.1850639510133},{"start_region_id":13,"end_region_id":99,"start_point":[775,231],"end_point":[310,994],"distance":893.5289586801314}],"complexity_score":0.6480174252470433}
{"id":7698,"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_40.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":190,"end_region_id":186,"start_point":[693,664],"end_point":[616,181],"distance":489.09917194777586},{"start_region_id":186,"end_region_id":190,"start_point":[616,181],"end_point":[693,664],"distance":489.09917194777586},{"start_region_id":188,"end_region_id":186,"start_point":[505,625],"end_point":[616,181],"distance":457.6647244435603},{"start_region_id":186,"end_region_id":188,"start_point":[616,181],"end_point":[505,625],"distance":457.6647244435603}],"complexity_score":0.6480174252470433}
{"id":10481,"query_id":"Q02097","question":"A hiker is starting from a grassy, open field with low vegetation and needs to reach a dense cluster of tall, leafy trees. The hiker can walk on paved, hard surfaces and vehicle lanes, but must avoid water bodies and buildings entirely. To traverse bare, rocky ground; grassy, open fields; cultivated crop areas; and tree-covered zones, the hiker has obtained permission or the terrain is dry and stable enough for safe foot travel. The goal is to find the path that minimizes risk of injury or getting lost.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a dense cluster of tall, leafy 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":"houston_40.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":263,"start_point":[660,90],"end_point":[44,968],"distance":1072.539043578368},{"start_region_id":13,"end_region_id":263,"start_point":[775,231],"end_point":[44,968],"distance":1038.0414249922785},{"start_region_id":99,"end_region_id":204,"start_point":[310,994],"end_point":[599,68],"distance":970.0499987114066},{"start_region_id":6,"end_region_id":265,"start_point":[660,90],"end_point":[278,969],"distance":958.4179672773251},{"start_region_id":6,"end_region_id":250,"start_point":[660,90],"end_point":[38,816],"distance":956.0125522188503}],"complexity_score":0.6480174252470433}
{"id":3814,"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_17.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":226,"start_point":[944,130],"end_point":[38,998],"distance":1254.6951821059965},{"start_region_id":7,"end_region_id":222,"start_point":[132,159],"end_point":[926,979],"distance":1141.4184158318105},{"start_region_id":3,"end_region_id":220,"start_point":[944,130],"end_point":[141,909],"distance":1118.7716478352497},{"start_region_id":3,"end_region_id":216,"start_point":[944,130],"end_point":[61,807],"distance":1112.662572391109},{"start_region_id":20,"end_region_id":226,"start_point":[920,323],"end_point":[38,998],"distance":1110.6525109141924}],"complexity_score":0.6480733797289888}
{"id":10013,"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":"melbourne_17.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":46,"start_point":[996,101],"end_point":[47,892],"distance":1235.427861107236},{"start_region_id":58,"end_region_id":46,"start_point":[882,152],"end_point":[47,892],"distance":1115.7172580900592},{"start_region_id":133,"end_region_id":3,"start_point":[19,742],"end_point":[944,130],"distance":1109.1298391081182},{"start_region_id":59,"end_region_id":45,"start_point":[996,101],"end_point":[219,885],"distance":1103.8047834649024},{"start_region_id":59,"end_region_id":39,"start_point":[996,101],"end_point":[75,680],"distance":1087.8795889251714}],"complexity_score":0.6480733797289888}
{"id":12894,"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_17.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":46,"start_point":[996,101],"end_point":[47,892],"distance":1235.427861107236},{"start_region_id":58,"end_region_id":46,"start_point":[882,152],"end_point":[47,892],"distance":1115.7172580900592},{"start_region_id":133,"end_region_id":3,"start_point":[19,742],"end_point":[944,130],"distance":1109.1298391081182},{"start_region_id":59,"end_region_id":45,"start_point":[996,101],"end_point":[219,885],"distance":1103.8047834649024},{"start_region_id":59,"end_region_id":39,"start_point":[996,101],"end_point":[75,680],"distance":1087.8795889251714}],"complexity_score":0.6480733797289888}
{"id":11253,"query_id":"Q02251","question":"A delivery drone starts from a paved landing pad and needs to return to another paved landing pad while prioritizing safety. The drone can fly over hard surfaces, soft ground, low vegetation, and cultivated areas, as these terrains pose minimal risk if it maintains altitude. It can also pass over liquid bodies if necessary, but should avoid dense vertical obstacles or structures that could interfere with its flight path or cause collisions. What is the safest path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a paved landing pad","end_land_type":"a paved landing pad","task_description":"What is the safest path for the delivery drone to return from the starting paved landing pad to the destination paved landing pad?","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_6.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":41,"start_point":[74,808],"end_point":[972,30],"distance":1188.1447723236424},{"start_region_id":41,"end_region_id":176,"start_point":[972,30],"end_point":[74,808],"distance":1188.1447723236424},{"start_region_id":184,"end_region_id":41,"start_point":[354,954],"end_point":[972,30],"distance":1111.6204388189342},{"start_region_id":41,"end_region_id":184,"start_point":[972,30],"end_point":[354,954],"distance":1111.6204388189342},{"start_region_id":176,"end_region_id":60,"start_point":[74,808],"end_point":[922,128],"distance":1086.9701007847457}],"complexity_score":0.6480880525899536}
{"id":11712,"query_id":"Q02343","question":"An aerial surveillance drone starts from a paved, flat, hard surface area and needs to reach another paved, flat, hard surface area. The drone must avoid any vertical structures or dense vegetation that could cause collisions. The route can include open ground with loose soil or rocks, areas with low vegetation like grass and shrubs, and bodies of liquid. The primary objective is to minimize the risk of damage or loss of control during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, flat, hard surface area","end_land_type":"Another paved, flat, 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":"tokyo_6.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":41,"start_point":[74,808],"end_point":[972,30],"distance":1188.1447723236424},{"start_region_id":41,"end_region_id":176,"start_point":[972,30],"end_point":[74,808],"distance":1188.1447723236424},{"start_region_id":184,"end_region_id":41,"start_point":[354,954],"end_point":[972,30],"distance":1111.6204388189342},{"start_region_id":41,"end_region_id":184,"start_point":[972,30],"end_point":[354,954],"distance":1111.6204388189342},{"start_region_id":176,"end_region_id":60,"start_point":[74,808],"end_point":[922,128],"distance":1086.9701007847457}],"complexity_score":0.6480880525899536}
{"id":15539,"query_id":"Q03108","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field. The drone must avoid any areas with tall vertical obstacles or structures that could cause collisions. The drone can fly over open grassy areas, hard paved surfaces, liquid bodies, and cultivated fields. What is the safest path for the drone to take?","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 drone to take?","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":"tokyo_6.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":330,"end_region_id":315,"start_point":[279,985],"end_point":[571,27],"distance":1001.5128556339155},{"start_region_id":315,"end_region_id":330,"start_point":[571,27],"end_point":[279,985],"distance":1001.5128556339155},{"start_region_id":326,"end_region_id":315,"start_point":[196,922],"end_point":[571,27],"distance":970.3865209286453},{"start_region_id":315,"end_region_id":326,"start_point":[571,27],"end_point":[196,922],"distance":970.3865209286453},{"start_region_id":328,"end_region_id":315,"start_point":[672,990],"end_point":[571,27],"distance":968.2819837216842}],"complexity_score":0.6480880525899536}
{"id":4313,"query_id":"Q00863","question":"A quadcopter drone starts from a grassy, open area with low vegetation and needs to reach another grassy, open area with low vegetation. The drone can fly over water bodies, but must avoid trees and buildings to ensure stable flight. The drone can also traverse cultivated fields with crops, but these may have uneven growth. The objective is to find a path that maximizes ride comfort by prioritizing smooth, predictable surfaces and avoiding turbulence or obstacles that could cause vibrations.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, open area with low vegetation","end_land_type":"another grassy, open area with low 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":"daressalaam_112.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":23,"start_point":[767,355],"end_point":[20,197],"distance":763.5266858466704},{"start_region_id":23,"end_region_id":32,"start_point":[20,197],"end_point":[767,355],"distance":763.5266858466704},{"start_region_id":80,"end_region_id":9,"start_point":[233,803],"end_point":[404,69],"distance":753.6557569606962},{"start_region_id":9,"end_region_id":80,"start_point":[404,69],"end_point":[233,803],"distance":753.6557569606962},{"start_region_id":47,"end_region_id":23,"start_point":[591,603],"end_point":[20,197],"distance":700.6261485271585}],"complexity_score":0.6480905348831941}
{"id":4773,"query_id":"Q00955","question":"An aerial survey drone starts from a paved lane and needs to reach a paved area while ensuring smooth, stable flight. The drone can fly over liquid surfaces and cultivated fields, but must avoid vertical obstacles like trees and structures. The flight path should prioritize surfaces that minimize vibration and turbulence.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"paved 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":"daressalaam_112.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":181,"end_region_id":105,"start_point":[294,811],"end_point":[617,81],"distance":798.2662463113419},{"start_region_id":181,"end_region_id":104,"start_point":[294,811],"end_point":[424,97],"distance":725.7382448238483},{"start_region_id":181,"end_region_id":101,"start_point":[294,811],"end_point":[108,166],"distance":671.2830997425751},{"start_region_id":181,"end_region_id":117,"start_point":[294,811],"end_point":[779,706],"distance":496.2358310319802},{"start_region_id":181,"end_region_id":132,"start_point":[294,811],"end_point":[566,391],"distance":500.3838526571376}],"complexity_score":0.6480905348831941}
{"id":5305,"query_id":"Q01061","question":"An agricultural monitoring drone starts from a patch of loose, dry soil with scattered rocks and no vegetation and needs to reach a cultivated field with orderly rows of crops. The drone can fly over both the initial rocky terrain and the crop fields, but must avoid any tall vertical structures or dense tree canopies that could obstruct its flight path. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation","end_land_type":"needing to reach a cultivated field with orderly rows of crops","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":"tokyo_43.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":589,"start_point":[312,897],"end_point":[997,148],"distance":1015.0004926107179},{"start_region_id":2,"end_region_id":590,"start_point":[312,897],"end_point":[856,169],"distance":908.8014084496128},{"start_region_id":1,"end_region_id":589,"start_point":[323,647],"end_point":[997,148],"distance":838.6161219533047},{"start_region_id":2,"end_region_id":587,"start_point":[312,897],"end_point":[487,84],"distance":831.6213080483208},{"start_region_id":2,"end_region_id":597,"start_point":[312,897],"end_point":[972,561],"distance":740.6051579620547}],"complexity_score":0.6482349670202809}
{"id":11399,"query_id":"Q02280","question":"A quadcopter drone starts from an area of loose, sandy soil with exposed rocks and no plant growth and needs to reach a cultivated agricultural area with planted rows and tilled earth. The quadcopter drone can fly over the sandy ground, can fly over grassy and shrub-covered terrain, and can fly over the cultivated field. The drone cannot fly through or under dense tree canopies and cannot fly inside or through any structures.","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"Starting from an area of loose, sandy soil with exposed rocks and no plant growth","end_land_type":"and needing to reach a cultivated agricultural area with planted rows and tilled earth","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":"tokyo_43.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":589,"start_point":[312,897],"end_point":[997,148],"distance":1015.0004926107179},{"start_region_id":2,"end_region_id":590,"start_point":[312,897],"end_point":[856,169],"distance":908.8014084496128},{"start_region_id":1,"end_region_id":589,"start_point":[323,647],"end_point":[997,148],"distance":838.6161219533047},{"start_region_id":2,"end_region_id":587,"start_point":[312,897],"end_point":[487,84],"distance":831.6213080483208},{"start_region_id":2,"end_region_id":597,"start_point":[312,897],"end_point":[972,561],"distance":740.6051579620547}],"complexity_score":0.6482349670202809}
{"id":440,"query_id":"Q00088","question":"An aerial drone starts from a cultivated field and needs to reach another cultivated field while minimizing risk. The terrain includes loose, sandy or rocky ground; areas with natural grasses and shrubs; individual or clustered tall vegetation; and cultivated crop areas. The drone can fly over all ground surfaces and vegetation, but must avoid close proximity to vertical obstacles and structures. Which path provides the safest route?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"Which path provides the safest route?","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_59.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":420,"end_region_id":420,"start_point":[123,1006],"end_point":[3,650],"distance":375.68071550187403}],"complexity_score":0.6483324650894271}
{"id":5445,"query_id":"Q01089","question":"A farm truck is currently positioned on a cultivated field with loose, tilled soil. It needs to reach another cultivated field with similar loose, tilled soil. The vehicle can only travel across rough, uneven ground composed of loose earth and rocks, or across cultivated fields with loose, tilled soil. Paved surfaces, grassy areas, wooded areas, water bodies, and structures are not accessible for this journey. What is the fastest route?","agent_category":"Car","specific_agent":"farm truck","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the farm truck to travel from its current cultivated field to the destination cultivated field?","task_type":"Fastest","input_classes":["Bareland","Agriculture land"],"traverse_vector":[1,0,0,0,0,0,1,0],"cost_vector":[1,0,0,0,0,0,2,0],"image_name":"buenos_aires_59.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":420,"end_region_id":420,"start_point":[39,996],"end_point":[10,657],"distance":340.2381518877623}],"complexity_score":0.6483324650894271}
{"id":12367,"query_id":"Q02474","question":"A quadcopter drone starts from a paved lane and needs to reach a cultivated field. The drone can fly over hard surfaces, grassy areas, and cultivated fields. However. The drone must avoid flying through dense tree canopies or close to buildings. What is the shortest path to the cultivated field?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path to the cultivated 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":"buenos_aires_59.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":264,"end_region_id":420,"start_point":[967,553],"end_point":[93,826],"distance":915.6445817018741},{"start_region_id":267,"end_region_id":420,"start_point":[827,894],"end_point":[93,826],"distance":737.1431339977331},{"start_region_id":257,"end_region_id":420,"start_point":[106,153],"end_point":[93,826],"distance":673.1255454965292},{"start_region_id":258,"end_region_id":420,"start_point":[510,420],"end_point":[93,826],"distance":582.0008591058952}],"complexity_score":0.6483324650894271}
{"id":15034,"query_id":"Q03007","question":"A quadcopter drone takes off from a flat, paved surface and must fly to a cultivated crop field. The environment includes exposed, loose ground; open areas with natural vegetation; hard, artificial surfaces; tall, vertical obstacles like trees; and soft, planted fields. The drone can fly over all these terrains, but it must be cautious around trees and buildings to avoid collisions. Water bodies are present but can be flown over. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A flat, paved surface","end_land_type":"A cultivated crop 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","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_59.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":420,"start_point":[718,80],"end_point":[93,826],"distance":973.2116933124057},{"start_region_id":243,"end_region_id":420,"start_point":[930,892],"end_point":[93,826],"distance":839.5981181493918},{"start_region_id":249,"end_region_id":420,"start_point":[904,967],"end_point":[93,826],"distance":823.1658399131976},{"start_region_id":163,"end_region_id":420,"start_point":[591,204],"end_point":[93,826],"distance":796.7985943762702},{"start_region_id":199,"end_region_id":420,"start_point":[793,457],"end_point":[93,826],"distance":791.3033552311023}],"complexity_score":0.6483324650894271}
{"id":1471,"query_id":"Q00295","question":"A quadcopter starts from a paved roadway and needs to reach a grassy plain. The terrain includes hard surfaces, open grassy areas, and cultivated fields. You must avoid any dense vertical obstacles like trees or structures. What is the shortest route to the grassy plain?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved roadway","end_land_type":"grassy plain","task_description":"What is the shortest route to the grassy plain?","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_26.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":1,"start_point":[314,413],"end_point":[846,204],"distance":571.5811403466703},{"start_region_id":161,"end_region_id":1,"start_point":[644,473],"end_point":[846,204],"distance":336.40005945302687},{"start_region_id":161,"end_region_id":2,"start_point":[644,473],"end_point":[543,226],"distance":266.8520189168521},{"start_region_id":158,"end_region_id":8,"start_point":[314,413],"end_point":[610,306],"distance":314.74592928265173},{"start_region_id":158,"end_region_id":2,"start_point":[314,413],"end_point":[543,226],"distance":295.65182225043026}],"complexity_score":0.6484422544901832}
{"id":9963,"query_id":"Q01993","question":"A quadcopter drone starts from a paved roadway and needs to reach a group of tall trees as quickly as possible. The drone can fly over open grassy areas, hard flat surfaces, and lanes, but must avoid liquid surfaces and structures unless specified. The trees are accessible because the drone can fly between them at a safe altitude. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved roadway","end_land_type":"a group of tall trees","task_description":"What is the fastest path from the paved roadway to the group of tall trees?","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":"dhaka_33.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":278,"start_point":[775,298],"end_point":[39,867],"distance":930.2994141672884},{"start_region_id":200,"end_region_id":245,"start_point":[775,298],"end_point":[14,535],"distance":797.0508139384841},{"start_region_id":201,"end_region_id":202,"start_point":[512,725],"end_point":[152,50],"distance":765.0},{"start_region_id":200,"end_region_id":271,"start_point":[775,298],"end_point":[291,822],"distance":713.3246105385682},{"start_region_id":201,"end_region_id":204,"start_point":[512,725],"end_point":[658,18],"distance":721.9175853239759}],"complexity_score":0.6487803137250632}
{"id":13004,"query_id":"Q02601","question":"A quadcopter drone starts from a paved lane and needs to reach a paved parking lot as quickly as possible. The drone can fly over hard surfaces, loose soil, cultivated fields, and liquid surfaces. However, it must avoid flying through dense vegetation and cannot pass through solid vertical structures. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"paved lane","end_land_type":"paved parking lot","task_description":"What is the fastest route for the quadcopter drone to reach the paved parking lot from the paved lane?","task_type":"Fastest","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":"dhaka_33.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":201,"end_region_id":146,"start_point":[512,725],"end_point":[110,641],"distance":410.68235900754246},{"start_region_id":200,"end_region_id":99,"start_point":[775,298],"end_point":[358,274],"distance":417.6900764921283}],"complexity_score":0.6487803137250632}
{"id":14435,"query_id":"Q02887","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 while prioritizing safety. The drone can traverse open, dry ground with loose soil and rocks, as well as liquid surfaces. However, the tall, leafy structures are only traversable when there is sufficient clearance between them to avoid collisions. The drone must avoid any solid, vertical structures that could cause impact damage. What is the safest path?","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 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":"dhaka_33.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":202,"end_region_id":276,"start_point":[152,50],"end_point":[977,838],"distance":1140.8632696340082},{"start_region_id":276,"end_region_id":202,"start_point":[977,838],"end_point":[152,50],"distance":1140.8632696340082},{"start_region_id":202,"end_region_id":283,"start_point":[152,50],"end_point":[856,854],"distance":1068.658972731713},{"start_region_id":283,"end_region_id":202,"start_point":[856,854],"end_point":[152,50],"distance":1068.658972731713},{"start_region_id":278,"end_region_id":204,"start_point":[39,867],"end_point":[658,18],"distance":1050.6959598285318}],"complexity_score":0.6487803137250632}
{"id":3277,"query_id":"Q00656","question":"An off-road vehicle starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain while minimizing risk. The environment contains two surface types: loose, rocky ground that is unstable and requires careful navigation to avoid getting stuck or losing control, and grassy, uneven terrain that offers more predictable handling. The loose, rocky ground is only traversable if you drive slowly and maintain constant vigilance. All other surfaces such as paved roads, vertical obstacles, water bodies, and cultivated fields are not available or accessible in this area. What is the safest path to your destination?","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 safest path to your destination?","task_type":"Safest","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":"dortmund_19.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":29,"start_point":[565,414],"end_point":[778,470],"distance":220.238507078122},{"start_region_id":29,"end_region_id":23,"start_point":[778,470],"end_point":[565,414],"distance":220.238507078122}],"complexity_score":0.6489082272248353}
{"id":7094,"query_id":"Q01419","question":"A quadcopter starts from a cultivated field with soft, tilled soil and needs to reach a wooded area with dense tree cover. The terrain includes only three types of surfaces: hard, paved surfaces like sidewalks or parking lots; soft, cultivated soil; and areas with dense tree cover. You cannot use any other surfaces, such as loose sand, rocky ground, grassy meadows, vehicle lanes, water bodies, or structures. The hard, paved surfaces and soft, cultivated soil are always accessible and provide fast travel. The wooded areas are traversable because the drone can fly between the trees without obstruction. What is the fastest path to the wooded area?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the fastest path to the wooded area?","task_type":"Fastest","input_classes":["Developed space","Tree","Agriculture land"],"traverse_vector":[0,0,1,0,1,0,1,0],"cost_vector":[0,0,2,0,1,0,2,0],"image_name":"dortmund_19.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":271,"start_point":[127,114],"end_point":[153,963],"distance":849.3980221309678},{"start_region_id":303,"end_region_id":153,"start_point":[136,782],"end_point":[514,154],"distance":732.9856751669844},{"start_region_id":300,"end_region_id":210,"start_point":[127,114],"end_point":[563,628],"distance":674.0118693316906},{"start_region_id":303,"end_region_id":175,"start_point":[136,782],"end_point":[696,409],"distance":672.8513951832158},{"start_region_id":300,"end_region_id":175,"start_point":[127,114],"end_point":[696,409],"distance":640.9258927520405}],"complexity_score":0.6489082272248353}
{"id":12589,"query_id":"Q02518","question":"A quadcopter starts from a low-lying, vegetated area with grass and shrubs and needs to reach a cultivated area with planted rows. The terrain includes open, barren ground; hard, artificial surfaces; and tall, woody vegetation. You must avoid any obstacles that could impede flight, but all surfaces are traversable except that tall, woody vegetation may require careful navigation. To minimize travel time, prioritize areas that allow for the highest and most consistent flight speeds. What is the fastest path to the cultivated area?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the fastest path to the cultivated 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":"dortmund_19.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":300,"start_point":[945,956],"end_point":[127,114],"distance":1173.9199291263437},{"start_region_id":65,"end_region_id":300,"start_point":[808,952],"end_point":[127,114],"distance":1079.817114144798},{"start_region_id":44,"end_region_id":300,"start_point":[951,765],"end_point":[127,114],"distance":1050.131896477771},{"start_region_id":66,"end_region_id":301,"start_point":[945,956],"end_point":[102,351],"distance":1037.6290281213223},{"start_region_id":56,"end_region_id":300,"start_point":[775,876],"end_point":[127,114],"distance":1000.2739624722819}],"complexity_score":0.6489082272248353}
{"id":14765,"query_id":"Q02953","question":"A quadcopter drone starts from a cultivated field and needs to reach a wooded area. The drone must avoid collisions with vertical structures and dense vegetation canopies. The terrain includes areas of loose earth and rocks, natural grassy and shrubby patches, hard artificial surfaces, vegetation-covered ground, and vertical obstacles. The drone can fly over vertical obstacles and dense vegetation only when maintaining a safe altitude to avoid entanglement or impact. What is the safest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"What is the safest path for the quadcopter drone to take from the cultivated field to the wooded 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":"dortmund_19.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":300,"end_region_id":227,"start_point":[127,114],"end_point":[788,770],"distance":931.2663421384883},{"start_region_id":300,"end_region_id":271,"start_point":[127,114],"end_point":[153,963],"distance":849.3980221309678},{"start_region_id":301,"end_region_id":227,"start_point":[102,351],"end_point":[788,770],"distance":803.8389142110501},{"start_region_id":303,"end_region_id":153,"start_point":[136,782],"end_point":[514,154],"distance":732.9856751669844},{"start_region_id":300,"end_region_id":210,"start_point":[127,114],"end_point":[563,628],"distance":674.0118693316906}],"complexity_score":0.6489082272248353}
{"id":3414,"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_49.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[474,6],"end_point":[0,198],"distance":511.40981609664084}],"complexity_score":0.6490445962423811}
{"id":12623,"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_32.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":92,"start_point":[955,101],"end_point":[133,902],"distance":1147.7303690327271},{"start_region_id":92,"end_region_id":45,"start_point":[133,902],"end_point":[955,101],"distance":1147.7303690327271},{"start_region_id":62,"end_region_id":92,"start_point":[937,268],"end_point":[133,902],"distance":1023.9003857797886},{"start_region_id":92,"end_region_id":62,"start_point":[133,902],"end_point":[937,268],"distance":1023.9003857797886},{"start_region_id":102,"end_region_id":42,"start_point":[843,955],"end_point":[351,43],"distance":1036.2470747847735}],"complexity_score":0.6490912586580552}
{"id":17001,"query_id":"Q03401","question":"A hiker starts from a paved, hard surface and needs to reach a grassy, open field. The terrain includes areas with natural vegetation and scattered trees, but you can traverse through these vegetated zones as needed. What is the shortest path to your destination?","agent_category":"Pedestrian","specific_agent":"Hiker","start_land_type":"paved, hard surface","end_land_type":"grassy, open 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":"thousand_oaks_32.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":3,"start_point":[133,902],"end_point":[922,18],"distance":1184.895354029207},{"start_region_id":89,"end_region_id":3,"start_point":[208,783],"end_point":[922,18],"distance":1046.4325109628428},{"start_region_id":45,"end_region_id":34,"start_point":[955,101],"end_point":[202,765],"distance":1003.9447195936636},{"start_region_id":90,"end_region_id":3,"start_point":[419,882],"end_point":[922,18],"distance":999.7524693642922},{"start_region_id":111,"end_region_id":3,"start_point":[701,976],"end_point":[922,18],"distance":983.1607193129718}],"complexity_score":0.6490912586580552}
{"id":12156,"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_59.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":207,"start_point":[741,715],"end_point":[224,55],"distance":838.384756540814},{"start_region_id":261,"end_region_id":241,"start_point":[414,345],"end_point":[947,820],"distance":713.9425747215248},{"start_region_id":261,"end_region_id":244,"start_point":[414,345],"end_point":[813,895],"distance":679.4858350252786},{"start_region_id":262,"end_region_id":214,"start_point":[741,715],"end_point":[119,321],"distance":736.2879871354686},{"start_region_id":262,"end_region_id":211,"start_point":[741,715],"end_point":[798,42],"distance":675.4095054113467}],"complexity_score":0.6492170893128253}
{"id":16224,"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_59.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":36,"start_point":[741,715],"end_point":[23,186],"distance":891.8323833546301},{"start_region_id":262,"end_region_id":2,"start_point":[741,715],"end_point":[179,56],"distance":866.0975695613052},{"start_region_id":262,"end_region_id":33,"start_point":[741,715],"end_point":[93,248],"distance":798.744640044614},{"start_region_id":261,"end_region_id":175,"start_point":[414,345],"end_point":[737,954],"distance":689.3547707820697},{"start_region_id":261,"end_region_id":117,"start_point":[414,345],"end_point":[967,678],"distance":645.5214946072671}],"complexity_score":0.6492170893128253}
{"id":11283,"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":"ica_6.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":43,"start_point":[700,75],"end_point":[839,946],"distance":882.0215416870498},{"start_region_id":58,"end_region_id":26,"start_point":[700,75],"end_point":[474,847],"distance":804.4003978119355},{"start_region_id":70,"end_region_id":26,"start_point":[921,397],"end_point":[474,847],"distance":634.2783300728474},{"start_region_id":58,"end_region_id":30,"start_point":[700,75],"end_point":[629,672],"distance":601.2071190529932},{"start_region_id":58,"end_region_id":29,"start_point":[700,75],"end_point":[693,650],"distance":575.0426071170726}],"complexity_score":0.6492546871955219}
{"id":11653,"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":"ica_6.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":58,"start_point":[839,946],"end_point":[700,75],"distance":882.0215416870498},{"start_region_id":26,"end_region_id":58,"start_point":[474,847],"end_point":[700,75],"distance":804.4003978119355},{"start_region_id":26,"end_region_id":70,"start_point":[474,847],"end_point":[921,397],"distance":634.2783300728474},{"start_region_id":30,"end_region_id":58,"start_point":[629,672],"end_point":[700,75],"distance":601.2071190529932},{"start_region_id":29,"end_region_id":58,"start_point":[693,650],"end_point":[700,75],"distance":575.0426071170726}],"complexity_score":0.6492546871955219}
{"id":15567,"query_id":"Q03114","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and soft soil, needing to reach an open grassy area with scattered low shrubs as quickly as possible. The drone can fly over bare sandy or rocky ground, grassy or shrub-covered terrain, paved surfaces like sidewalks or parking lots, vehicle lanes, water bodies such as rivers or ponds, and agricultural plots, but must avoid tall trees and buildings due to collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops and soft soil.","end_land_type":"An open grassy area with scattered low shrubs.","task_description":"What is the fastest path for the quadcopter drone to reach the open grassy area from the cultivated 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":"ica_6.tif","subfolder":"ica","coordinate_format":"xy","start_end_pairs":[{"start_region_id":302,"end_region_id":43,"start_point":[229,189],"end_point":[839,946],"distance":972.1877390710089},{"start_region_id":302,"end_region_id":23,"start_point":[229,189],"end_point":[907,577],"distance":781.1709159972611},{"start_region_id":304,"end_region_id":23,"start_point":[147,717],"end_point":[907,577],"distance":772.7871634544663},{"start_region_id":304,"end_region_id":43,"start_point":[147,717],"end_point":[839,946],"distance":728.9067155679113},{"start_region_id":302,"end_region_id":26,"start_point":[229,189],"end_point":[474,847],"distance":702.1317540177199}],"complexity_score":0.6492546871955219}
{"id":393,"query_id":"Q00079","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field. The drone can fly over hard surfaces, loose soil, and liquid areas, but must avoid vertical structures and dense vegetation. The drone is permitted to traverse over hard surfaces, loose soil, and liquid areas, but cannot pass through dense vegetation or vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path for the aerial survey drone to reach the cultivated field from 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":"duesseldorf_12.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":339,"start_point":[164,266],"end_point":[852,159],"distance":696.2707806593638},{"start_region_id":172,"end_region_id":339,"start_point":[559,766],"end_point":[852,159],"distance":674.0163202771873},{"start_region_id":171,"end_region_id":339,"start_point":[496,49],"end_point":[852,159],"distance":372.6070316030013}],"complexity_score":0.6492827007799603}
{"id":6996,"query_id":"Q01400","question":"An aerial survey drone starts from a flat, cultivated field with soft soil and low vegetation and needs to reach a smooth, paved area with a hard, stable surface. The drone must avoid areas with dense, tall vegetation or vertical structures that could cause turbulence or collisions, and should minimize flight over liquid surfaces to reduce vibration and maintain stable control. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Agriculture land","end_land_type":"Developed space","task_description":"What is the most comfortable path from the cultivated field to the 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":"duesseldorf_12.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":160,"start_point":[852,159],"end_point":[69,806],"distance":1015.7253565802126},{"start_region_id":339,"end_region_id":162,"start_point":[852,159],"end_point":[168,895],"distance":1004.7646490596691},{"start_region_id":339,"end_region_id":159,"start_point":[852,159],"end_point":[307,796],"distance":838.3280980618507},{"start_region_id":339,"end_region_id":158,"start_point":[852,159],"end_point":[553,908],"distance":806.4750461111614},{"start_region_id":339,"end_region_id":133,"start_point":[852,159],"end_point":[168,444],"distance":741.0}],"complexity_score":0.6492827007799603}
{"id":9733,"query_id":"Q01947","question":"An aerial survey drone starts from a cultivated field with loose soil and crop residues and needs to reach a grassy meadow with soft vegetation. The drone's flight path must prioritize smooth, stable surfaces to minimize vibrations and ensure stable camera operation. Hard paved surfaces are unavailable due to restricted airspace regulations. Vertical structures and liquid surfaces should be avoided as they cause turbulence and instability. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","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":[1,1,0,0,0,0,1,0],"image_name":"duesseldorf_12.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":339,"end_region_id":10,"start_point":[852,159],"end_point":[505,148],"distance":347.17430780517157}],"complexity_score":0.6492827007799603}
{"id":12945,"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":"bogota_1.tif","subfolder":"bogota","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":19,"start_point":[140,857],"end_point":[966,225],"distance":1040.0480758118829},{"start_region_id":19,"end_region_id":50,"start_point":[966,225],"end_point":[140,857],"distance":1040.0480758118829},{"start_region_id":50,"end_region_id":36,"start_point":[140,857],"end_point":[989,556],"distance":900.7785521425341},{"start_region_id":36,"end_region_id":50,"start_point":[989,556],"end_point":[140,857],"distance":900.7785521425341},{"start_region_id":17,"end_region_id":50,"start_point":[782,234],"end_point":[140,857],"distance":894.5909679848104}],"complexity_score":0.6493340703897192}
{"id":660,"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":"santiago_44.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":1,"start_point":[377,133],"end_point":[924,930],"distance":966.652988408974},{"start_region_id":145,"end_region_id":1,"start_point":[192,358],"end_point":[924,930],"distance":928.9822387968459},{"start_region_id":147,"end_region_id":1,"start_point":[196,382],"end_point":[924,930],"distance":911.2014047399181},{"start_region_id":128,"end_region_id":1,"start_point":[454,277],"end_point":[924,930],"distance":804.5551565927597},{"start_region_id":144,"end_region_id":1,"start_point":[551,296],"end_point":[924,930],"distance":735.584801365553}],"complexity_score":0.6494212255512143}
{"id":3188,"query_id":"Q00638","question":"A survey drone is launched from a low-vegetation area and must fly to a destination over exposed, rocky terrain. The drone must avoid flying close to trees or structures, and should prioritize open areas that minimize the risk of collision or signal interference.","agent_category":"Drone","specific_agent":"Survey drone","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the safest flight path for the drone from the low-vegetation area to the rocky terrain?","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_44.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":2,"start_point":[174,156],"end_point":[975,969],"distance":1141.3018881961075},{"start_region_id":22,"end_region_id":2,"start_point":[44,391],"end_point":[975,969],"distance":1095.830735104651},{"start_region_id":3,"end_region_id":1,"start_point":[174,156],"end_point":[924,930],"distance":1077.7643527228017},{"start_region_id":22,"end_region_id":1,"start_point":[44,391],"end_point":[924,930],"distance":1031.9500956926163},{"start_region_id":4,"end_region_id":2,"start_point":[404,120],"end_point":[975,969],"distance":1023.1529699903139}],"complexity_score":0.6494212255512143}
{"id":3620,"query_id":"Q00724","question":"An aerial surveillance drone starts from a paved lane and needs to reach an exposed earth surface. The drone can fly over hard surfaces, loose soil, vegetation, and liquid areas, but must avoid vertical obstacles like tall structures and dense tree canopies. Which route allows the drone to reach the destination most quickly?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"exposed earth surface","task_description":"Which route allows the drone to reach the destination most quickly?","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_44.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":2,"start_point":[377,133],"end_point":[975,969],"distance":1027.861858422619},{"start_region_id":145,"end_region_id":2,"start_point":[192,358],"end_point":[975,969],"distance":993.1817557728293},{"start_region_id":126,"end_region_id":1,"start_point":[377,133],"end_point":[924,930],"distance":966.652988408974},{"start_region_id":147,"end_region_id":2,"start_point":[196,382],"end_point":[975,969],"distance":975.4024810302668},{"start_region_id":145,"end_region_id":1,"start_point":[192,358],"end_point":[924,930],"distance":928.9822387968459}],"complexity_score":0.6494212255512143}
{"id":10058,"query_id":"Q02012","question":"An aerial surveillance drone starts from an area of loose, dry soil with scattered rocks and no vegetation and needs to reach a cluster of tall, leafy plants with distinct vertical structures and shadows. The drone can fly over open ground with sparse grass, hard paved surfaces, and vertical plant structures, but must avoid liquid areas and solid constructed obstacles. The drone's priority is to minimize risk of collision or instability during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of loose, dry soil with scattered rocks and no vegetation.","end_land_type":"The destination is a cluster of tall, leafy plants with distinct vertical structures and shadows.","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":"santiago_44.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":190,"start_point":[924,930],"end_point":[36,238],"distance":1125.7921655438893},{"start_region_id":1,"end_region_id":193,"start_point":[924,930],"end_point":[146,227],"distance":1048.567117546607},{"start_region_id":1,"end_region_id":181,"start_point":[924,930],"end_point":[227,159],"distance":1039.3507588874893},{"start_region_id":1,"end_region_id":202,"start_point":[924,930],"end_point":[144,332],"distance":982.8550249146616},{"start_region_id":1,"end_region_id":176,"start_point":[924,930],"end_point":[986,63],"distance":869.2140127724587}],"complexity_score":0.6494212255512143}
{"id":1196,"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_7.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":181,"start_point":[313,136],"end_point":[995,992],"distance":1094.4679072499111},{"start_region_id":4,"end_region_id":175,"start_point":[313,136],"end_point":[846,905],"distance":935.6548508932126},{"start_region_id":4,"end_region_id":178,"start_point":[313,136],"end_point":[678,901],"distance":847.6142990771215},{"start_region_id":4,"end_region_id":166,"start_point":[313,136],"end_point":[893,684],"distance":797.9373408983942},{"start_region_id":4,"end_region_id":122,"start_point":[313,136],"end_point":[1001,64],"distance":691.757182832242}],"complexity_score":0.6494243464434357}
{"id":8274,"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_119.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":393,"end_region_id":199,"start_point":[111,215],"end_point":[593,761],"distance":728.313119475408},{"start_region_id":392,"end_region_id":199,"start_point":[230,122],"end_point":[593,761],"distance":734.9081575271838},{"start_region_id":393,"end_region_id":200,"start_point":[111,215],"end_point":[676,234],"distance":565.3193787585916},{"start_region_id":392,"end_region_id":200,"start_point":[230,122],"end_point":[676,234],"distance":459.84780090808306},{"start_region_id":394,"end_region_id":199,"start_point":[520,214],"end_point":[593,761],"distance":551.8496171965693}],"complexity_score":0.6494399300439767}
{"id":12926,"query_id":"Q02586","question":"A sedan is parked on a flat, cultivated field with loose soil and crop stubble. It needs to drive to a grassy meadow with low, natural vegetation and slightly uneven terrain. The driver wants to maximize ride comfort by using surfaces that are smooth and stable, avoiding rough or bumpy ground. The car can traverse the cultivated field because it is dry and firm enough for vehicle passage, and the grassy meadow because it has sparse vegetation and no large obstacles. However, the car cannot drive on bare sandy or rocky patches, through wooded areas, across water, or through structures. What is the most comfortable route from the cultivated field to the grassy meadow?","agent_category":"Car","specific_agent":"A sedan","start_land_type":"Agriculture land","end_land_type":"Rangeland","task_description":"What is the most comfortable route from the cultivated field to the grassy meadow?","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":"daressalaam_119.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":393,"end_region_id":61,"start_point":[111,215],"end_point":[878,915],"distance":1038.4069529813444},{"start_region_id":392,"end_region_id":61,"start_point":[230,122],"end_point":[878,915],"distance":1024.0864221343822},{"start_region_id":392,"end_region_id":65,"start_point":[230,122],"end_point":[682,872],"distance":875.673455118973},{"start_region_id":393,"end_region_id":5,"start_point":[111,215],"end_point":[986,184],"distance":875.5489706464168},{"start_region_id":393,"end_region_id":65,"start_point":[111,215],"end_point":[682,872],"distance":870.4539045808227}],"complexity_score":0.6494399300439767}
{"id":2051,"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":"tonga_68.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":45,"start_point":[821,896],"end_point":[458,99],"distance":875.772801587261},{"start_region_id":161,"end_region_id":47,"start_point":[821,896],"end_point":[823,127],"distance":769.0026007758361},{"start_region_id":161,"end_region_id":60,"start_point":[821,896],"end_point":[805,215],"distance":681.1879329524269},{"start_region_id":161,"end_region_id":78,"start_point":[821,896],"end_point":[342,436],"distance":664.1091777712456},{"start_region_id":161,"end_region_id":71,"start_point":[821,896],"end_point":[945,292],"distance":616.5971131946694}],"complexity_score":0.6494405217996548}
{"id":2406,"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":"tonga_68.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":161,"start_point":[521,242],"end_point":[821,896],"distance":719.5248432125189},{"start_region_id":161,"end_region_id":157,"start_point":[821,896],"end_point":[521,242],"distance":719.5248432125189}],"complexity_score":0.6494405217996548}
{"id":6869,"query_id":"Q01374","question":"An aerial survey drone is positioned on a paved, hard surface and needs to return to another paved, hard surface area as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks, areas covered with low vegetation like grass and shrubs, all paved and constructed surfaces, areas with tall vegetation that form vertical obstacles, bodies of liquid, and cultivated fields with crops. However, it must avoid any solid, vertical structures. What is the fastest 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 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":"tonga_68.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":121,"start_point":[458,99],"end_point":[990,713],"distance":812.4161495194443},{"start_region_id":121,"end_region_id":45,"start_point":[990,713],"end_point":[458,99],"distance":812.4161495194443},{"start_region_id":78,"end_region_id":121,"start_point":[342,436],"end_point":[990,713],"distance":704.7219309770344},{"start_region_id":121,"end_region_id":78,"start_point":[990,713],"end_point":[342,436],"distance":704.7219309770344},{"start_region_id":78,"end_region_id":71,"start_point":[342,436],"end_point":[945,292],"distance":619.9556435746028}],"complexity_score":0.6494405217996548}
{"id":5752,"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_11.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":111,"end_region_id":111,"start_point":[448,21],"end_point":[104,955],"distance":995.3351194447024}],"complexity_score":0.6494835134508896}
{"id":15407,"query_id":"Q03082","question":"A quadcopter drone starts from a grassy, uneven ground with scattered shrubs and needs to reach a flat, hard-paved area as quickly as possible. The drone can fly over grassy areas, hard surfaces, wooded patches, and cultivated fields, but must avoid buildings and water bodies due to regulatory restrictions. The wooded patches are passable because the trees are sparse and low. 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 flat, hard-paved 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":"chicago_11.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":105,"start_point":[702,293],"end_point":[227,967],"distance":824.5610953713497},{"start_region_id":17,"end_region_id":101,"start_point":[702,293],"end_point":[232,856],"distance":733.3955276656656},{"start_region_id":17,"end_region_id":96,"start_point":[702,293],"end_point":[236,682],"distance":607.023063812241},{"start_region_id":17,"end_region_id":102,"start_point":[702,293],"end_point":[825,892],"distance":611.4981602588841},{"start_region_id":17,"end_region_id":75,"start_point":[702,293],"end_point":[101,281],"distance":601.1197883949587}],"complexity_score":0.6494835134508896}
{"id":10107,"query_id":"Q02022","question":"A quadcopter drone is positioned on grassy, uneven terrain and needs to reach another patch of grassy, uneven terrain as quickly as possible. The drone can fly over open, dry ground with loose soil and rocks; it can also traverse areas with low vegetation and bushes. The drone is permitted to cross over hard, flat surfaces like sidewalks and parking lots. Additionally, it can fly over liquid surfaces such as rivers or ponds. However, the drone must avoid flying through dense clusters of tall vegetation or near vertical structures, as these pose navigation hazards and require slower, more cautious movement. What is the fastest path for the drone to take?","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 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":"melbourne_62.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":28,"start_point":[71,176],"end_point":[994,1000],"distance":1237.2974581724477},{"start_region_id":28,"end_region_id":6,"start_point":[994,1000],"end_point":[71,176],"distance":1237.2974581724477},{"start_region_id":26,"end_region_id":6,"start_point":[836,933],"end_point":[71,176],"distance":1076.2313877600857},{"start_region_id":6,"end_region_id":26,"start_point":[71,176],"end_point":[836,933],"distance":1076.2313877600857},{"start_region_id":7,"end_region_id":28,"start_point":[186,333],"end_point":[994,1000],"distance":1047.7370853415468}],"complexity_score":0.6495252449158783}
{"id":12817,"query_id":"Q02564","question":"A hiker starts from a grassy, open field and needs to reach a wooded area with tall vegetation. The terrain includes areas with loose soil and natural vegetation, hard paved surfaces, vehicle lanes, and cultivated fields. 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":"grassy, open field","end_land_type":"wooded area with tall vegetation","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_62.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":112,"start_point":[932,95],"end_point":[193,959],"distance":1136.9331554669343},{"start_region_id":6,"end_region_id":97,"start_point":[71,176],"end_point":[988,708],"distance":1060.1476312287832},{"start_region_id":2,"end_region_id":112,"start_point":[614,100],"end_point":[193,959],"distance":956.6200917814763},{"start_region_id":6,"end_region_id":66,"start_point":[71,176],"end_point":[973,457],"distance":944.7565824062831},{"start_region_id":6,"end_region_id":104,"start_point":[71,176],"end_point":[791,772],"distance":934.6742748144939}],"complexity_score":0.6495252449158783}
{"id":17176,"query_id":"Q03436","question":"A quadcopter drone starts from a paved lane and needs to reach another paved lane while prioritizing safety. The drone can traverse hard surfaces, grassy or shrub-covered terrain, and liquid surfaces, but must avoid vertical structures and areas with tall vegetation. What is the safest route?","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 route 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":"melbourne_62.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":46,"start_point":[698,794],"end_point":[371,849],"distance":331.59312417479345},{"start_region_id":46,"end_region_id":45,"start_point":[371,849],"end_point":[698,794],"distance":331.59312417479345},{"start_region_id":44,"end_region_id":46,"start_point":[591,715],"end_point":[371,849],"distance":257.59658382827985},{"start_region_id":46,"end_region_id":44,"start_point":[371,849],"end_point":[591,715],"distance":257.59658382827985}],"complexity_score":0.6495252449158783}
{"id":5966,"query_id":"Q01194","question":"A surveillance drone starts from a cultivated field and needs to reach another cultivated field across a landscape. The terrain consists of areas with soft, grassy ground and other areas with loose, tilled soil. You are piloting a surveillance drone that can fly over both grassy and tilled surfaces, but must avoid trees and buildings due to low-altitude restrictions. What is the shortest path?","agent_category":"Drone","specific_agent":"a surveillance 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","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_5.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":262,"end_region_id":260,"start_point":[806,943],"end_point":[260,159],"distance":955.3910194260777},{"start_region_id":260,"end_region_id":262,"start_point":[260,159],"end_point":[806,943],"distance":955.3910194260777},{"start_region_id":256,"end_region_id":262,"start_point":[690,129],"end_point":[806,943],"distance":822.2238138122734},{"start_region_id":262,"end_region_id":256,"start_point":[806,943],"end_point":[690,129],"distance":822.2238138122734},{"start_region_id":261,"end_region_id":260,"start_point":[903,582],"end_point":[260,159],"distance":769.6609643213043}],"complexity_score":0.6495350285474285}
{"id":6407,"query_id":"Q01282","question":"A hiker is standing on a patch of loose, sandy ground and needs to reach a paved, hard surface. The terrain includes areas of loose soil and rocks, 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 hiker can traverse grassy and shrub-covered patches, loose soil and rocky areas, and clusters of tall vegetation only if they are dry and not densely overgrown. Smooth artificial surfaces and vehicle lanes are traversable by default. Liquid bodies and vertical structures are completely impassable. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","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","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[1,1,1,1,1,0,0,0],"image_name":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":92,"start_point":[719,215],"end_point":[921,868],"distance":683.5298091524612},{"start_region_id":6,"end_region_id":92,"start_point":[635,498],"end_point":[921,868],"distance":467.64944135538104},{"start_region_id":3,"end_region_id":74,"start_point":[719,215],"end_point":[677,590],"distance":377.3446700299343}],"complexity_score":0.6495370498356979}
{"id":12005,"query_id":"Q02401","question":"A delivery drone has taken off from a flat, sandy area and needs to land on a concrete road. The drone must avoid flying through dense vegetation or near tall vertical structures, and can only travel over open, unobstructed spaces. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a flat, sandy area","end_land_type":"a concrete 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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":97,"start_point":[719,215],"end_point":[122,650],"distance":738.670427186577},{"start_region_id":18,"end_region_id":95,"start_point":[388,957],"end_point":[337,228],"distance":730.7817731717178},{"start_region_id":3,"end_region_id":96,"start_point":[719,215],"end_point":[93,433],"distance":662.872536767062},{"start_region_id":18,"end_region_id":96,"start_point":[388,957],"end_point":[93,433],"distance":601.332686621973},{"start_region_id":6,"end_region_id":96,"start_point":[635,498],"end_point":[93,433],"distance":545.8836872448196}],"complexity_score":0.6495370498356979}
{"id":13716,"query_id":"Q02744","question":"An off-road vehicle starts from a cultivated field with loose, tilled soil and needs to reach a rocky, sandy area with no vegetation. The terrain includes areas with compacted, hard surfaces suitable for driving, as well as natural grassy and shrub-covered ground. You cannot cross any liquid surfaces, enter any vertical structures, or drive through wooded areas. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"rocky, sandy area","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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":189,"end_region_id":3,"start_point":[1000,950],"end_point":[719,215],"distance":786.8837271160206},{"start_region_id":190,"end_region_id":3,"start_point":[827,982],"end_point":[719,215],"distance":774.5663302777884},{"start_region_id":187,"end_region_id":3,"start_point":[622,918],"end_point":[719,215],"distance":709.6604822025812},{"start_region_id":189,"end_region_id":6,"start_point":[1000,950],"end_point":[635,498],"distance":580.9724606209833},{"start_region_id":190,"end_region_id":6,"start_point":[827,982],"end_point":[635,498],"distance":520.6918474491415}],"complexity_score":0.6495370498356979}
{"id":14847,"query_id":"Q02970","question":"A quadcopter drone needs to travel from a patch of loose, dry soil with scattered rocks and no vegetation to a grassy, shrub-covered area with soft, uneven ground. The drone can fly over open liquid surfaces and hard, paved surfaces, but must avoid densely packed vertical obstacles like trees and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry soil with scattered rocks and no vegetation","end_land_type":"and aiming to reach a grassy, shrub-covered area with soft, uneven ground","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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":26,"start_point":[388,957],"end_point":[872,59],"distance":1020.1274430187632},{"start_region_id":18,"end_region_id":24,"start_point":[388,957],"end_point":[626,134],"distance":856.7222420364724},{"start_region_id":3,"end_region_id":68,"start_point":[719,215],"end_point":[348,963],"distance":834.9520944341657},{"start_region_id":18,"end_region_id":29,"start_point":[388,957],"end_point":[844,258],"distance":834.5879222706258},{"start_region_id":3,"end_region_id":58,"start_point":[719,215],"end_point":[216,824],"distance":789.8670774250563}],"complexity_score":0.6495370498356979}
{"id":14877,"query_id":"Q02976","question":"A hiker starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a shaded area under a tall, leafy tree. The terrain includes areas of packed earth and gravel that form firm walking surfaces, grassy fields with low bushes, cultivated fields with rows of crops, and wooded areas with individual trees. However, all paved surfaces like sidewalks and roads are currently blocked due to maintenance work, and any water bodies or structures are completely impassable. What is the shortest path to the tree?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Bareland","end_land_type":"Tree","task_description":"What is the shortest path to the tree?","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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":160,"start_point":[719,215],"end_point":[543,942],"distance":748.0006684488992},{"start_region_id":3,"end_region_id":161,"start_point":[719,215],"end_point":[964,876],"distance":704.9439694046613},{"start_region_id":3,"end_region_id":159,"start_point":[719,215],"end_point":[744,912],"distance":697.4482059622779},{"start_region_id":3,"end_region_id":143,"start_point":[719,215],"end_point":[972,746],"distance":588.192145476289},{"start_region_id":6,"end_region_id":161,"start_point":[635,498],"end_point":[964,876],"distance":501.12373721467236}],"complexity_score":0.6495370498356979}
{"id":16591,"query_id":"Q03319","question":"A quadcopter drone needs to travel from an area of loose, dry soil and scattered rocks with no vegetation to a tall, dense cluster of woody vegetation with a distinct canopy. The drone can fly over open ground covered by loose soil and rocks, overgrown grassy and shrubby areas, cultivated fields with crops, and clusters of tall woody vegetation. However, flying directly through the dense canopy of the tall woody vegetation is slower and requires more careful navigation to avoid branches. The drone cannot travel over solid artificial structures, paved surfaces, liquid bodies, or enter enclosed spaces. What is the fastest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from an area of loose, dry soil and scattered rocks with no vegetation.","end_land_type":"The destination is a tall, dense cluster of woody vegetation with a distinct canopy.","task_description":"What is the fastest path for the drone to take?","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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":160,"start_point":[719,215],"end_point":[543,942],"distance":748.0006684488992},{"start_region_id":3,"end_region_id":161,"start_point":[719,215],"end_point":[964,876],"distance":704.9439694046613},{"start_region_id":3,"end_region_id":159,"start_point":[719,215],"end_point":[744,912],"distance":697.4482059622779},{"start_region_id":3,"end_region_id":143,"start_point":[719,215],"end_point":[972,746],"distance":588.192145476289},{"start_region_id":6,"end_region_id":161,"start_point":[635,498],"end_point":[964,876],"distance":501.12373721467236}],"complexity_score":0.6495370498356979}
{"id":16596,"query_id":"Q03320","question":"A quadcopter drone is deployed from a patch of loose, sandy ground with scattered rocks and needs to reach a cultivated field with rows of crops as quickly as possible. The drone can fly over areas with low vegetation and bushes, as well as individual trees or groups of trees, provided it maintains sufficient altitude to avoid collisions. However, it must avoid any structures or buildings, and cannot fly over liquid surfaces or paved areas. What is the fastest path for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground with scattered rocks","end_land_type":"a cultivated field with rows of crops","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":"chiclayo_29.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":190,"start_point":[719,215],"end_point":[827,982],"distance":774.5663302777884},{"start_region_id":3,"end_region_id":187,"start_point":[719,215],"end_point":[622,918],"distance":709.6604822025812},{"start_region_id":6,"end_region_id":190,"start_point":[635,498],"end_point":[827,982],"distance":520.6918474491415},{"start_region_id":3,"end_region_id":186,"start_point":[719,215],"end_point":[878,677],"distance":488.5949242470699},{"start_region_id":3,"end_region_id":185,"start_point":[719,215],"end_point":[723,685],"distance":470.01702096839006}],"complexity_score":0.6495370498356979}
{"id":162,"query_id":"Q00033","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another similar grassy, open field. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It cannot fly over any paved or hard surfaces, nor any areas with compacted soil or artificial materials. Only natural terrain with loose soil, sand, rock surfaces, cultivated crop fields, and open water bodies are available for flight. 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":"another grassy, open field with low vegetation","task_description":"What is the safest path for the aerial survey drone to travel from the starting grassy field to the destination grassy field?","task_type":"Safest","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":"rio_15.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[21,171],"end_point":[161,3],"distance":218.6869909253863}],"complexity_score":0.6495822127243804}
{"id":4444,"query_id":"Q00889","question":"A quadcopter drone is currently on a paved, hard-surfaced area and needs to reach a paved, hard-surfaced lane or street. The drone can fly over most surfaces, but liquid areas and vertical obstacles are hazardous and should be avoided for safety. What is the safest 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":"A paved, hard-surfaced 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":"rio_15.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":15,"start_point":[119,54],"end_point":[315,308],"distance":320.8301731446093}],"complexity_score":0.6495822127243804}
{"id":4513,"query_id":"Q00903","question":"A quadcopter drone is currently on a paved concrete area and needs to reach another paved concrete area. The drone can fly over most surfaces, including hard paved areas, loose soil, and liquid bodies, but it must avoid vertical obstacles like tall structures and dense vegetation for safety. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved concrete area","end_land_type":"Another paved concrete 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":"rio_15.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":10,"start_point":[257,217],"end_point":[119,54],"distance":213.5720019103628},{"start_region_id":10,"end_region_id":11,"start_point":[119,54],"end_point":[257,217],"distance":213.5720019103628}],"complexity_score":0.6495822127243804}
{"id":10213,"query_id":"Q02043","question":"A quadcopter starts from a paved roadway and needs to reach a grassy plain. The environment consists of hard surfaces, sandy expanses, and low vegetation areas. You must avoid flying through dense tree canopies or close to structures. What is the shortest route to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"paved roadway","end_land_type":"grassy plain","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":"rio_15.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":1,"start_point":[315,308],"end_point":[141,97],"distance":273.4904020253727}],"complexity_score":0.6495822127243804}
{"id":17093,"query_id":"Q03419","question":"A quadcopter drone starts from a paved road surface and needs to reach a grassy field while prioritizing a stable and smooth flight. The drone can fly over paved surfaces, grassy areas, and open spaces, but should avoid flying directly through dense tree canopies or close to building structures to ensure comfort. What is the most comfortable 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 most comfortable path for the quadcopter drone to take from the paved road surface to the grassy 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":"rio_15.tif","subfolder":"rio","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":1,"start_point":[315,308],"end_point":[141,97],"distance":273.4904020253727}],"complexity_score":0.6495822127243804}
{"id":1493,"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":"piura_6.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":208,"end_region_id":94,"start_point":[595,63],"end_point":[128,997],"distance":1044.2437454924018},{"start_region_id":209,"end_region_id":94,"start_point":[239,211],"end_point":[128,997],"distance":793.7990929700034},{"start_region_id":210,"end_region_id":94,"start_point":[443,310],"end_point":[128,997],"distance":755.7737756762932},{"start_region_id":211,"end_region_id":94,"start_point":[350,404],"end_point":[128,997],"distance":633.192703685063},{"start_region_id":209,"end_region_id":84,"start_point":[239,211],"end_point":[667,638],"distance":604.5767114270942}],"complexity_score":0.6497889830240982}
{"id":6601,"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":"piura_6.tif","subfolder":"piura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":209,"start_point":[920,918],"end_point":[239,211],"distance":981.6363888935658},{"start_region_id":73,"end_region_id":212,"start_point":[920,918],"end_point":[72,455],"distance":966.1640647426295},{"start_region_id":73,"end_region_id":213,"start_point":[920,918],"end_point":[41,593],"distance":937.158471124281},{"start_region_id":73,"end_region_id":208,"start_point":[920,918],"end_point":[595,63],"distance":914.6857383823145},{"start_region_id":47,"end_region_id":213,"start_point":[864,446],"end_point":[41,593],"distance":836.0251192398467}],"complexity_score":0.6497889830240982}
{"id":735,"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_28.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":105,"start_point":[63,941],"end_point":[992,243],"distance":1162.0004302925192},{"start_region_id":105,"end_region_id":137,"start_point":[992,243],"end_point":[63,941],"distance":1162.0004302925192},{"start_region_id":134,"end_region_id":105,"start_point":[91,920],"end_point":[992,243],"distance":1127.0004436556358},{"start_region_id":105,"end_region_id":134,"start_point":[992,243],"end_point":[91,920],"distance":1127.0004436556358},{"start_region_id":105,"end_region_id":130,"start_point":[992,243],"end_point":[114,888],"distance":1089.4535327401532}],"complexity_score":0.6498133263188534}
{"id":8120,"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":"wielkopolskie_28.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":213,"end_region_id":239,"start_point":[756,595],"end_point":[638,766],"distance":207.76188293332345},{"start_region_id":239,"end_region_id":213,"start_point":[638,766],"end_point":[756,595],"distance":207.76188293332345}],"complexity_score":0.6498133263188534}
{"id":236,"query_id":"Q00048","question":"A hiker starts from a cultivated field with crops and needs to reach an area of exposed, loose soil and rocky ground. The hiker can walk across open ground covered by short vegetation or bushes, as well as through cultivated fields, but must avoid walking through dense tree areas due to rough terrain. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"cultivated field with crops","end_land_type":"exposed, loose soil and rocky ground","task_description":"What is the fastest path for the hiker to reach the exposed, loose soil and rocky ground from the cultivated field with crops?","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":32,"start_point":[863,110],"end_point":[66,697],"distance":989.8373603779562},{"start_region_id":270,"end_region_id":11,"start_point":[500,950],"end_point":[743,156],"distance":830.3523348555118},{"start_region_id":266,"end_region_id":32,"start_point":[609,447],"end_point":[66,697],"distance":597.786751275068},{"start_region_id":264,"end_region_id":11,"start_point":[259,307],"end_point":[743,156],"distance":507.0078894849665},{"start_region_id":270,"end_region_id":32,"start_point":[500,950],"end_point":[66,697],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":753,"query_id":"Q00151","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dry, open area of loose earth and rocks as quickly as possible. The drone can fly over most surfaces, including liquid bodies, but must avoid dense clusters of tall vegetation that could obstruct its path. It can traverse areas with low vegetation, artificial hard surfaces, and open ground. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved, hard surface","end_land_type":"a dry, open area of loose earth and rocks","task_description":"What is the fastest route?","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":11,"start_point":[472,478],"end_point":[743,156],"distance":420.86221023037933},{"start_region_id":185,"end_region_id":32,"start_point":[472,478],"end_point":[66,697],"distance":461.29925211298576}],"complexity_score":0.6499006792313662}
{"id":2733,"query_id":"Q00547","question":"An off-road vehicle starts from rough, sandy terrain and needs to reach a paved, hard surface. The terrain includes compacted soil and gravel areas that are drivable, but vertical obstacles and liquid bodies are impassable. The vehicle can cross cultivated fields with crops, as they are flat and firm enough for passage. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, sandy terrain","end_land_type":"paved, hard surface","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":133,"start_point":[66,697],"end_point":[762,279],"distance":811.8743745186197},{"start_region_id":11,"end_region_id":142,"start_point":[743,156],"end_point":[43,405],"distance":742.9676978173412},{"start_region_id":32,"end_region_id":156,"start_point":[66,697],"end_point":[750,794],"distance":690.8436870957134},{"start_region_id":11,"end_region_id":149,"start_point":[743,156],"end_point":[315,662],"distance":662.7367501504651},{"start_region_id":11,"end_region_id":156,"start_point":[743,156],"end_point":[750,794],"distance":638.0384000983013}],"complexity_score":0.6499006792313662}
{"id":3223,"query_id":"Q00645","question":"A quadcopter starts from a sandy, open area and needs to reach a hard, paved surface. The quadcopter can fly over sandy, open areas and hard, paved surfaces, 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":"sandy, open area","end_land_type":"hard, paved surface","task_description":"What is the shortest path for the quadcopter to reach the hard, paved surface from the sandy, open area?","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":185,"start_point":[743,156],"end_point":[472,478],"distance":420.86221023037933},{"start_region_id":32,"end_region_id":185,"start_point":[66,697],"end_point":[472,478],"distance":461.29925211298576}],"complexity_score":0.6499006792313662}
{"id":4613,"query_id":"Q00923","question":"A hiker starts from loose, sandy ground and needs to reach a cultivated field. The terrain includes areas with hard, paved surfaces suitable for walking, as well as loose soil and vegetation that can be traversed with careful footing. However, all vertical structures and liquid surfaces are completely impassable. What is the shortest route to the destination?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"loose, sandy ground","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":261,"start_point":[66,697],"end_point":[863,110],"distance":989.8373603779562},{"start_region_id":11,"end_region_id":270,"start_point":[743,156],"end_point":[500,950],"distance":830.3523348555118},{"start_region_id":32,"end_region_id":266,"start_point":[66,697],"end_point":[609,447],"distance":597.786751275068},{"start_region_id":11,"end_region_id":264,"start_point":[743,156],"end_point":[259,307],"distance":507.0078894849665},{"start_region_id":32,"end_region_id":270,"start_point":[66,697],"end_point":[500,950],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":5373,"query_id":"Q01075","question":"A delivery drone starts from a sandy, rocky patch and needs to reach a crop field. The delivery drone must avoid areas that cause turbulence or instability during flight. Open ground, artificial hard surfaces, and cultivated areas are generally stable, while liquid surfaces can cause signal interference and discomfort, and areas with tall vertical obstacles like trees or structures create turbulence. What aerial path provides the most comfortable flight for the delivery drone?","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from a sandy, rocky patch","end_land_type":"and needing to reach a crop field","task_description":"What aerial path provides the most comfortable flight 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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":261,"start_point":[66,697],"end_point":[863,110],"distance":989.8373603779562},{"start_region_id":11,"end_region_id":270,"start_point":[743,156],"end_point":[500,950],"distance":830.3523348555118},{"start_region_id":32,"end_region_id":266,"start_point":[66,697],"end_point":[609,447],"distance":597.786751275068},{"start_region_id":11,"end_region_id":264,"start_point":[743,156],"end_point":[259,307],"distance":507.0078894849665},{"start_region_id":32,"end_region_id":270,"start_point":[66,697],"end_point":[500,950],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":7043,"query_id":"Q01409","question":"A hiker starts from a patch of loose, sandy soil and needs to reach a cultivated field with planted crops. The hiker can walk on hard, paved surfaces and vehicle lanes by default. Additionally, the sandy soil is compact enough for walking, the cultivated field has low crops that do not obstruct passage, and tall, vertical vegetation can be navigated around. However, liquid surfaces and built structures are strictly impassable. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a patch of loose, sandy soil","end_land_type":"a cultivated field with planted crops","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":261,"start_point":[66,697],"end_point":[863,110],"distance":989.8373603779562},{"start_region_id":11,"end_region_id":270,"start_point":[743,156],"end_point":[500,950],"distance":830.3523348555118},{"start_region_id":32,"end_region_id":266,"start_point":[66,697],"end_point":[609,447],"distance":597.786751275068},{"start_region_id":11,"end_region_id":264,"start_point":[743,156],"end_point":[259,307],"distance":507.0078894849665},{"start_region_id":32,"end_region_id":270,"start_point":[66,697],"end_point":[500,950],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":7345,"query_id":"Q01469","question":"A surveillance drone starts from a sandy, open area and needs to reach a cultivated field with soft soil. The terrain includes hard, paved surfaces and clusters of tall, dense vegetation. You must avoid flying too close to vertical structures or liquid surfaces to minimize risk. The hard surfaces and open areas are low-risk, while the dense vegetation and soft soil are passable but may pose higher risk if obstructed or unstable. What is the safest path to take?","agent_category":"Drone","specific_agent":"a surveillance drone","start_land_type":"a sandy, open area","end_land_type":"a cultivated field with soft soil","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":[1,1,1,1,0,0,1,0],"image_name":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":261,"start_point":[66,697],"end_point":[863,110],"distance":989.8373603779562},{"start_region_id":11,"end_region_id":270,"start_point":[743,156],"end_point":[500,950],"distance":830.3523348555118},{"start_region_id":32,"end_region_id":266,"start_point":[66,697],"end_point":[609,447],"distance":597.786751275068},{"start_region_id":11,"end_region_id":264,"start_point":[743,156],"end_point":[259,307],"distance":507.0078894849665},{"start_region_id":32,"end_region_id":270,"start_point":[66,697],"end_point":[500,950],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":8057,"query_id":"Q01612","question":"An aerial survey drone starts from a cultivated field with soft, plowed soil and needs to reach an area of exposed sandy or rocky ground. The drone can fly over hard paved surfaces, vehicle lanes, and liquid bodies, but must avoid vertical structures and dense vegetation. The drone's flight controller prioritizes smooth, stable paths to minimize vibrations and ensure steady sensor readings. What is the most comfortable route?","agent_category":"Drone","specific_agent":"aerial survey drone","start_land_type":"cultivated field","end_land_type":"exposed sandy or rocky ground","task_description":"What is the most comfortable route for the aerial survey drone to take from the cultivated field to the exposed sandy or rocky 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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":32,"start_point":[863,110],"end_point":[66,697],"distance":989.8373603779562},{"start_region_id":270,"end_region_id":11,"start_point":[500,950],"end_point":[743,156],"distance":830.3523348555118},{"start_region_id":266,"end_region_id":32,"start_point":[609,447],"end_point":[66,697],"distance":597.786751275068},{"start_region_id":264,"end_region_id":11,"start_point":[259,307],"end_point":[743,156],"distance":507.0078894849665},{"start_region_id":270,"end_region_id":32,"start_point":[500,950],"end_point":[66,697],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":8512,"query_id":"Q01703","question":"An off-road vehicle starts on a patch of rough, loose ground and needs to reach another area of similar loose, uneven terrain. The vehicle can travel on hard, paved surfaces that provide good traction and stability, and can also cross areas with low, sparse vegetation that offer some firmness. However, it must avoid all areas with tall, dense vegetation or vertical structures that could cause collisions, as well as any liquid surfaces or cultivated fields. What is the fastest route?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"rough, loose ground","end_land_type":"rough, loose ground","task_description":"What is the fastest route for the off-road vehicle to travel from the starting loose ground to the destination loose ground?","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":32,"start_point":[743,156],"end_point":[66,697],"distance":866.6083313700601},{"start_region_id":32,"end_region_id":11,"start_point":[66,697],"end_point":[743,156],"distance":866.6083313700601}],"complexity_score":0.6499006792313662}
{"id":9024,"query_id":"Q01805","question":"A rally car is currently positioned on a flat, cultivated field with loose soil and crop stubble. It needs to reach a destination on a wide-open, dry expanse of compacted earth and scattered rocks. The vehicle can only travel on surfaces that provide sufficient traction and stability for high-speed driving: hard, paved surfaces; firm, packed dirt areas; grassy or shrub-covered terrain; and the cultivated field it starts on. Loose, sandy patches and areas with tall, dense vegetation are not allowed as they would cause loss of control. What is the fastest route to the destination?","agent_category":"Car","specific_agent":"a rally car","start_land_type":"Agriculture land","end_land_type":"Bareland","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":"ngaoundere_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":261,"end_region_id":32,"start_point":[863,110],"end_point":[66,697],"distance":989.8373603779562},{"start_region_id":270,"end_region_id":11,"start_point":[500,950],"end_point":[743,156],"distance":830.3523348555118},{"start_region_id":266,"end_region_id":32,"start_point":[609,447],"end_point":[66,697],"distance":597.786751275068},{"start_region_id":264,"end_region_id":11,"start_point":[259,307],"end_point":[743,156],"distance":507.0078894849665},{"start_region_id":270,"end_region_id":32,"start_point":[500,950],"end_point":[66,697],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":9377,"query_id":"Q01876","question":"A quadcopter starts from a sandy, open area and needs to reach a crop field. The terrain includes shrub-covered ground, flat paved zones, vehicle lanes, and cultivated plots, but you must avoid flying through dense tree canopies or near vertical structures. All other surfaces are traversable. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Agriculture land","task_description":"What is the shortest path from the sandy, open area to the crop 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_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":261,"start_point":[66,697],"end_point":[863,110],"distance":989.8373603779562},{"start_region_id":11,"end_region_id":270,"start_point":[743,156],"end_point":[500,950],"distance":830.3523348555118},{"start_region_id":32,"end_region_id":266,"start_point":[66,697],"end_point":[609,447],"distance":597.786751275068},{"start_region_id":11,"end_region_id":264,"start_point":[743,156],"end_point":[259,307],"distance":507.0078894849665},{"start_region_id":32,"end_region_id":270,"start_point":[66,697],"end_point":[500,950],"distance":502.3594330755619}],"complexity_score":0.6499006792313662}
{"id":15200,"query_id":"Q03040","question":"An aerial survey drone starts from grassy, uneven terrain with scattered low vegetation and needs to reach exposed, loose soil and rocky ground. The drone must avoid all vertical structures and dense tree canopies that could cause collisions. It can fly over open liquid surfaces, cultivated fields with low crops, and flat paved areas, but must maintain safe distance from any overhead obstacles. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven terrain with scattered low vegetation","end_land_type":"exposed, 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","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_40.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":32,"start_point":[955,65],"end_point":[66,697],"distance":1090.7543261431513},{"start_region_id":38,"end_region_id":32,"start_point":[893,31],"end_point":[66,697],"distance":1061.8309658321327},{"start_region_id":123,"end_region_id":11,"start_point":[52,954],"end_point":[743,156],"distance":1055.5969874909647},{"start_region_id":53,"end_region_id":32,"start_point":[968,334],"end_point":[66,697],"distance":972.3029363320878},{"start_region_id":116,"end_region_id":11,"start_point":[164,897],"end_point":[743,156],"distance":940.3839641338}],"complexity_score":0.6499006792313662}
{"id":1366,"query_id":"Q00274","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field as quickly as possible. The drone can fly over bare, rocky ground; grassy or shrub-covered areas; paved lanes; liquid surfaces; and other cultivated fields. However, it must avoid flying through dense tree canopies or close to vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest path for the aerial survey drone to reach the destination cultivated 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":"kagera_64.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":226,"end_region_id":245,"start_point":[124,190],"end_point":[718,972],"distance":982.0183297678308},{"start_region_id":245,"end_region_id":226,"start_point":[718,972],"end_point":[124,190],"distance":982.0183297678308},{"start_region_id":243,"end_region_id":230,"start_point":[452,907],"end_point":[912,40],"distance":981.4728727784584},{"start_region_id":230,"end_region_id":243,"start_point":[912,40],"end_point":[452,907],"distance":981.4728727784584},{"start_region_id":244,"end_region_id":230,"start_point":[576,950],"end_point":[912,40],"distance":970.0494832739204}],"complexity_score":0.6499348226033582}
{"id":2561,"query_id":"Q00513","question":"A hiker 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. You must avoid any hard surfaces like pavement or asphalt, any cultivated fields, any individual trees or wooded areas, any water bodies, and any structures. What is the safest path to take?","agent_category":"Pedestrian","specific_agent":"hiker","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":"kagera_64.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":24,"start_point":[522,563],"end_point":[815,736],"distance":340.26166401756166},{"start_region_id":24,"end_region_id":7,"start_point":[815,736],"end_point":[522,563],"distance":340.26166401756166}],"complexity_score":0.6499348226033582}
{"id":5846,"query_id":"Q01170","question":"A quadcopter drone is launched from a crop field with low, uniform vegetation and needs to fly to a shrubland area with taller, irregular bushes. The drone operator wants to maximize flight stability and smoothness, avoiding turbulent air near obstacles. All surfaces except vertical structures and dense tree canopies are available for flight. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"crop field","end_land_type":"shrubland","task_description":"What is the most comfortable flight path for the quadcopter drone to take from the crop field to the shrubland?","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":"kagera_64.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":226,"end_region_id":33,"start_point":[124,190],"end_point":[826,902],"distance":999.8739920609996},{"start_region_id":245,"end_region_id":1,"start_point":[718,972],"end_point":[433,47],"distance":967.9101197941883},{"start_region_id":243,"end_region_id":3,"start_point":[452,907],"end_point":[968,89],"distance":967.1504536523777},{"start_region_id":244,"end_region_id":3,"start_point":[576,950],"end_point":[968,89],"distance":946.0364686416692},{"start_region_id":230,"end_region_id":32,"start_point":[912,40],"end_point":[470,871],"distance":941.235889668472}],"complexity_score":0.6499348226033582}
{"id":6639,"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":"kagera_64.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":226,"end_region_id":61,"start_point":[124,190],"end_point":[884,817],"distance":985.2558043472771},{"start_region_id":245,"end_region_id":47,"start_point":[718,972],"end_point":[558,141],"distance":846.2629614960116},{"start_region_id":243,"end_region_id":48,"start_point":[452,907],"end_point":[863,165],"distance":848.224616478442},{"start_region_id":245,"end_region_id":50,"start_point":[718,972],"end_point":[238,284],"distance":838.8945106507731},{"start_region_id":244,"end_region_id":48,"start_point":[576,950],"end_point":[863,165],"distance":835.8193584740665}],"complexity_score":0.6499348226033582}
{"id":10485,"query_id":"Q02097","question":"A hiker is starting from a grassy, open field with low vegetation and needs to reach a dense cluster of tall, leafy trees. The hiker can walk on paved, hard surfaces and vehicle lanes, but must avoid water bodies and buildings entirely. To traverse bare, rocky ground; grassy, open fields; cultivated crop areas; and tree-covered zones, the hiker has obtained permission or the terrain is dry and stable enough for safe foot travel. The goal is to find the path that minimizes risk of injury or getting lost.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a dense cluster of tall, leafy 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":"rotterdam_4.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":135,"start_point":[787,796],"end_point":[437,205],"distance":686.8631595885748},{"start_region_id":14,"end_region_id":172,"start_point":[787,796],"end_point":[225,402],"distance":686.3526790215071},{"start_region_id":14,"end_region_id":138,"start_point":[787,796],"end_point":[513,230],"distance":628.833841328534},{"start_region_id":14,"end_region_id":153,"start_point":[787,796],"end_point":[718,350],"distance":451.30588296630924},{"start_region_id":14,"end_region_id":175,"start_point":[787,796],"end_point":[522,435],"distance":447.8236259957708}],"complexity_score":0.6499569164126434}
{"id":12428,"query_id":"Q02486","question":"An off-road vehicle 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, and vehicle lanes, but you must avoid any trees, water bodies, or structures. Grassy and cultivated areas are passable because the vegetation is low and the ground is compact enough for vehicle traction. Paved areas and vehicle lanes are clear and accessible. What is the fastest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"a paved, hard surface like a parking lot or construction site","task_description":"What is the fastest path from the grassy, uneven starting point to the paved destination?","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":"rotterdam_4.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":25,"start_point":[787,796],"end_point":[415,290],"distance":628.0286617663241},{"start_region_id":14,"end_region_id":43,"start_point":[787,796],"end_point":[466,530],"distance":416.8896736547932},{"start_region_id":14,"end_region_id":35,"start_point":[787,796],"end_point":[588,450],"distance":399.1453369388148},{"start_region_id":5,"end_region_id":62,"start_point":[501,524],"end_point":[608,760],"distance":259.12352266824405},{"start_region_id":5,"end_region_id":25,"start_point":[501,524],"end_point":[415,290],"distance":249.30302846134862}],"complexity_score":0.6499569164126434}
{"id":16684,"query_id":"Q03337","question":"A family SUV is parked on a grassy, open field and needs to reach a paved lane. The vehicle can traverse areas with loose soil and rocks, as well as cultivated fields with crops, but must avoid any vertical structures, dense vegetation that could damage the vehicle, and liquid surfaces. The goal is to find the path that minimizes risk of loss of control or vehicle damage.","agent_category":"Car","specific_agent":"a family SUV","start_land_type":"grassy, open field","end_land_type":"a paved lane","task_description":"What is the safest path for the family SUV to take from the grassy field to the paved lane?","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_4.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":14,"end_region_id":73,"start_point":[787,796],"end_point":[377,584],"distance":461.5668965599678},{"start_region_id":5,"end_region_id":122,"start_point":[501,524],"end_point":[792,783],"distance":389.56642565806413},{"start_region_id":5,"end_region_id":127,"start_point":[501,524],"end_point":[579,824],"distance":309.97419247414774},{"start_region_id":14,"end_region_id":127,"start_point":[787,796],"end_point":[579,824],"distance":209.87615395751848}],"complexity_score":0.6499569164126434}
{"id":777,"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_49.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":76,"start_point":[948,1010],"end_point":[358,127],"distance":1061.9741051456951},{"start_region_id":123,"end_region_id":103,"start_point":[987,22],"end_point":[423,918],"distance":1058.731316246006},{"start_region_id":129,"end_region_id":73,"start_point":[948,1010],"end_point":[926,34],"distance":976.2479193319697},{"start_region_id":129,"end_region_id":81,"start_point":[948,1010],"end_point":[497,304],"distance":837.7571247085876},{"start_region_id":129,"end_region_id":86,"start_point":[948,1010],"end_point":[407,412],"distance":806.4025049564268}],"complexity_score":0.6500007882466322}
{"id":4062,"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_49.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":371,"end_region_id":143,"start_point":[61,951],"end_point":[982,84],"distance":1264.8833938351788},{"start_region_id":143,"end_region_id":371,"start_point":[982,84],"end_point":[61,951],"distance":1264.8833938351788},{"start_region_id":324,"end_region_id":143,"start_point":[51,822],"end_point":[982,84],"distance":1188.0256731232705},{"start_region_id":143,"end_region_id":324,"start_point":[982,84],"end_point":[51,822],"distance":1188.0256731232705},{"start_region_id":156,"end_region_id":371,"start_point":[696,150],"end_point":[61,951],"distance":1022.1673052881314}],"complexity_score":0.6500007882466322}
{"id":2024,"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_55.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":8,"start_point":[102,975],"end_point":[810,24],"distance":1185.6074392479156},{"start_region_id":8,"end_region_id":80,"start_point":[810,24],"end_point":[102,975],"distance":1185.6074392479156},{"start_region_id":1,"end_region_id":76,"start_point":[146,126],"end_point":[986,882],"distance":1130.1044199541916},{"start_region_id":76,"end_region_id":1,"start_point":[986,882],"end_point":[146,126],"distance":1130.1044199541916},{"start_region_id":33,"end_region_id":76,"start_point":[65,257],"end_point":[986,882],"distance":1113.0435750679305}],"complexity_score":0.6500467043446715}
{"id":15713,"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_55.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":134,"end_region_id":86,"start_point":[914,688],"end_point":[216,38],"distance":953.7840426427776},{"start_region_id":86,"end_region_id":134,"start_point":[216,38],"end_point":[914,688],"distance":953.7840426427776},{"start_region_id":138,"end_region_id":86,"start_point":[681,816],"end_point":[216,38],"distance":906.3713367047746},{"start_region_id":86,"end_region_id":138,"start_point":[216,38],"end_point":[681,816],"distance":906.3713367047746},{"start_region_id":134,"end_region_id":107,"start_point":[914,688],"end_point":[132,329],"distance":860.4678959728828}],"complexity_score":0.6500467043446715}
{"id":6777,"query_id":"Q01356","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a grassy meadow with low vegetation. The drone can fly over most surfaces, but dense tree canopies and building structures are impassable obstacles that must be avoided. Water surfaces are accessible for overflight. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","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","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_56.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":1,"start_point":[970,865],"end_point":[642,17],"distance":909.2238448259043},{"start_region_id":168,"end_region_id":32,"start_point":[195,268],"end_point":[905,785],"distance":878.2875383381003},{"start_region_id":183,"end_region_id":15,"start_point":[970,865],"end_point":[157,585],"distance":859.865687186086},{"start_region_id":172,"end_region_id":15,"start_point":[992,485],"end_point":[157,585],"distance":840.9667056429761},{"start_region_id":183,"end_region_id":2,"start_point":[970,865],"end_point":[839,103],"distance":773.1785046158487}],"complexity_score":0.6500937545972881}
{"id":10937,"query_id":"Q02188","question":"A farm utility vehicle is currently positioned on a cultivated field with loose, tilled soil. It needs to reach another cultivated field with similar loose, tilled soil across the landscape. The vehicle can travel on hard, paved surfaces designed for wheeled traffic, compacted artificial surfaces like parking lots, and open natural ground with sparse vegetation or bare earth. However, it cannot enter areas with dense vertical obstacles like trees or structures, nor can it cross liquid bodies. What is the shortest possible route for the vehicle?","agent_category":"Car","specific_agent":"a farm utility vehicle","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest possible route for the vehicle?","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":"kagera_56.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":168,"end_region_id":183,"start_point":[195,268],"end_point":[970,865],"distance":978.2811456835913},{"start_region_id":183,"end_region_id":168,"start_point":[970,865],"end_point":[195,268],"distance":978.2811456835913},{"start_region_id":169,"end_region_id":183,"start_point":[549,124],"end_point":[970,865],"distance":852.2452698607367},{"start_region_id":183,"end_region_id":169,"start_point":[970,865],"end_point":[549,124],"distance":852.2452698607367},{"start_region_id":168,"end_region_id":172,"start_point":[195,268],"end_point":[992,485],"distance":826.0133170839317}],"complexity_score":0.6500937545972881}
{"id":17192,"query_id":"Q03439","question":"An aerial surveillance drone starts from an area of natural, uncultivated vegetation with uneven ground and scattered bushes and needs to reach another patch of similar natural, uncultivated vegetation. The drone can fly over open water surfaces, but must avoid any tall, dense vertical obstacles like trees or structures that could pose collision risks. It can also traverse hard, flat paved surfaces, but these are less ideal due to potential signal interference or regulatory restrictions. The drone's primary concern is minimizing risk of collision, signal loss, or regulatory violation.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from an area of natural, uncultivated vegetation with uneven ground and scattered bushes.","end_land_type":"The destination is another patch of similar natural, uncultivated 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":"oklahoma_24.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":39,"start_point":[16,74],"end_point":[935,989],"distance":1296.8369211277106},{"start_region_id":39,"end_region_id":1,"start_point":[935,989],"end_point":[16,74],"distance":1296.8369211277106},{"start_region_id":1,"end_region_id":41,"start_point":[16,74],"end_point":[791,996],"distance":1204.453818126706},{"start_region_id":41,"end_region_id":1,"start_point":[791,996],"end_point":[16,74],"distance":1204.453818126706},{"start_region_id":8,"end_region_id":39,"start_point":[154,155],"end_point":[935,989],"distance":1142.5922282249253}],"complexity_score":0.6502804053829345}
{"id":1732,"query_id":"Q00347","question":"An agricultural monitoring drone is positioned above a grassy, open area. It needs to fly to a cultivated field with soft soil to survey crop health. The drone can fly over most surfaces, including hard-packed ground and paved routes, but must avoid dense vegetation and structures to prevent collisions. For stable flight and smooth operation, the drone should prioritize open areas that minimize turbulence and navigation hazards.","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","start_land_type":"A grassy, open area","end_land_type":"A cultivated field with soft soil","task_description":"What is the most comfortable flight path for the agricultural drone to take from the grassy area 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":"coxsbazar_35.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":167,"start_point":[993,967],"end_point":[222,230],"distance":1066.5880179338224},{"start_region_id":33,"end_region_id":167,"start_point":[840,850],"end_point":[222,230],"distance":875.3993374454884},{"start_region_id":34,"end_region_id":168,"start_point":[198,908],"end_point":[712,316],"distance":784.0025510162578},{"start_region_id":4,"end_region_id":171,"start_point":[185,400],"end_point":[648,991],"distance":750.7662752148634},{"start_region_id":40,"end_region_id":168,"start_point":[993,967],"end_point":[712,316],"distance":709.0571204070939}],"complexity_score":0.6502899397852303}
{"id":11370,"query_id":"Q02274","question":"An agricultural monitoring drone is launched from a dry, cultivated field. It needs to fly to another cultivated field for inspection while minimizing operational risks. The available surfaces include loose sandy and rocky ground, natural vegetation areas, hard artificial flat surfaces, paved vehicle routes, and the dry cultivated soil. The drone must avoid flying over any vertical structures or liquid bodies, as these pose collision or signal interference hazards. What is the safest flight path for the drone?","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","start_land_type":"Agriculture land","end_land_type":"Agriculture land","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":"coxsbazar_35.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":168,"end_region_id":167,"start_point":[712,316],"end_point":[222,230],"distance":497.48969838580575},{"start_region_id":167,"end_region_id":168,"start_point":[222,230],"end_point":[712,316],"distance":497.48969838580575},{"start_region_id":166,"end_region_id":167,"start_point":[563,488],"end_point":[222,230],"distance":427.6037885706814},{"start_region_id":167,"end_region_id":166,"start_point":[222,230],"end_point":[563,488],"distance":427.6037885706814},{"start_region_id":166,"end_region_id":168,"start_point":[563,488],"end_point":[712,316],"distance":227.56317804073663}],"complexity_score":0.6502899397852303}
{"id":15979,"query_id":"Q03196","question":"An aerial surveillance drone starts from a cultivated field with orderly rows of crops and needs to reach a flat, paved area. The drone can fly over open grassy areas, paved surfaces, and water bodies. It can also pass over cultivated fields. However, it must avoid flying through dense clusters of tall vegetation or near vertical structures. What is the safest path to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A cultivated field with orderly rows of crops","end_land_type":"A flat, paved area","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":"coxsbazar_35.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":167,"end_region_id":93,"start_point":[222,230],"end_point":[864,974],"distance":982.700361249552},{"start_region_id":168,"end_region_id":93,"start_point":[712,316],"end_point":[864,974],"distance":675.3280684230443},{"start_region_id":166,"end_region_id":93,"start_point":[563,488],"end_point":[864,974],"distance":571.6616131943791},{"start_region_id":170,"end_region_id":93,"start_point":[520,973],"end_point":[864,974],"distance":344.0014534853014},{"start_region_id":171,"end_region_id":93,"start_point":[648,991],"end_point":[864,974],"distance":216.6679487141557}],"complexity_score":0.6502899397852303}
{"id":1532,"query_id":"Q00307","question":"An aerial surveillance drone starts from a flat, hard, paved surface and needs to reach a long, linear, hard surface designed for vehicles. The drone can fly over areas with loose soil or sand, areas with low vegetation or bushes, other flat hard surfaces, liquid bodies, and cultivated fields. However, it must avoid tall vertical obstacles with complex branching structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, hard, paved surface","end_land_type":"A long, linear, hard surface designed for vehicles","task_description":"What is the shortest path?","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":"vegas_6.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":24,"start_point":[118,597],"end_point":[379,9],"distance":643.3234023413107},{"start_region_id":21,"end_region_id":24,"start_point":[617,462],"end_point":[379,9],"distance":511.71574140336935},{"start_region_id":20,"end_region_id":24,"start_point":[434,509],"end_point":[379,9],"distance":503.0159043211258},{"start_region_id":17,"end_region_id":24,"start_point":[122,392],"end_point":[379,9],"distance":461.2352978686692},{"start_region_id":18,"end_region_id":24,"start_point":[340,337],"end_point":[379,9],"distance":330.31046002208285}],"complexity_score":0.6503082624750124}
{"id":2827,"query_id":"Q00566","question":"A quadcopter drone starts from a flat paved surface and needs to reach another flat paved surface as quickly as possible. The drone can only fly over hard, open surfaces that provide clear aerial visibility and minimal interference. Vegetated areas, water bodies, and vertical structures are not permitted for flight due to navigation restrictions.","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 flight path for the drone to reach the destination?","task_type":"Fastest","input_classes":["Bareland","Developed space","Road"],"traverse_vector":[1,0,1,1,0,0,0,0],"cost_vector":[1,0,1,1,0,0,0,0],"image_name":"vegas_6.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":21,"start_point":[118,597],"end_point":[617,462],"distance":516.939067976101},{"start_region_id":21,"end_region_id":22,"start_point":[617,462],"end_point":[118,597],"distance":516.939067976101},{"start_region_id":14,"end_region_id":22,"start_point":[295,119],"end_point":[118,597],"distance":509.7185497899797},{"start_region_id":22,"end_region_id":14,"start_point":[118,597],"end_point":[295,119],"distance":509.7185497899797},{"start_region_id":17,"end_region_id":21,"start_point":[122,392],"end_point":[617,462],"distance":499.9249943741561}],"complexity_score":0.6503082624750124}
{"id":5721,"query_id":"Q01145","question":"A courier van needs to travel quickly between two paved streets. The vehicle requires smooth, hard surfaces to maintain high speed and stability, and cannot deviate onto unpaved or vegetated terrain. What is the fastest route?","agent_category":"Car","specific_agent":"a courier van","start_land_type":"a paved street","end_land_type":"another paved street","task_description":"What is the fastest route between the two paved streets?","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":"vegas_6.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":24,"start_point":[279,390],"end_point":[379,9],"distance":393.90481083632375},{"start_region_id":24,"end_region_id":25,"start_point":[379,9],"end_point":[279,390],"distance":393.90481083632375}],"complexity_score":0.6503082624750124}
{"id":12372,"query_id":"Q02475","question":"A hiker starts from a paved lane and needs to reach another paved lane. The hiker can traverse areas with hard, flat surfaces like sidewalks and parking lots, as well as grassy or shrub-covered ground, and can pass through wooded areas with trees. However, the hiker cannot cross water bodies or enter buildings. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved lane","end_land_type":"a paved lane","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":"vegas_6.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":24,"start_point":[279,390],"end_point":[379,9],"distance":393.90481083632375},{"start_region_id":24,"end_region_id":25,"start_point":[379,9],"end_point":[279,390],"distance":393.90481083632375}],"complexity_score":0.6503082624750124}
{"id":6149,"query_id":"Q01230","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation as quickly as possible. The drone can fly over open ground with loose soil or rocks, areas with low vegetation, all paved or compacted surfaces, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or structures, as these require careful navigation and slow down travel. 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":"area of natural, uncultivated 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":"little_rock_18.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":126,"end_region_id":40,"start_point":[709,61],"end_point":[121,939],"distance":1056.7062032561369},{"start_region_id":130,"end_region_id":38,"start_point":[73,406],"end_point":[899,914],"distance":969.7112972426381},{"start_region_id":127,"end_region_id":40,"start_point":[867,292],"end_point":[121,939],"distance":987.484177088423},{"start_region_id":126,"end_region_id":35,"start_point":[709,61],"end_point":[338,869],"distance":889.1034810414365},{"start_region_id":126,"end_region_id":38,"start_point":[709,61],"end_point":[899,914],"distance":873.9044570203313}],"complexity_score":0.6505515813871348}
{"id":6650,"query_id":"Q01330","question":"An aerial photography drone starts from a grassy, open field with low vegetation and needs to reach a paved, hard-surfaced lane while maintaining stable flight for clear image capture. The drone can fly over loose, sandy or rocky ground; grassy or shrub-covered areas; artificial flat surfaces like sidewalks, parking lots, or sports fields; vehicle lanes; liquid bodies; and cultivated crop fields. However, it cannot fly through dense vertical obstacles like trees or solid vertical structures like buildings, as these would obstruct its path and cause turbulence. The drone must prioritize surfaces that provide the smoothest, most vibration-free flight to ensure high-quality photography.","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 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":"little_rock_18.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":126,"start_point":[121,939],"end_point":[709,61],"distance":1056.7062032561369},{"start_region_id":38,"end_region_id":130,"start_point":[899,914],"end_point":[73,406],"distance":969.7112972426381},{"start_region_id":40,"end_region_id":127,"start_point":[121,939],"end_point":[867,292],"distance":987.484177088423},{"start_region_id":35,"end_region_id":126,"start_point":[338,869],"end_point":[709,61],"distance":889.1034810414365},{"start_region_id":38,"end_region_id":126,"start_point":[899,914],"end_point":[709,61],"distance":873.9044570203313}],"complexity_score":0.6505515813871348}
{"id":11183,"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":"little_rock_18.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":60,"start_point":[899,914],"end_point":[184,219],"distance":997.1208552627911},{"start_region_id":38,"end_region_id":71,"start_point":[899,914],"end_point":[172,381],"distance":901.4532711128181},{"start_region_id":37,"end_region_id":60,"start_point":[690,901],"end_point":[184,219],"distance":849.2113988872264},{"start_region_id":36,"end_region_id":60,"start_point":[507,885],"end_point":[184,219],"distance":740.1925425184991},{"start_region_id":37,"end_region_id":71,"start_point":[690,901],"end_point":[172,381],"distance":733.9782013111834}],"complexity_score":0.6505515813871348}
{"id":14552,"query_id":"Q02911","question":"A delivery drone starts from a paved road surface and needs to reach another paved road surface while prioritizing safety. The drone can fly over surfaces that minimize collision risks and environmental hazards. It is allowed to fly over open, dry ground with minimal obstacles, as well as over cultivated fields with low, uniform vegetation. However, the drone cannot fly over areas with dense tree canopies or near buildings where signal interference or physical collisions might occur, nor over liquid surfaces where a crash could be catastrophic, nor over any other vegetated or constructed areas not explicitly permitted. What is the safest 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 safest path for the delivery drone to travel from the starting paved road to the destination paved road?","task_type":"Safest","input_classes":["Bareland","Road","Agriculture land"],"traverse_vector":[1,0,0,1,0,0,1,0],"cost_vector":[1,0,0,1,0,0,1,0],"image_name":"dhaka_70.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":186,"start_point":[944,3],"end_point":[1013,218],"distance":225.80079716422614}],"complexity_score":0.6505536808959992}
{"id":2373,"query_id":"Q00475","question":"A person walking with a stroller starts from a paved sidewalk adjacent to a road and needs to reach another paved sidewalk adjacent to a road while prioritizing a smooth, comfortable journey. The stroller requires flat, hard surfaces to roll smoothly without jostling its occupant. While the person could potentially walk through cultivated fields, these have uneven soil that would make pushing the stroller difficult and uncomfortable. Similarly, walking through areas with trees involves navigating roots and uneven ground that would create a bumpy ride. The walker must use only paved artificial surfaces and designated pedestrian areas that provide the smoothest travel experience.","agent_category":"Pedestrian","specific_agent":"A person walking with a stroller","start_land_type":"paved sidewalk adjacent to a road","end_land_type":"another paved sidewalk adjacent to a road","task_description":"What is the most comfortable path for the person with the stroller 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":"tuscaloosa_10.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":122,"start_point":[538,507],"end_point":[43,330],"distance":525.693827241675},{"start_region_id":122,"end_region_id":117,"start_point":[43,330],"end_point":[538,507],"distance":525.693827241675},{"start_region_id":122,"end_region_id":119,"start_point":[43,330],"end_point":[404,309],"distance":361.6102874642811},{"start_region_id":119,"end_region_id":122,"start_point":[404,309],"end_point":[43,330],"distance":361.6102874642811},{"start_region_id":121,"end_region_id":122,"start_point":[368,353],"end_point":[43,330],"distance":325.8128297044179}],"complexity_score":0.6506598241911045}
{"id":16035,"query_id":"Q03207","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with branches and foliage and needs to reach another similar cluster as quickly as possible. The drone can fly over open areas with low vegetation, hard flat surfaces, liquid bodies, and cultivated fields. However, it must minimize time spent navigating through or around other dense vertical structures with branches and foliage, as they require careful maneuvering. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A dense cluster of tall, vertical structures with branches and foliage","end_land_type":"Another dense cluster of tall, vertical structures with branches and foliage","task_description":"What is the fastest path for the aerial survey drone to reach the destination cluster of tall vertical structures?","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":"tuscaloosa_10.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":162,"end_region_id":127,"start_point":[65,881],"end_point":[922,51],"distance":1193.0419104122034},{"start_region_id":127,"end_region_id":162,"start_point":[922,51],"end_point":[65,881],"distance":1193.0419104122034},{"start_region_id":127,"end_region_id":175,"start_point":[922,51],"end_point":[210,978],"distance":1168.8768113022004},{"start_region_id":175,"end_region_id":127,"start_point":[210,978],"end_point":[922,51],"distance":1168.8768113022004},{"start_region_id":162,"end_region_id":139,"start_point":[65,881],"end_point":[999,283],"distance":1109.035617101633}],"complexity_score":0.6506598241911045}
{"id":2285,"query_id":"Q00457","question":"A delivery drone starts from a concrete rooftop and needs to reach another concrete rooftop while prioritizing safety. The drone can fly over paved surfaces like roads and parking lots, which are open and predictable. The drone can fly over cultivated fields with crops, as the vegetation is low and does not pose a collision risk. The drone can fly over areas with trees, but must maintain a safe altitude to avoid branches. The drone can fly over liquid surfaces, but these are avoided due to risk of signal interference or splash damage. The drone can fly near solid vertical structures, but these are avoided due to collision risk and potential signal blockage.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a concrete rooftop","end_land_type":"a concrete rooftop","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":"san_tome_1.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":65,"start_point":[102,888],"end_point":[987,226],"distance":1105.2008867169804},{"start_region_id":65,"end_region_id":112,"start_point":[987,226],"end_point":[102,888],"distance":1105.2008867169804},{"start_region_id":112,"end_region_id":64,"start_point":[102,888],"end_point":[889,140],"distance":1085.7591814025798},{"start_region_id":64,"end_region_id":112,"start_point":[889,140],"end_point":[102,888],"distance":1085.7591814025798},{"start_region_id":122,"end_region_id":64,"start_point":[380,963],"end_point":[889,140],"distance":967.682799268438}],"complexity_score":0.6506933027569938}
{"id":6133,"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_1.tif","subfolder":"san_tome","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":18,"start_point":[286,836],"end_point":[899,423],"distance":739.1468054453053},{"start_region_id":140,"end_region_id":41,"start_point":[286,836],"end_point":[982,828],"distance":696.0459754929987},{"start_region_id":140,"end_region_id":19,"start_point":[286,836],"end_point":[644,453],"distance":524.2642463491097},{"start_region_id":138,"end_region_id":41,"start_point":[698,539],"end_point":[982,828],"distance":405.18761086686743},{"start_region_id":139,"end_region_id":19,"start_point":[828,776],"end_point":[644,453],"distance":371.7324306540929}],"complexity_score":0.6506933027569938}
{"id":1618,"query_id":"Q00324","question":"A quadcopter starts from a paved road and needs to reach a cultivated field. The drone can fly over the road, grassy areas, and the field, but must avoid collisions with trees and buildings, and should minimize flight over water for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Agriculture land","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":"aachen_13.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":256,"start_point":[824,347],"end_point":[123,601],"distance":745.5984173802946},{"start_region_id":138,"end_region_id":258,"start_point":[824,347],"end_point":[281,809],"distance":712.9467020752674},{"start_region_id":137,"end_region_id":257,"start_point":[341,567],"end_point":[903,690],"distance":575.302529109685},{"start_region_id":140,"end_region_id":256,"start_point":[499,955],"end_point":[123,601],"distance":516.4223078063146},{"start_region_id":139,"end_region_id":256,"start_point":[506,929],"end_point":[123,601],"distance":504.25489586121023}],"complexity_score":0.6506961469333608}
{"id":2143,"query_id":"Q00429","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with soft, loose soil. The drone can fly over liquid surfaces, but must avoid vertical obstacles like trees and buildings, and should prioritize terrains that minimize 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 area","end_land_type":"a cultivated field with soft, loose soil","task_description":"What is the safest path for the quadcopter drone to take from the paved, hard surface area to the 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":"aachen_13.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":257,"start_point":[165,140],"end_point":[903,690],"distance":920.4042590079644},{"start_region_id":92,"end_region_id":256,"start_point":[926,181],"end_point":[123,601],"distance":906.2058265096291},{"start_region_id":92,"end_region_id":258,"start_point":[926,181],"end_point":[281,809],"distance":900.2271935461625},{"start_region_id":100,"end_region_id":256,"start_point":[875,325],"end_point":[123,601],"distance":801.0493118404135},{"start_region_id":84,"end_region_id":257,"start_point":[345,126],"end_point":[903,690],"distance":793.3851523692639}],"complexity_score":0.6506961469333608}
{"id":6195,"query_id":"Q01239","question":"A farm vehicle 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 vehicle can drive on the firm surfaces without restriction, and the cultivated fields are accessible because the crops are harvested and the ground is dry and compacted enough to support vehicle weight. All other terrain types are not available for passage.","agent_category":"Car","specific_agent":"A farm vehicle","start_land_type":"a paved, hard-surfaced area","end_land_type":"another paved, hard-surfaced area","task_description":"What is the shortest path the farm vehicle 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":"aachen_13.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":134,"start_point":[926,181],"end_point":[495,942],"distance":874.5753255151897},{"start_region_id":134,"end_region_id":92,"start_point":[495,942],"end_point":[926,181],"distance":874.5753255151897},{"start_region_id":79,"end_region_id":134,"start_point":[165,140],"end_point":[495,942],"distance":867.2392980025755},{"start_region_id":134,"end_region_id":79,"start_point":[495,942],"end_point":[165,140],"distance":867.2392980025755},{"start_region_id":84,"end_region_id":134,"start_point":[345,126],"end_point":[495,942],"distance":829.6722244356503}],"complexity_score":0.6506961469333608}
{"id":6528,"query_id":"Q01306","question":"An aerial survey drone begins its mission on a paved surface and must return to another paved surface after completing its survey. The drone's primary concern is minimizing operational risk. It can fly over open, solid ground with minimal vegetation, hard artificial surfaces, liquid bodies, and cultivated fields. However, the drone must avoid areas with tall, dense vertical obstacles and solid vertical structures, as these present collision hazards. The drone's flight path should prioritize terrains that offer the most predictable flight conditions and lowest risk of interference or damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","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":"aachen_13.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":140,"end_region_id":138,"start_point":[499,955],"end_point":[824,347],"distance":689.4120683597002},{"start_region_id":138,"end_region_id":140,"start_point":[824,347],"end_point":[499,955],"distance":689.4120683597002},{"start_region_id":139,"end_region_id":138,"start_point":[506,929],"end_point":[824,347],"distance":663.2103738633767},{"start_region_id":138,"end_region_id":139,"start_point":[824,347],"end_point":[506,929],"distance":663.2103738633767},{"start_region_id":137,"end_region_id":138,"start_point":[341,567],"end_point":[824,347],"distance":530.7438176747798}],"complexity_score":0.6506961469333608}
{"id":4824,"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_62.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":256,"end_region_id":234,"start_point":[620,464],"end_point":[897,862],"distance":484.90514536350304},{"start_region_id":256,"end_region_id":230,"start_point":[620,464],"end_point":[973,726],"distance":439.6055049700811},{"start_region_id":256,"end_region_id":168,"start_point":[620,464],"end_point":[981,269],"distance":410.2998903241384},{"start_region_id":256,"end_region_id":137,"start_point":[620,464],"end_point":[431,144],"distance":371.6463372616499},{"start_region_id":256,"end_region_id":210,"start_point":[620,464],"end_point":[981,497],"distance":362.5051723768917}],"complexity_score":0.6507212846829591}
{"id":4851,"query_id":"Q00971","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, stable paved area. The drone can traverse hard, compacted surfaces, unpaved, loose soil and sand patches, cultivated fields with crops, and wooded areas with individual trees. The drone must avoid all liquid surfaces and vertical structures. What is the safest path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","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":"wielkopolskie_29.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":171,"end_region_id":91,"start_point":[472,504],"end_point":[73,56],"distance":599.9208281098432},{"start_region_id":171,"end_region_id":144,"start_point":[472,504],"end_point":[870,819],"distance":507.5716698161945},{"start_region_id":171,"end_region_id":92,"start_point":[472,504],"end_point":[201,239],"distance":379.03298009540015},{"start_region_id":171,"end_region_id":93,"start_point":[472,504],"end_point":[613,296],"distance":251.2866888635369},{"start_region_id":171,"end_region_id":133,"start_point":[472,504],"end_point":[767,664],"distance":335.5964838909967}],"complexity_score":0.6507905148800038}
{"id":8732,"query_id":"Q01747","question":"A quadcopter drone is launched from a paved, hard surface and needs to reach a grassy, vegetated area. The terrain includes loose, sandy ground; grassy, vegetated areas; paved, hard surfaces; vehicle lanes; and areas with tall, vertical obstacles. The drone can fly over tall obstacles by maintaining a safe altitude, but liquid surfaces are to be avoided due to spray risk, and solid structures are completely impassable. What is the most comfortable flight path to the destination?","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 most comfortable flight path to 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":"wielkopolskie_29.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":91,"end_region_id":83,"start_point":[73,56],"end_point":[979,972],"distance":1288.367959862399},{"start_region_id":91,"end_region_id":82,"start_point":[73,56],"end_point":[894,944],"distance":1209.3738049089702},{"start_region_id":149,"end_region_id":6,"start_point":[173,862],"end_point":[891,23],"distance":1104.2848364439312},{"start_region_id":136,"end_region_id":6,"start_point":[96,746],"end_point":[891,23],"distance":1074.5948073576385},{"start_region_id":92,"end_region_id":83,"start_point":[201,239],"end_point":[979,972],"distance":1068.9120637358342}],"complexity_score":0.6507905148800038}
{"id":13202,"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":"wielkopolskie_29.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":248,"end_region_id":91,"start_point":[923,971],"end_point":[73,56],"distance":1248.8895067218716},{"start_region_id":217,"end_region_id":91,"start_point":[909,669],"end_point":[73,56],"distance":1036.6605037330205},{"start_region_id":248,"end_region_id":92,"start_point":[923,971],"end_point":[201,239],"distance":1028.1575754717755},{"start_region_id":180,"end_region_id":149,"start_point":[839,108],"end_point":[173,862],"distance":1006.0178924850194},{"start_region_id":177,"end_region_id":144,"start_point":[201,85],"end_point":[870,819],"distance":993.1349354443232}],"complexity_score":0.6507905148800038}
{"id":3674,"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_3.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":238,"start_point":[453,503],"end_point":[957,196],"distance":590.139813942425},{"start_region_id":238,"end_region_id":236,"start_point":[957,196],"end_point":[453,503],"distance":590.139813942425}],"complexity_score":0.6508560134340835}
{"id":5494,"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_3.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":80,"start_point":[856,59],"end_point":[83,794],"distance":1066.6555207751},{"start_region_id":80,"end_region_id":3,"start_point":[83,794],"end_point":[856,59],"distance":1066.6555207751},{"start_region_id":1,"end_region_id":88,"start_point":[313,190],"end_point":[995,923],"distance":1001.205773055669},{"start_region_id":88,"end_region_id":1,"start_point":[995,923],"end_point":[313,190],"distance":1001.205773055669},{"start_region_id":88,"end_region_id":2,"start_point":[995,923],"end_point":[572,17],"distance":999.8824930960637}],"complexity_score":0.6508560134340835}
{"id":17048,"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_3.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":238,"start_point":[453,503],"end_point":[957,196],"distance":590.139813942425},{"start_region_id":238,"end_region_id":236,"start_point":[957,196],"end_point":[453,503],"distance":590.139813942425}],"complexity_score":0.6508560134340835}
{"id":731,"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_14.tif","subfolder":"wielkopolskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":91,"start_point":[36,996],"end_point":[948,680],"distance":965.1942809610923},{"start_region_id":91,"end_region_id":112,"start_point":[948,680],"end_point":[36,996],"distance":965.1942809610923},{"start_region_id":74,"end_region_id":112,"start_point":[577,233],"end_point":[36,996],"distance":935.334164884401},{"start_region_id":112,"end_region_id":74,"start_point":[36,996],"end_point":[577,233],"distance":935.334164884401},{"start_region_id":89,"end_region_id":112,"start_point":[620,356],"end_point":[36,996],"distance":866.4040627790246}],"complexity_score":0.6509457127039964}
{"id":4111,"query_id":"Q00823","question":"An aerial surveillance drone starts from a paved lane and needs to reach a tall, leafy canopy while prioritizing safety. The drone can fly over open sandy or rocky ground, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, liquid bodies, and cultivated fields, but must avoid vertical structures and dense vegetation clusters unless explicitly permitted. For this mission, flying near or through vertical structures and liquid areas is prohibited due to collision and signal interference risks, and dense vegetation is allowed only if it is sparse enough for safe navigation. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"a tall, leafy canopy","task_description":"What is the safest path for the aerial surveillance drone to take from the paved lane to the tall, leafy canopy?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,2,2,1,0,2,0],"image_name":"santiago_46.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":161,"start_point":[791,922],"end_point":[99,63],"distance":1103.0616483225224},{"start_region_id":135,"end_region_id":290,"start_point":[920,71],"end_point":[70,728],"distance":1074.313269023519},{"start_region_id":151,"end_region_id":198,"start_point":[791,922],"end_point":[69,275],"distance":969.4807888761902},{"start_region_id":151,"end_region_id":162,"start_point":[791,922],"end_point":[296,116],"distance":945.865212384936},{"start_region_id":135,"end_region_id":286,"start_point":[920,71],"end_point":[203,679],"distance":940.0813794560554}],"complexity_score":0.6509633384464161}
{"id":9792,"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_46.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":161,"start_point":[791,922],"end_point":[99,63],"distance":1103.0616483225224},{"start_region_id":135,"end_region_id":290,"start_point":[920,71],"end_point":[70,728],"distance":1074.313269023519},{"start_region_id":151,"end_region_id":198,"start_point":[791,922],"end_point":[69,275],"distance":969.4807888761902},{"start_region_id":151,"end_region_id":162,"start_point":[791,922],"end_point":[296,116],"distance":945.865212384936},{"start_region_id":135,"end_region_id":286,"start_point":[920,71],"end_point":[203,679],"distance":940.0813794560554}],"complexity_score":0.6509633384464161}
{"id":13147,"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_46.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":151,"start_point":[920,71],"end_point":[791,922],"distance":860.7217901273326},{"start_region_id":151,"end_region_id":135,"start_point":[791,922],"end_point":[920,71],"distance":860.7217901273326},{"start_region_id":134,"end_region_id":151,"start_point":[749,114],"end_point":[791,922],"distance":809.0908478038792},{"start_region_id":151,"end_region_id":134,"start_point":[791,922],"end_point":[749,114],"distance":809.0908478038792},{"start_region_id":133,"end_region_id":135,"start_point":[525,606],"end_point":[920,71],"distance":665.0187967268294}],"complexity_score":0.6509633384464161}
{"id":14247,"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_46.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":151,"start_point":[920,71],"end_point":[791,922],"distance":860.7217901273326},{"start_region_id":151,"end_region_id":135,"start_point":[791,922],"end_point":[920,71],"distance":860.7217901273326},{"start_region_id":134,"end_region_id":151,"start_point":[749,114],"end_point":[791,922],"distance":809.0908478038792},{"start_region_id":151,"end_region_id":134,"start_point":[791,922],"end_point":[749,114],"distance":809.0908478038792},{"start_region_id":133,"end_region_id":135,"start_point":[525,606],"end_point":[920,71],"distance":665.0187967268294}],"complexity_score":0.6509633384464161}
{"id":5982,"query_id":"Q01197","question":"A pedestrian starts from a paved, hard surface area such as a sidewalk or parking lot and needs to reach another paved, hard surface area such as a sidewalk or parking lot. The terrain consists only of hard, flat surfaces suitable for walking, including sidewalks, footpaths, and paved roads. 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":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved, hard surface area such as a sidewalk or parking lot","end_land_type":"another paved, hard surface area such as a sidewalk or parking lot","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":"aachen_32.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":157,"start_point":[940,160],"end_point":[69,822],"distance":1094.022394651956},{"start_region_id":157,"end_region_id":101,"start_point":[69,822],"end_point":[940,160],"distance":1094.022394651956},{"start_region_id":101,"end_region_id":172,"start_point":[940,160],"end_point":[169,936],"distance":1093.8999040131596},{"start_region_id":172,"end_region_id":101,"start_point":[169,936],"end_point":[940,160],"distance":1093.8999040131596},{"start_region_id":170,"end_region_id":105,"start_point":[808,902],"end_point":[181,166],"distance":966.8634857103665}],"complexity_score":0.651043695252204}
{"id":1154,"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_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":2892,"query_id":"Q00579","question":"An aerial surveillance drone starts from a patch of loose, rocky ground and needs to reach another patch of loose, rocky ground. The drone must avoid all vertical structures and dense vegetation that could cause collisions, and should stay away from liquid surfaces that could cause signal interference or corrosion. The drone can only traverse areas with exposed, solid ground surfaces. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"loose, rocky ground","end_land_type":"another patch of loose, rocky ground","task_description":"What is the safest path for the 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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":3121,"query_id":"Q00625","question":"A 4x4 off-road vehicle starts from a paved, hard surface and needs to reach a loose, sandy area. The vehicle requires a solid, drivable surface to move, and the sandy terrain is accessible due to its firm, compacted condition that provides enough traction for off-road travel. What is the shortest 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 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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":80,"end_region_id":7,"start_point":[789,82],"end_point":[103,927],"distance":1088.4029584671296},{"start_region_id":211,"end_region_id":1,"start_point":[114,666],"end_point":[957,38],"distance":1051.2054984635497},{"start_region_id":208,"end_region_id":1,"start_point":[60,580],"end_point":[957,38],"distance":1048.0329193303041},{"start_region_id":209,"end_region_id":1,"start_point":[77,606],"end_point":[957,38],"distance":1047.3891349446012},{"start_region_id":210,"end_region_id":1,"start_point":[99,638],"end_point":[957,38],"distance":1046.978509808105}],"complexity_score":0.6510895366815155}
{"id":3858,"query_id":"Q00772","question":"A hiker is standing in a vegetated area with tall, upright structures providing shade and cover. They need to reach an open expanse of loose, dry earth and scattered rocks. The hiker must avoid any liquid surfaces and any permanent, enclosed structures. They can traverse areas with loose soil and rocks, grassy or shrubby patches, hard artificial surfaces like sidewalks and parking lots, paved lanes for vehicles, cultivated fields with crops, and wooded areas, provided the vegetation is not too dense to pass through. The goal is to minimize risk during the journey.","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"a vegetated area with tall, upright structures providing shade and cover","end_land_type":"an open expanse of loose, dry earth and scattered rocks","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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":1,"start_point":[32,541],"end_point":[957,38],"distance":1052.9169008046172},{"start_region_id":266,"end_region_id":1,"start_point":[588,941],"end_point":[957,38],"distance":975.4844950074809},{"start_region_id":223,"end_region_id":7,"start_point":[342,56],"end_point":[103,927],"distance":903.1954384295793},{"start_region_id":241,"end_region_id":1,"start_point":[123,371],"end_point":[957,38],"distance":898.022828217635},{"start_region_id":244,"end_region_id":7,"start_point":[833,439],"end_point":[103,927],"distance":878.0911114457315}],"complexity_score":0.6510895366815155}
{"id":4250,"query_id":"Q00850","question":"An aerial drone starts from a patch of loose, sandy ground and needs to reach a tall, leafy canopy. The drone can fly over hard, flat surfaces like paved areas and lanes, as well as cultivated fields and open sandy terrain, but must avoid dense vertical obstacles like buildings and bodies of water. Which path allows the drone to travel as quickly as possible?","agent_category":"Drone","specific_agent":"Aerial drone","start_land_type":"loose, sandy ground","end_land_type":"a tall, leafy canopy","task_description":"Which path allows the drone to travel as quickly as possible?","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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":251,"start_point":[957,38],"end_point":[32,541],"distance":1052.9169008046172},{"start_region_id":1,"end_region_id":266,"start_point":[957,38],"end_point":[588,941],"distance":975.4844950074809},{"start_region_id":7,"end_region_id":223,"start_point":[103,927],"end_point":[342,56],"distance":903.1954384295793},{"start_region_id":7,"end_region_id":244,"start_point":[103,927],"end_point":[833,439],"distance":878.0911114457315},{"start_region_id":1,"end_region_id":233,"start_point":[957,38],"end_point":[136,233],"distance":843.8400322335982}],"complexity_score":0.6510895366815155}
{"id":6313,"query_id":"Q01263","question":"An aerial surveillance drone starts from a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The area includes surfaces that are hard and flat, such as paved areas and vehicle lanes, as well as soft, vegetated surfaces like grassy fields and cultivated plots, and liquid surfaces like ponds or streams. However, vertical obstacles like tall structures and dense tree canopies are impassable due to collision risk. Given that the drone must avoid any terrain that could cause instability, signal interference, or unexpected hazards, what is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A patch of loose, sandy ground","end_land_type":"Another patch of loose, sandy ground","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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":6571,"query_id":"Q01315","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a destination on loose, sandy or rocky ground without vegetation. The drone can fly over various surfaces including hard paved areas, loose sandy or rocky ground, grassy or shrub-covered areas, cultivated fields, and liquid bodies. However, it must avoid flying through dense vertical obstacles like tall trees or man-made structures. The drone's priority is to maintain a smooth and stable flight to protect its sensitive imaging equipment from vibrations and sudden movements.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"loose, sandy or rocky ground without 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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":73,"end_region_id":1,"start_point":[353,975],"end_point":[957,38],"distance":1114.8026731220193},{"start_region_id":60,"end_region_id":7,"start_point":[858,342],"end_point":[103,927],"distance":955.1177937825261},{"start_region_id":69,"end_region_id":1,"start_point":[469,854],"end_point":[957,38],"distance":950.789145920377},{"start_region_id":64,"end_region_id":1,"start_point":[398,699],"end_point":[957,38],"distance":865.680079475091},{"start_region_id":56,"end_region_id":7,"start_point":[408,148],"end_point":[103,927],"distance":836.5799423844682}],"complexity_score":0.6510895366815155}
{"id":7648,"query_id":"Q01530","question":"An aerial surveillance drone starts from a patch of loose, sandy ground, an aerial surveillance drone must complete a mission and return to a similar patch of loose, sandy ground. The drone can fly over open, solid surfaces like paved areas and vehicle lanes, as well as over calm, open water bodies and cultivated fields with low vegetation. However, it must avoid flying near tall, dense vegetation or vertical structures to minimize collision risk. The drone's primary objective is to minimize operational risk throughout its flight path.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to a similar patch of loose, sandy 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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":9747,"query_id":"Q01950","question":"An aerial surveillance drone starts from a patch of loose, sandy ground, an aerial surveillance drone must navigate back to a similar patch of loose, sandy ground. The drone can fly over areas with short vegetation, hard paved surfaces, tall vertical obstacles, liquid surfaces, and cultivated fields. The mission requires minimizing risk to the drone's operation. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to a similar patch of loose, sandy ground","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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":10734,"query_id":"Q02147","question":"A quadcopter starts from an expanse of loose, sandy terrain and needs to reach another expanse of similar loose, sandy terrain. You can traverse areas with loose, sandy terrain, as well as areas covered by low, soft vegetation, flat hard surfaces, dense vertical obstacles, and liquid surfaces. However, you must avoid any solid vertical structures. To maximize ride comfort, which path should you take?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"Which path maximizes comfort while traveling from the starting loose, sandy terrain to the destination loose, sandy terrain?","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_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[103,927],"end_point":[957,38],"distance":1232.7355758636968},{"start_region_id":1,"end_region_id":7,"start_point":[957,38],"end_point":[103,927],"distance":1232.7355758636968},{"start_region_id":5,"end_region_id":1,"start_point":[190,723],"end_point":[957,38],"distance":1028.3549970705642},{"start_region_id":1,"end_region_id":5,"start_point":[957,38],"end_point":[190,723],"distance":1028.3549970705642},{"start_region_id":2,"end_region_id":7,"start_point":[777,289],"end_point":[103,927],"distance":928.0732729693276}],"complexity_score":0.6510895366815155}
{"id":10999,"query_id":"Q02200","question":"A hiker begins on rocky, sandy terrain and aims to reach a paved street. The hiker can use sidewalks and parking areas, as well as cross through cultivated fields, grassy meadows, and open sandy patches, provided the ground is stable and not excessively soft. However, the hiker cannot swim across water bodies or enter buildings. What is the safest path to the street?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"rocky, sandy terrain","end_land_type":"paved street","task_description":"What is the safest path to the street?","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":"santiago_43.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":80,"start_point":[103,927],"end_point":[789,82],"distance":1088.4029584671296},{"start_region_id":1,"end_region_id":211,"start_point":[957,38],"end_point":[114,666],"distance":1051.2054984635497},{"start_region_id":1,"end_region_id":208,"start_point":[957,38],"end_point":[60,580],"distance":1048.0329193303041},{"start_region_id":1,"end_region_id":209,"start_point":[957,38],"end_point":[77,606],"distance":1047.3891349446012},{"start_region_id":1,"end_region_id":210,"start_point":[957,38],"end_point":[99,638],"distance":1046.978509808105}],"complexity_score":0.6510895366815155}
{"id":5677,"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":"oklahoma_42.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":214,"end_region_id":103,"start_point":[519,526],"end_point":[97,149],"distance":565.8736608113157},{"start_region_id":214,"end_region_id":177,"start_point":[519,526],"end_point":[116,870],"distance":529.8537534074851},{"start_region_id":214,"end_region_id":179,"start_point":[519,526],"end_point":[170,895],"distance":507.89959637707926},{"start_region_id":214,"end_region_id":104,"start_point":[519,526],"end_point":[406,70],"distance":469.79250739023075},{"start_region_id":214,"end_region_id":173,"start_point":[519,526],"end_point":[800,883],"distance":454.3236731670495}],"complexity_score":0.6511224767774634}
{"id":7496,"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":"oklahoma_42.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":281,"end_region_id":214,"start_point":[235,551],"end_point":[519,526],"distance":285.0982286861846}],"complexity_score":0.6511224767774634}
{"id":10522,"query_id":"Q02105","question":"A passenger vehicle starts from a field with low vegetation and soft ground and needs to reach a paved lane designed for vehicle traffic. The vehicle must avoid any areas with tall vegetation or trees that could obstruct movement or cause damage, and cannot cross any water bodies or structures. The terrain includes hard, stable surfaces suitable for driving, as well as open areas with firm soil that can support the vehicle's weight when dry. What is the safest path to reach the destination?","agent_category":"Car","specific_agent":"A passenger vehicle","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","Agriculture land"],"traverse_vector":[1,1,1,1,0,0,1,0],"cost_vector":[1,2,4,5,0,0,3,0],"image_name":"oklahoma_42.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":214,"start_point":[53,960],"end_point":[519,526],"distance":636.7982412036013},{"start_region_id":1,"end_region_id":214,"start_point":[56,97],"end_point":[519,526],"distance":631.1972750258036},{"start_region_id":89,"end_region_id":214,"start_point":[928,969],"end_point":[519,526],"distance":602.93449063725},{"start_region_id":84,"end_region_id":214,"start_point":[39,817],"end_point":[519,526],"distance":561.3207639131124},{"start_region_id":4,"end_region_id":214,"start_point":[356,41],"end_point":[519,526],"distance":511.6580889617597}],"complexity_score":0.6511224767774634}
{"id":12379,"query_id":"Q02476","question":"An off-road vehicle starts from a paved parking lot and needs to reach another paved parking lot across the region. The vehicle can drive on hard surfaces like roads and paved areas, and is equipped to handle soft, vegetated or cultivated terrain, but cannot go through dense trees, water, or buildings. The driver wants the most direct route.","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved parking lot","end_land_type":"a paved parking lot","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":"oklahoma_42.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":173,"end_region_id":103,"start_point":[800,883],"end_point":[97,149],"distance":1016.3488574303609},{"start_region_id":103,"end_region_id":173,"start_point":[97,149],"end_point":[800,883],"distance":1016.3488574303609},{"start_region_id":103,"end_region_id":174,"start_point":[97,149],"end_point":[709,869],"distance":944.9571418852814},{"start_region_id":174,"end_region_id":103,"start_point":[709,869],"end_point":[97,149],"distance":944.9571418852814},{"start_region_id":116,"end_region_id":177,"start_point":[921,417],"end_point":[116,870],"distance":923.7066633948247}],"complexity_score":0.6511224767774634}
{"id":14781,"query_id":"Q02957","question":"An aerial survey drone starts from a patch of grassy, uncultivated vegetation and needs to reach another patch of similar vegetation as quickly as possible. The drone can fly over open, solid ground with no vegetation, areas covered by low bushes and wild grass, hard, flat artificial surfaces, bodies of liquid, and cultivated crop fields. However, it must avoid flying through dense clusters of tall, vertical obstacles and cannot pass through solid, enclosed vertical structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A patch of grassy, uncultivated vegetation.","end_land_type":"Another patch of grassy, uncultivated vegetation.","task_description":"What is the fastest path for the aerial survey drone to reach the destination patch of grassy vegetation?","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_42.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":80,"start_point":[854,62],"end_point":[53,972],"distance":1212.3122535056716},{"start_region_id":80,"end_region_id":6,"start_point":[53,972],"end_point":[854,62],"distance":1212.3122535056716},{"start_region_id":23,"end_region_id":80,"start_point":[906,231],"end_point":[53,972],"distance":1129.9070758252644},{"start_region_id":80,"end_region_id":23,"start_point":[53,972],"end_point":[906,231],"distance":1129.9070758252644},{"start_region_id":15,"end_region_id":80,"start_point":[671,118],"end_point":[53,972],"distance":1054.1536889846755}],"complexity_score":0.6511548179574503}
{"id":129,"query_id":"Q00026","question":"A quadcopter drone is deployed from a cultivated field with loose soil and crop rows, needing to reach an exposed, dry ground area with no vegetation. The drone can fly over surfaces with loose soil, grassy or shrubby areas, liquid bodies, and cultivated plots, but must avoid tall vertical obstacles like trees and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field with loose soil and crop rows","end_land_type":"exposed, dry ground with no vegetation","task_description":"What is the shortest path for the drone to reach the exposed, dry ground?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":306,"end_region_id":3,"start_point":[428,519],"end_point":[650,459],"distance":229.9652147608416}],"complexity_score":0.6511727510240803}
{"id":6717,"query_id":"Q01344","question":"A delivery drone starts from an exposed, rocky surface and needs to reach a cluster of tall trees. The drone can fly over open ground, grassy areas, hard artificial surfaces, vehicle pathways, cultivated fields, and liquid surfaces without restriction. The drone can also navigate around vertical obstacles and structures if necessary. The drone must find the safest path to the destination.","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"exposed, rocky surface","end_land_type":"cluster of tall trees","task_description":"What is the safest route 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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":227,"start_point":[18,125],"end_point":[917,516],"distance":980.347897432335},{"start_region_id":2,"end_region_id":213,"start_point":[18,125],"end_point":[874,405],"distance":900.6308899876797},{"start_region_id":3,"end_region_id":163,"start_point":[650,459],"end_point":[74,49],"distance":707.0190945087693},{"start_region_id":3,"end_region_id":227,"start_point":[650,459],"end_point":[917,516],"distance":273.0164830188829},{"start_region_id":3,"end_region_id":213,"start_point":[650,459],"end_point":[874,405],"distance":230.41701326073994}],"complexity_score":0.6511727510240803}
{"id":7962,"query_id":"Q01593","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach a dry, open area of loose soil and rocks as quickly as possible. The drone can fly over any surface except dense tree canopies, which must be avoided due to navigation risks, and solid vertical structures, which are impassable. Smooth, hard surfaces and liquid areas are traversable without restriction. 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 dry, open area of loose soil and rocks","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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":3,"start_point":[30,693],"end_point":[650,459],"distance":662.6884637595557},{"start_region_id":308,"end_region_id":3,"start_point":[24,598],"end_point":[650,459],"distance":641.2464424852585},{"start_region_id":301,"end_region_id":2,"start_point":[589,97],"end_point":[18,125],"distance":571.6861026822324},{"start_region_id":306,"end_region_id":2,"start_point":[428,519],"end_point":[18,125],"distance":568.626415144425},{"start_region_id":309,"end_region_id":2,"start_point":[30,693],"end_point":[18,125],"distance":568.1267464219582}],"complexity_score":0.6511727510240803}
{"id":9456,"query_id":"Q01892","question":"An aerial survey drone starts from a dry, sandy area with loose soil and scattered rocks and needs to reach a cultivated field with rows of crops and soft, tilled earth. The drone can fly over open sandy expanses, paved lanes, liquid surfaces, and planted fields, but must avoid tall vertical obstacles like trees and structures. It cannot pass through solid vertical barriers. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks.","end_land_type":"The destination is a cultivated field with rows of crops and soft, tilled earth.","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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":309,"start_point":[650,459],"end_point":[30,693],"distance":662.6884637595557},{"start_region_id":3,"end_region_id":308,"start_point":[650,459],"end_point":[24,598],"distance":641.2464424852585},{"start_region_id":2,"end_region_id":301,"start_point":[18,125],"end_point":[589,97],"distance":571.6861026822324},{"start_region_id":2,"end_region_id":306,"start_point":[18,125],"end_point":[428,519],"distance":568.626415144425},{"start_region_id":2,"end_region_id":309,"start_point":[18,125],"end_point":[30,693],"distance":568.1267464219582}],"complexity_score":0.6511727510240803}
{"id":9896,"query_id":"Q01980","question":"An aerial surveillance drone is currently positioned over a cultivated field with low, uniform vegetation. It needs to reach an area of exposed, dry ground composed of sand and rocks. The drone must avoid any tall, dense vertical structures that could cause collisions. It can fly over liquid surfaces, but these are considered less safe due to potential signal interference and the risk of water damage if the drone were to malfunction. Similarly, while the drone can technically fly over artificial hard surfaces and grassy or shrubby areas, these are considered equally safe as the open, exposed ground. The primary objective is to minimize the risk of collision, signal loss, or environmental damage.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Agriculture land","end_land_type":"Bareland","task_description":"What is the safest path for the drone to take from the cultivated field to the exposed ground?","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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":3,"start_point":[30,693],"end_point":[650,459],"distance":662.6884637595557},{"start_region_id":308,"end_region_id":3,"start_point":[24,598],"end_point":[650,459],"distance":641.2464424852585},{"start_region_id":301,"end_region_id":2,"start_point":[589,97],"end_point":[18,125],"distance":571.6861026822324},{"start_region_id":306,"end_region_id":2,"start_point":[428,519],"end_point":[18,125],"distance":568.626415144425},{"start_region_id":309,"end_region_id":2,"start_point":[30,693],"end_point":[18,125],"distance":568.1267464219582}],"complexity_score":0.6511727510240803}
{"id":10917,"query_id":"Q02184","question":"A quadcopter takes off from a cultivated field with loose soil and must fly to an area of exposed, rocky ground. The drone can fly over hard surfaces, compacted tracks, grassy or shrub-covered terrain, loose earth, and cultivated areas, but must avoid dense vertical obstacles and solid structures. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field with loose soil","end_land_type":"exposed, 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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":309,"end_region_id":3,"start_point":[30,693],"end_point":[650,459],"distance":662.6884637595557},{"start_region_id":308,"end_region_id":3,"start_point":[24,598],"end_point":[650,459],"distance":641.2464424852585},{"start_region_id":301,"end_region_id":2,"start_point":[589,97],"end_point":[18,125],"distance":571.6861026822324},{"start_region_id":306,"end_region_id":2,"start_point":[428,519],"end_point":[18,125],"distance":568.626415144425},{"start_region_id":309,"end_region_id":2,"start_point":[30,693],"end_point":[18,125],"distance":568.1267464219582}],"complexity_score":0.6511727510240803}
{"id":15060,"query_id":"Q03012","question":"A delivery drone is flying over terrain where certain airspaces are considered safer than others. The journey begins from a dry, open area of sandy ground and needs to reach a cultivated agricultural plot. The drone can freely fly over open ground, vegetated areas, hard artificial surfaces, and paved lanes. It can also fly over cultivated fields and large water bodies. However, flying near trees or buildings is permitted only if absolutely necessary, as these pose collision risks and should be minimized for safety. The drone must avoid any paths that unnecessarily approach these vertical obstacles.","agent_category":"Drone","specific_agent":"A delivery drone","start_land_type":"Starting from a dry, open area of sandy ground","end_land_type":"and needing to reach a cultivated agricultural plot","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":"kyoto_3.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":309,"start_point":[650,459],"end_point":[30,693],"distance":662.6884637595557},{"start_region_id":3,"end_region_id":308,"start_point":[650,459],"end_point":[24,598],"distance":641.2464424852585},{"start_region_id":2,"end_region_id":301,"start_point":[18,125],"end_point":[589,97],"distance":571.6861026822324},{"start_region_id":2,"end_region_id":306,"start_point":[18,125],"end_point":[428,519],"distance":568.626415144425},{"start_region_id":2,"end_region_id":309,"start_point":[18,125],"end_point":[30,693],"distance":568.1267464219582}],"complexity_score":0.6511727510240803}
{"id":1548,"query_id":"Q00310","question":"An aerial surveillance drone starts from a flat, paved area and needs to reach another flat, paved area. The drone can fly over open liquid surfaces, and it is permitted to navigate around tall vertical obstacles if necessary. However, it must avoid any contact with solid vertical structures. The drone's primary concern is minimizing risk during flight.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A flat, paved area","end_land_type":"Another flat, paved area","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":"soriano_14.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":92,"start_point":[42,956],"end_point":[930,55],"distance":1265.0474299408697},{"start_region_id":92,"end_region_id":246,"start_point":[930,55],"end_point":[42,956],"distance":1265.0474299408697},{"start_region_id":89,"end_region_id":246,"start_point":[829,120],"end_point":[42,956],"distance":1148.157219199531},{"start_region_id":246,"end_region_id":89,"start_point":[42,956],"end_point":[829,120],"distance":1148.157219199531},{"start_region_id":122,"end_region_id":246,"start_point":[967,273],"end_point":[42,956],"distance":1149.832161665345}],"complexity_score":0.6511963505277514}
{"id":2790,"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":"soriano_14.tif","subfolder":"soriano","coordinate_format":"xy","start_end_pairs":[{"start_region_id":274,"end_region_id":274,"start_point":[10,811],"end_point":[986,414],"distance":1053.6531687419726}],"complexity_score":0.6511963505277514}
{"id":10603,"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_3.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":31,"start_point":[318,857],"end_point":[1001,144],"distance":987.3489757932603},{"start_region_id":31,"end_region_id":39,"start_point":[1001,144],"end_point":[318,857],"distance":987.3489757932603},{"start_region_id":39,"end_region_id":30,"start_point":[318,857],"end_point":[963,135],"distance":968.1471995518037},{"start_region_id":30,"end_region_id":39,"start_point":[963,135],"end_point":[318,857],"distance":968.1471995518037},{"start_region_id":40,"end_region_id":31,"start_point":[779,983],"end_point":[1001,144],"distance":867.8738387576849}],"complexity_score":0.6514077906079218}
{"id":12338,"query_id":"Q02468","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a grassy, open area as quickly as possible. The drone can fly over grassy fields, paved areas, vehicle lanes, and cultivated plots without restriction. However. The drone must avoid flying through dense vertical obstacles and solid 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 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":"joplin_3.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":1,"start_point":[779,983],"end_point":[31,132],"distance":1133.007060878263},{"start_region_id":31,"end_region_id":15,"start_point":[1001,144],"end_point":[76,622],"distance":1041.205551272178},{"start_region_id":40,"end_region_id":6,"start_point":[779,983],"end_point":[115,181],"distance":1041.2012293500234},{"start_region_id":30,"end_region_id":15,"start_point":[963,135],"end_point":[76,622],"distance":1011.8982162253277},{"start_region_id":31,"end_region_id":1,"start_point":[1001,144],"end_point":[31,132],"distance":970.0742239643315}],"complexity_score":0.6514077906079218}
{"id":16568,"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_3.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":92,"start_point":[515,315],"end_point":[58,958],"distance":788.8586692177503},{"start_region_id":42,"end_region_id":79,"start_point":[515,315],"end_point":[969,557],"distance":514.4706016868214},{"start_region_id":42,"end_region_id":66,"start_point":[515,315],"end_point":[996,403],"distance":488.9836398081228},{"start_region_id":42,"end_region_id":47,"start_point":[515,315],"end_point":[212,139],"distance":350.4069063246328}],"complexity_score":0.6514077906079218}
{"id":954,"query_id":"Q00191","question":"A quadcopter drone is currently in a grassy, vegetated area and needs to reach a paved lane. The drone can fly over most surfaces, but must avoid vertical structures and dense vegetation that could obstruct its flight path. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","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_47.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":265,"start_point":[828,970],"end_point":[64,38],"distance":1205.1224004224632},{"start_region_id":67,"end_region_id":265,"start_point":[910,797],"end_point":[64,38],"distance":1136.5724789911112},{"start_region_id":15,"end_region_id":270,"start_point":[947,228],"end_point":[13,798],"distance":1094.1919392867048},{"start_region_id":60,"end_region_id":265,"start_point":[959,667],"end_point":[64,38],"distance":1093.922300714269},{"start_region_id":78,"end_region_id":265,"start_point":[689,929],"end_point":[64,38],"distance":1088.3501274865548}],"complexity_score":0.6514090802168068}
{"id":3927,"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_47.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":87,"start_point":[111,101],"end_point":[828,970],"distance":1126.6099591251623},{"start_region_id":107,"end_region_id":67,"start_point":[111,101],"end_point":[910,797],"distance":1059.6305960097604},{"start_region_id":107,"end_region_id":60,"start_point":[111,101],"end_point":[959,667],"distance":1019.5391115597282},{"start_region_id":107,"end_region_id":78,"start_point":[111,101],"end_point":[689,929],"distance":1009.7861159671388},{"start_region_id":142,"end_region_id":88,"start_point":[843,311],"end_point":[118,983],"distance":988.5388206843472}],"complexity_score":0.6514090802168068}
{"id":5088,"query_id":"Q01018","question":"A commercial delivery drone is launching from a flat paved surface and needs to land on a flat paved roadway. The drone can fly over most terrain types, but must avoid areas with dense vertical obstacles like trees, as they pose collision risks and cause turbulence. It should also avoid liquid surfaces when possible, as flying low over them can create unstable air currents. The operator wants the smoothest, most vibration-free flight path possible. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"A commercial delivery drone","start_land_type":"flat paved surface","end_land_type":"flat paved roadway","task_description":"What is the most comfortable route for the drone?","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":"dhaka_47.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":142,"end_region_id":270,"start_point":[843,311],"end_point":[13,798],"distance":962.3247892473726},{"start_region_id":142,"end_region_id":265,"start_point":[843,311],"end_point":[64,38],"distance":825.4513916639792},{"start_region_id":123,"end_region_id":270,"start_point":[469,118],"end_point":[13,798],"distance":818.7404961280466},{"start_region_id":107,"end_region_id":270,"start_point":[111,101],"end_point":[13,798],"distance":703.8558090972895},{"start_region_id":168,"end_region_id":270,"start_point":[528,429],"end_point":[13,798],"distance":633.5503137083905}],"complexity_score":0.6514090802168068}
{"id":4340,"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_48.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":664,"end_region_id":127,"start_point":[71,955],"end_point":[551,70],"distance":1006.78945167299},{"start_region_id":673,"end_region_id":127,"start_point":[303,1004],"end_point":[551,70],"distance":966.3643205334105},{"start_region_id":638,"end_region_id":127,"start_point":[823,903],"end_point":[551,70],"distance":876.2836298824714},{"start_region_id":643,"end_region_id":127,"start_point":[295,802],"end_point":[551,70],"distance":775.4740485664237},{"start_region_id":664,"end_region_id":247,"start_point":[71,955],"end_point":[567,374],"distance":763.9221164490526}],"complexity_score":0.6514318251184612}
{"id":4750,"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_48.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":443,"end_region_id":476,"start_point":[611,381],"end_point":[473,754],"distance":397.70969311798274},{"start_region_id":476,"end_region_id":443,"start_point":[473,754],"end_point":[611,381],"distance":397.70969311798274},{"start_region_id":443,"end_region_id":472,"start_point":[611,381],"end_point":[506,612],"distance":253.74396544548603},{"start_region_id":472,"end_region_id":443,"start_point":[506,612],"end_point":[611,381],"distance":253.74396544548603}],"complexity_score":0.6514318251184612}
{"id":9536,"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_48.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":485,"end_region_id":58,"start_point":[653,991],"end_point":[92,570],"distance":701.4000285143992},{"start_region_id":485,"end_region_id":39,"start_point":[653,991],"end_point":[919,408],"distance":640.8158861950911},{"start_region_id":443,"end_region_id":86,"start_point":[611,381],"end_point":[332,955],"distance":638.2139139818247},{"start_region_id":476,"end_region_id":39,"start_point":[473,754],"end_point":[919,408],"distance":564.4749773019173},{"start_region_id":443,"end_region_id":58,"start_point":[611,381],"end_point":[92,570],"distance":552.3422851819332}],"complexity_score":0.6514318251184612}
{"id":2485,"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_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":3,"start_point":[775,917],"end_point":[132,289],"distance":898.795304838649},{"start_region_id":56,"end_region_id":1,"start_point":[775,917],"end_point":[444,150],"distance":835.374167663808},{"start_region_id":53,"end_region_id":3,"start_point":[732,705],"end_point":[132,289],"distance":730.1068414965032},{"start_region_id":52,"end_region_id":3,"start_point":[755,612],"end_point":[132,289],"distance":701.7535179819193},{"start_region_id":45,"end_region_id":2,"start_point":[187,745],"end_point":[709,354],"distance":652.2001226617487}],"complexity_score":0.651453613844027}
{"id":5210,"query_id":"Q01042","question":"A quadcopter drone starts from a sandy, rocky area and needs to reach another sandy, rocky area. The drone can fly over open, solid ground and cultivated fields with low vegetation, but must avoid dense tree canopies and buildings due to collision risks. Water surfaces are traversable but may cause discomfort due to wind turbulence and spray. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky terrain","end_land_type":"sandy, rocky terrain","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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":9,"start_point":[444,150],"end_point":[273,810],"distance":681.7924904250559},{"start_region_id":9,"end_region_id":1,"start_point":[273,810],"end_point":[444,150],"distance":681.7924904250559},{"start_region_id":2,"end_region_id":9,"start_point":[709,354],"end_point":[273,810],"distance":630.8977730187356},{"start_region_id":9,"end_region_id":2,"start_point":[273,810],"end_point":[709,354],"distance":630.8977730187356},{"start_region_id":1,"end_region_id":8,"start_point":[444,150],"end_point":[398,736],"distance":587.802687982966}],"complexity_score":0.651453613844027}
{"id":7358,"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_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":3,"start_point":[902,898],"end_point":[132,289],"distance":981.723484490414},{"start_region_id":69,"end_region_id":3,"start_point":[933,842],"end_point":[132,289],"distance":973.3498857040053},{"start_region_id":73,"end_region_id":3,"start_point":[719,969],"end_point":[132,289],"distance":898.3145328892325},{"start_region_id":70,"end_region_id":1,"start_point":[902,898],"end_point":[444,150],"distance":877.0792438542825},{"start_region_id":73,"end_region_id":1,"start_point":[719,969],"end_point":[444,150],"distance":863.9363402473588}],"complexity_score":0.651453613844027}
{"id":9225,"query_id":"Q01845","question":"A quadcopter drone starts from a patch of loose, sandy ground, a quadcopter drone must travel to another area of similar loose, sandy ground. The drone can fly over hard, paved surfaces, liquid bodies, and cultivated fields, but must avoid dense vegetation and vertical structures. Which path allows the drone to reach the destination as quickly as possible?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to reach another area of similar loose, sandy ground","task_description":"Which path allows the drone to reach the destination as quickly as possible?","task_type":"Fastest","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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":9,"start_point":[444,150],"end_point":[273,810],"distance":681.7924904250559},{"start_region_id":9,"end_region_id":1,"start_point":[273,810],"end_point":[444,150],"distance":681.7924904250559},{"start_region_id":2,"end_region_id":9,"start_point":[709,354],"end_point":[273,810],"distance":630.8977730187356},{"start_region_id":9,"end_region_id":2,"start_point":[273,810],"end_point":[709,354],"distance":630.8977730187356},{"start_region_id":1,"end_region_id":8,"start_point":[444,150],"end_point":[398,736],"distance":587.802687982966}],"complexity_score":0.651453613844027}
{"id":10287,"query_id":"Q02058","question":"An off-road vehicle is on a rocky, sandy surface and needs to get to a grassy, shrubby field. It can use paved areas like parking lots and roads, but must avoid trees, water, and buildings. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Bareland","end_land_type":"Rangeland","task_description":"What is the shortest path from the rocky, sandy surface to the grassy, shrubby field?","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_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":27,"start_point":[132,289],"end_point":[770,779],"distance":804.4526089211222},{"start_region_id":3,"end_region_id":21,"start_point":[132,289],"end_point":[900,419],"distance":778.9249001026992},{"start_region_id":9,"end_region_id":21,"start_point":[273,810],"end_point":[900,419],"distance":738.9248946949886},{"start_region_id":9,"end_region_id":11,"start_point":[273,810],"end_point":[247,80],"distance":730.4628669549193},{"start_region_id":1,"end_region_id":31,"start_point":[444,150],"end_point":[500,852],"distance":704.230076040494}],"complexity_score":0.651453613844027}
{"id":11382,"query_id":"Q02277","question":"A quadcopter drone is hovering above loose, sandy ground and needs to fly to a grassy field. The environment consists of loose sandy areas, grassy fields, and cultivated crop fields. The drone can fly over these terrains but must avoid any tall vertical structures and liquid surfaces. What is the shortest flight path to the grassy field?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"loose, sandy ground","end_land_type":"grassy field","task_description":"What is the shortest flight path to the grassy field?","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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":20,"start_point":[709,354],"end_point":[111,382],"distance":598.6551595033656},{"start_region_id":7,"end_region_id":21,"start_point":[391,592],"end_point":[900,419],"distance":537.5965029648165},{"start_region_id":2,"end_region_id":19,"start_point":[709,354],"end_point":[253,396],"distance":457.93012567421243},{"start_region_id":2,"end_region_id":27,"start_point":[709,354],"end_point":[770,779],"distance":429.35533069941033},{"start_region_id":7,"end_region_id":27,"start_point":[391,592],"end_point":[770,779],"distance":422.62276322980995}],"complexity_score":0.651453613844027}
{"id":11408,"query_id":"Q02282","question":"A SUV starts from a grassy, uneven field with scattered shrubs and needs to reach a destination on a flat, hard-packed surface of loose earth and rocks. The vehicle requires a smooth, stable ride with minimal vibration. While paved surfaces like asphalt or concrete are available, they are currently blocked due to construction barriers. Similarly, cultivated fields with crops are fenced off and inaccessible. You must find a route that prioritizes ride comfort.","agent_category":"Car","specific_agent":"SUV","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the most comfortable path to reach the destination?","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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":2,"start_point":[111,382],"end_point":[709,354],"distance":598.6551595033656},{"start_region_id":21,"end_region_id":7,"start_point":[900,419],"end_point":[391,592],"distance":537.5965029648165},{"start_region_id":19,"end_region_id":2,"start_point":[253,396],"end_point":[709,354],"distance":457.93012567421243},{"start_region_id":27,"end_region_id":2,"start_point":[770,779],"end_point":[709,354],"distance":429.35533069941033},{"start_region_id":27,"end_region_id":7,"start_point":[770,779],"end_point":[391,592],"distance":422.62276322980995}],"complexity_score":0.651453613844027}
{"id":17484,"query_id":"Q03497","question":"A quadcopter drone is conducting a survey mission. Starting from a patch of loose, dry earth and scattered rocks, it needs to reach a tall, leafy structure with branches extending outward. The drone can fly over open ground covered with sparse grass or low shrubs, paved lanes used by vehicles, cultivated fields with organized rows of crops, and the tall leafy structures themselves, though these require careful navigation between branches. However, the drone cannot fly over liquid surfaces or enter enclosed man-made structures. What is the fastest route for the drone to complete its mission?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a patch of loose, dry earth and scattered rocks","end_land_type":"and needs to reach a tall, leafy structure with branches extending outward.","task_description":"What is the fastest route for the drone to complete its mission?","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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":131,"start_point":[132,289],"end_point":[966,624],"distance":898.7663767631719},{"start_region_id":3,"end_region_id":149,"start_point":[132,289],"end_point":[822,822],"distance":871.8881809039506},{"start_region_id":3,"end_region_id":86,"start_point":[132,289],"end_point":[929,370],"distance":801.1054861876805},{"start_region_id":1,"end_region_id":156,"start_point":[444,150],"end_point":[545,936],"distance":792.4626174148532},{"start_region_id":9,"end_region_id":86,"start_point":[273,810],"end_point":[929,370],"distance":789.8961957118163}],"complexity_score":0.651453613844027}
{"id":17748,"query_id":"Q03550","question":"An aerial survey drone begins its mission on loose, sandy ground and needs to reach a paved lane. The drone can fly over open, vegetation-free terrain, grassy or shrub-covered areas, hard artificial surfaces, and cultivated fields. However, it must avoid flying directly through dense tree canopies or near vertical structures to minimize collision risk. 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":"paved 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":"tyrolw_8.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":70,"start_point":[132,289],"end_point":[902,898],"distance":981.723484490414},{"start_region_id":3,"end_region_id":69,"start_point":[132,289],"end_point":[933,842],"distance":973.3498857040053},{"start_region_id":3,"end_region_id":73,"start_point":[132,289],"end_point":[719,969],"distance":898.3145328892325},{"start_region_id":1,"end_region_id":70,"start_point":[444,150],"end_point":[902,898],"distance":877.0792438542825},{"start_region_id":1,"end_region_id":73,"start_point":[444,150],"end_point":[719,969],"distance":863.9363402473588}],"complexity_score":0.651453613844027}
{"id":260,"query_id":"Q00052","question":"A quadcopter drone is flying from a cultivated field with low crops to a grassy, shrub-covered area. The drone can traverse most surfaces by air, but for safety, it must avoid tall vertical obstacles like trees and buildings that could cause collisions. The path should prioritize open areas with minimal risk of interference or damage. What is the safest route for the drone to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with low crops","end_land_type":"A grassy, shrub-covered 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":"les_cayes_51.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":593,"end_region_id":6,"start_point":[105,931],"end_point":[959,117],"distance":1179.7932022180837},{"start_region_id":593,"end_region_id":37,"start_point":[105,931],"end_point":[952,244],"distance":1090.5860809674768},{"start_region_id":592,"end_region_id":6,"start_point":[70,724],"end_point":[959,117],"distance":1076.4617968139883},{"start_region_id":593,"end_region_id":23,"start_point":[105,931],"end_point":[867,169],"distance":1077.6307345282985},{"start_region_id":574,"end_region_id":234,"start_point":[782,107],"end_point":[66,836],"distance":1021.8106478208181}],"complexity_score":0.651519013262456}
{"id":13605,"query_id":"Q02721","question":"A quadcopter drone is hovering above a cultivated field with soft, tilled soil. It needs to fly to a paved area with a hard, flat surface. The allowed surfaces are loose, dry earth without vegetation; cultivated fields with soft, uneven soil; and paved areas with hard, smooth surfaces. All other surface types are prohibited or blocked. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest flight path to the destination?","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":"les_cayes_51.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":571,"end_region_id":276,"start_point":[45,37],"end_point":[224,210],"distance":248.93774322107123}],"complexity_score":0.651519013262456}
{"id":17764,"query_id":"Q03553","question":"A quadcopter drone is starting 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 areas with low vegetation like grass and shrubs, paved lanes used by vehicles, liquid surfaces, and cultivated fields, but must avoid tall vertical obstacles like trees and solid 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":"Another cultivated field with rows of crops","task_description":"What is the fastest path for the drone to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Water","Agriculture land"],"traverse_vector":[0,1,0,1,0,1,1,0],"cost_vector":[0,1,0,1,0,1,1,0],"image_name":"les_cayes_51.tif","subfolder":"les_cayes","coordinate_format":"xy","start_end_pairs":[{"start_region_id":593,"end_region_id":574,"start_point":[105,931],"end_point":[782,107],"distance":1066.4450290568193},{"start_region_id":574,"end_region_id":593,"start_point":[782,107],"end_point":[105,931],"distance":1066.4450290568193},{"start_region_id":572,"end_region_id":594,"start_point":[269,96],"end_point":[742,952],"distance":977.9902862503287},{"start_region_id":594,"end_region_id":572,"start_point":[742,952],"end_point":[269,96],"distance":977.9902862503287},{"start_region_id":574,"end_region_id":592,"start_point":[782,107],"end_point":[70,724],"distance":942.1427704971259}],"complexity_score":0.651519013262456}
{"id":1496,"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_14.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":41,"start_point":[159,616],"end_point":[162,7],"distance":609.0073891177348}],"complexity_score":0.6515593211348449}
{"id":3043,"query_id":"Q00609","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface across a stretch of rough, loose ground composed of sand and rocks. The hiker is allowed to walk on the paved surfaces and the rough ground. 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 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":"vegas_14.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":38,"start_point":[520,84],"end_point":[82,603],"distance":679.1207550944088},{"start_region_id":38,"end_region_id":32,"start_point":[82,603],"end_point":[520,84],"distance":679.1207550944088},{"start_region_id":37,"end_region_id":31,"start_point":[434,497],"end_point":[93,81],"distance":537.9005484287965},{"start_region_id":31,"end_region_id":37,"start_point":[93,81],"end_point":[434,497],"distance":537.9005484287965},{"start_region_id":31,"end_region_id":38,"start_point":[93,81],"end_point":[82,603],"distance":522.1158875192365}],"complexity_score":0.6515593211348449}
{"id":10507,"query_id":"Q02102","question":"A quadcopter drone is hovering over a grassy, uneven field and needs to reach a paved, flat area. The drone can fly over most surfaces, including soft soil, low vegetation, hard pavements, and roads, but flying through dense tree canopies or close to buildings is risky and should be avoided unless necessary. The drone prioritizes smooth, open airspace for stable flight. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a paved, flat 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":"vegas_14.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":38,"start_point":[457,16],"end_point":[82,603],"distance":696.5586838163745},{"start_region_id":22,"end_region_id":31,"start_point":[588,397],"end_point":[93,81],"distance":587.2656979596203},{"start_region_id":26,"end_region_id":32,"start_point":[207,602],"end_point":[520,84],"distance":605.221447075366},{"start_region_id":3,"end_region_id":38,"start_point":[290,71],"end_point":[82,603],"distance":571.2162462675585},{"start_region_id":26,"end_region_id":31,"start_point":[207,602],"end_point":[93,81],"distance":533.3263541210016}],"complexity_score":0.6515593211348449}
{"id":12392,"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_14.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":26,"start_point":[457,16],"end_point":[207,602],"distance":637.0996782293961},{"start_region_id":26,"end_region_id":2,"start_point":[207,602],"end_point":[457,16],"distance":637.0996782293961},{"start_region_id":19,"end_region_id":2,"start_point":[67,438],"end_point":[457,16],"distance":574.6163937793631},{"start_region_id":2,"end_region_id":19,"start_point":[457,16],"end_point":[67,438],"distance":574.6163937793631},{"start_region_id":26,"end_region_id":3,"start_point":[207,602],"end_point":[290,71],"distance":537.4476718714111}],"complexity_score":0.6515593211348449}
{"id":646,"query_id":"Q00130","question":"An aerial surveillance drone is starting from a paved lane and needs to reach another paved lane. The drone must avoid any surfaces that could cause instability or signal interference, such as dense vegetation or vertical structures, and should also steer clear of liquid areas to prevent moisture damage. The drone can fly over hard surfaces, soft ground, and cultivated fields, but must prioritize safety by minimizing risks from obstacles and environmental hazards. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"aerial surveillance drone","start_land_type":"paved lane","end_land_type":"paved 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":"daressalaam_76.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":328,"end_region_id":330,"start_point":[751,602],"end_point":[109,960],"distance":735.070064687714},{"start_region_id":330,"end_region_id":328,"start_point":[109,960],"end_point":[751,602],"distance":735.070064687714},{"start_region_id":323,"end_region_id":330,"start_point":[361,273],"end_point":[109,960],"distance":731.7602066250938},{"start_region_id":330,"end_region_id":323,"start_point":[109,960],"end_point":[361,273],"distance":731.7602066250938},{"start_region_id":323,"end_region_id":328,"start_point":[361,273],"end_point":[751,602],"distance":510.23621980412173}],"complexity_score":0.6515957627909411}
{"id":13181,"query_id":"Q02637","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; grassy or shrub-covered areas; other paved or compacted surfaces; liquid bodies; and cultivated fields with low vegetation. However, it must avoid densely packed vertical obstacles like tall structures or thick tree canopies, as these could obstruct its flight path. What is the shortest 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":"What is the shortest route for the quadcopter drone to travel 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":"daressalaam_76.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":328,"end_region_id":330,"start_point":[751,602],"end_point":[109,960],"distance":735.070064687714},{"start_region_id":330,"end_region_id":328,"start_point":[109,960],"end_point":[751,602],"distance":735.070064687714},{"start_region_id":323,"end_region_id":330,"start_point":[361,273],"end_point":[109,960],"distance":731.7602066250938},{"start_region_id":330,"end_region_id":323,"start_point":[109,960],"end_point":[361,273],"distance":731.7602066250938},{"start_region_id":323,"end_region_id":328,"start_point":[361,273],"end_point":[751,602],"distance":510.23621980412173}],"complexity_score":0.6515957627909411}
{"id":17442,"query_id":"Q03489","question":"An aerial survey drone is positioned on a paved, hard surface and needs to reach a grassy, open field. The drone can fly over various surfaces, including loose, sandy ground; grassy or shrubby areas; paved lanes; areas with tall, vertical obstacles; and liquid bodies. However, it must avoid flying directly through dense clusters of tall, vertical obstacles as they pose a collision risk and would force the drone to slow down significantly for navigation. The goal is to complete the survey mission as quickly as possible. What is the fastest path to the destination?","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 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":"daressalaam_76.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":323,"end_region_id":43,"start_point":[361,273],"end_point":[801,906],"distance":770.901420416385},{"start_region_id":328,"end_region_id":18,"start_point":[751,602],"end_point":[74,374],"distance":714.3619530742101},{"start_region_id":328,"end_region_id":34,"start_point":[751,602],"end_point":[85,631],"distance":666.6310823836525},{"start_region_id":330,"end_region_id":43,"start_point":[109,960],"end_point":[801,906],"distance":694.1037386443038},{"start_region_id":330,"end_region_id":17,"start_point":[109,960],"end_point":[209,286],"distance":681.3780154950701}],"complexity_score":0.6515957627909411}
{"id":986,"query_id":"Q00198","question":"An off-road vehicle starts from a grassy, uneven field with scattered shrubs and needs to reach a cultivated field with rows of crops and soft, tilled soil. The vehicle can traverse grassy areas and cultivated fields, as its high clearance and all-terrain tires allow it to handle uneven and soft ground safely. The vehicle can also use paved or hard-packed surfaces like parking lots or construction sites if available, as they provide better stability. However, the vehicle must avoid any areas with trees, water, or structures, as these pose significant hazards. The goal is to find the safest path, prioritizing surfaces that minimize the risk of rollovers, getting stuck, or loss of control.","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a grassy, uneven field with scattered shrubs","end_land_type":"a cultivated field with rows of crops and soft, tilled soil","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":"abancay_7.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":292,"start_point":[991,806],"end_point":[290,102],"distance":993.487292319333},{"start_region_id":58,"end_region_id":292,"start_point":[818,809],"end_point":[290,102],"distance":882.4018359001753},{"start_region_id":35,"end_region_id":292,"start_point":[952,541],"end_point":[290,102],"distance":794.3330535738771},{"start_region_id":62,"end_region_id":292,"start_point":[513,863],"end_point":[290,102],"distance":793.0006305167733},{"start_region_id":61,"end_region_id":292,"start_point":[207,886],"end_point":[290,102],"distance":788.3812529480898}],"complexity_score":0.6515965736763596}
{"id":3376,"query_id":"Q00676","question":"A quadcopter drone starts from a cultivated field with soft, uneven soil and needs to reach a smooth, paved landing pad. The drone requires a path that prioritizes flight comfort, avoiding turbulent or obstructed airspace. Only the following surfaces are available for overflight: loose, dry earth (bare soil), hard, flat paved surfaces (like sidewalks or parking lots), vehicle lanes (streets or roads), and cultivated fields (with crops or tilled soil). The path must not include any areas with trees, water bodies, buildings, or dense natural vegetation like shrubs or grass.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Agriculture land","end_land_type":"Developed space","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":"abancay_7.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":294,"end_region_id":99,"start_point":[791,467],"end_point":[96,470],"distance":695.0064747899835},{"start_region_id":294,"end_region_id":124,"start_point":[791,467],"end_point":[179,798],"distance":695.77654458885},{"start_region_id":294,"end_region_id":108,"start_point":[791,467],"end_point":[171,662],"distance":649.9423051317709},{"start_region_id":294,"end_region_id":82,"start_point":[791,467],"end_point":[345,265],"distance":489.61209135396155},{"start_region_id":295,"end_region_id":99,"start_point":[541,572],"end_point":[96,470],"distance":456.5402501423067}],"complexity_score":0.6515965736763596}
{"id":7129,"query_id":"Q01426","question":"A quadcopter drone is positioned in a cultivated field with soft, tilled soil and crop rows. It needs to reach a paved area with a hard, flat surface. The drone can fly over liquid surfaces like rivers or lakes, but cannot fly through dense vertical obstacles like tall trees or buildings. 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":"abancay_7.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":137,"start_point":[290,102],"end_point":[38,986],"distance":919.217058153296},{"start_region_id":294,"end_region_id":137,"start_point":[791,467],"end_point":[38,986],"distance":914.5326675411874},{"start_region_id":292,"end_region_id":119,"start_point":[290,102],"end_point":[716,906],"distance":909.8857071083158},{"start_region_id":292,"end_region_id":136,"start_point":[290,102],"end_point":[211,973],"distance":874.5753255151897},{"start_region_id":294,"end_region_id":130,"start_point":[791,467],"end_point":[77,887],"distance":828.3694827792729}],"complexity_score":0.6515965736763596}
{"id":17183,"query_id":"Q03437","question":"A quadcopter drone starts from a grassy, open field with scattered low vegetation and needs to reach another similar grassy, open field with scattered low vegetation. The drone can fly over areas with hard, flat surfaces like paved lots or sidewalks, and it can also cross over liquid surfaces such as rivers or ponds. However, it must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. What is the shortest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation.","end_land_type":"The destination is another similar grassy, open field with scattered 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":"abancay_7.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":1,"start_point":[991,806],"end_point":[171,33],"distance":1126.911265362096},{"start_region_id":1,"end_region_id":57,"start_point":[171,33],"end_point":[991,806],"distance":1126.911265362096},{"start_region_id":15,"end_region_id":57,"start_point":[81,223],"end_point":[991,806],"distance":1080.7353977732014},{"start_region_id":57,"end_region_id":15,"start_point":[991,806],"end_point":[81,223],"distance":1080.7353977732014},{"start_region_id":1,"end_region_id":58,"start_point":[171,33],"end_point":[818,809],"distance":1010.3390520018515}],"complexity_score":0.6515965736763596}
{"id":398,"query_id":"Q00080","question":"A quadcopter drone starts from a cultivated field with soft, tilled soil and needs to reach a grassy shrubland area. The terrain includes loose, sandy or rocky ground without vegetation, areas with natural herbaceous cover or bushes, patches of tall vegetation with distinct vertical structures, and cultivated plots. You must avoid any hard, paved surfaces, vehicle lanes, liquid bodies, and man-made structures. The drone can fly over most surfaces but must avoid collisions with tall vertical obstacles and structures to ensure safety. Given the need to minimize risk of crashes or interference, what is the safest path to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy shrubland","task_description":"What is the safest path from the cultivated field to the grassy shrubland?","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":"duesseldorf_49.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":28,"start_point":[138,183],"end_point":[171,387],"distance":206.65188119153427}],"complexity_score":0.6516446227433078}
{"id":4791,"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":"duesseldorf_49.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":205,"start_point":[138,183],"end_point":[889,831],"distance":991.9198556335083},{"start_region_id":343,"end_region_id":182,"start_point":[940,200],"end_point":[193,828],"distance":975.906245496974},{"start_region_id":356,"end_region_id":130,"start_point":[165,957],"end_point":[671,155],"distance":948.2826582828561},{"start_region_id":341,"end_region_id":209,"start_point":[138,183],"end_point":[735,899],"distance":932.2365579615508},{"start_region_id":354,"end_region_id":130,"start_point":[58,797],"end_point":[671,155],"distance":887.6559017997909}],"complexity_score":0.6516446227433078}
{"id":9131,"query_id":"Q01827","question":"An agricultural monitoring drone starts from a paved road surface and needs to reach a cultivated field area. The drone can fly over paved surfaces, compacted dirt areas, grassy fields, and cultivated land. However, it must avoid flying through dense vegetation clusters and cannot pass through solid vertical structures. The operator wants to minimize flight time by prioritizing surfaces that allow faster and more direct flight paths.","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest path for the agricultural monitoring drone to reach the cultivated field area?","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":"duesseldorf_49.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":341,"start_point":[565,581],"end_point":[138,183],"distance":583.7233933979346},{"start_region_id":232,"end_region_id":354,"start_point":[565,581],"end_point":[58,797],"distance":551.094365785026},{"start_region_id":232,"end_region_id":356,"start_point":[565,581],"end_point":[165,957],"distance":548.9772308575284},{"start_region_id":232,"end_region_id":343,"start_point":[565,581],"end_point":[940,200],"distance":534.5895621876656},{"start_region_id":232,"end_region_id":351,"start_point":[565,581],"end_point":[961,644],"distance":400.98004937901834}],"complexity_score":0.6516446227433078}
{"id":13969,"query_id":"Q02794","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone can fly over bare, sandy or rocky ground without vegetation, and cultivated fields are accessible because the crops are low. However, grassy or shrub-covered areas are avoided due to potential signal interference, roads are restricted due to air traffic regulations, water bodies are avoided due to risk of splash damage, trees are too dense to navigate safely, and buildings are avoided due to collision risk. What is the safest 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 area with a hard, flat surface","task_description":"What is the safest path?","task_type":"Safest","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":"duesseldorf_49.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":341,"end_region_id":120,"start_point":[138,183],"end_point":[372,623],"distance":498.3532883407112},{"start_region_id":341,"end_region_id":167,"start_point":[138,183],"end_point":[481,464],"distance":443.4072620063862}],"complexity_score":0.6516446227433078}
{"id":2973,"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_51.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":13,"start_point":[279,254],"end_point":[472,558],"distance":360.0902664610639},{"start_region_id":13,"end_region_id":6,"start_point":[472,558],"end_point":[279,254],"distance":360.0902664610639}],"complexity_score":0.6516586645460757}
{"id":5681,"query_id":"Q01137","question":"An aerial surveillance drone starts from a densely vegetated area with tall, leafy structures and needs to reach a flat, hard, and open surface. The drone can fly over most surfaces, but navigating through dense vegetation requires careful maneuvering to avoid collisions. The flat, hard surface is clear and stable, providing a safe landing zone. What is the safest path to take?","agent_category":"Drone","specific_agent":"Aerial surveillance 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 safest path 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_51.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":20,"start_point":[573,106],"end_point":[213,462],"distance":506.2963559023509},{"start_region_id":65,"end_region_id":18,"start_point":[93,500],"end_point":[473,264],"distance":447.3209138862166},{"start_region_id":63,"end_region_id":18,"start_point":[115,414],"end_point":[473,264],"distance":388.1546083714581},{"start_region_id":46,"end_region_id":20,"start_point":[487,190],"end_point":[213,462],"distance":386.0828926538963},{"start_region_id":66,"end_region_id":18,"start_point":[243,550],"end_point":[473,264],"distance":367.00953666083393}],"complexity_score":0.6516586645460757}
{"id":15354,"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":"paris_51.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":20,"end_region_id":38,"start_point":[213,462],"end_point":[573,106],"distance":506.2963559023509},{"start_region_id":18,"end_region_id":65,"start_point":[473,264],"end_point":[93,500],"distance":447.3209138862166},{"start_region_id":18,"end_region_id":63,"start_point":[473,264],"end_point":[115,414],"distance":388.1546083714581},{"start_region_id":20,"end_region_id":46,"start_point":[213,462],"end_point":[487,190],"distance":386.0828926538963},{"start_region_id":18,"end_region_id":66,"start_point":[473,264],"end_point":[243,550],"distance":367.00953666083393}],"complexity_score":0.6516586645460757}
{"id":12985,"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_72.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":321,"end_region_id":316,"start_point":[86,832],"end_point":[915,49],"distance":1140.3201304896797},{"start_region_id":316,"end_region_id":321,"start_point":[915,49],"end_point":[86,832],"distance":1140.3201304896797},{"start_region_id":321,"end_region_id":317,"start_point":[86,832],"end_point":[785,73],"distance":1031.8342890212555},{"start_region_id":317,"end_region_id":321,"start_point":[785,73],"end_point":[86,832],"distance":1031.8342890212555},{"start_region_id":321,"end_region_id":318,"start_point":[86,832],"end_point":[560,334],"distance":687.5172725102984}],"complexity_score":0.6516753374780291}
{"id":17660,"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_72.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":316,"end_region_id":70,"start_point":[915,49],"end_point":[158,814],"distance":1076.2313877600857},{"start_region_id":321,"end_region_id":31,"start_point":[86,832],"end_point":[966,328],"distance":1014.108475460096},{"start_region_id":316,"end_region_id":78,"start_point":[915,49],"end_point":[290,846],"distance":1012.8346360586214},{"start_region_id":316,"end_region_id":58,"start_point":[915,49],"end_point":[140,691],"distance":1006.3741848835352},{"start_region_id":317,"end_region_id":70,"start_point":[785,73],"end_point":[158,814],"distance":970.6750228578048}],"complexity_score":0.6516753374780291}
{"id":1528,"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":"pointenoire_6.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":23,"end_region_id":6,"start_point":[968,402],"end_point":[994,35],"distance":367.9198282234868},{"start_region_id":6,"end_region_id":23,"start_point":[994,35],"end_point":[968,402],"distance":367.9198282234868},{"start_region_id":13,"end_region_id":23,"start_point":[938,192],"end_point":[968,402],"distance":212.13203435596427},{"start_region_id":23,"end_region_id":13,"start_point":[968,402],"end_point":[938,192],"distance":212.13203435596427}],"complexity_score":0.6516758318607995}
{"id":2844,"query_id":"Q00569","question":"A quadcopter drone is positioned on a flat paved area and needs to reach a paved lane as quickly as possible. The drone can fly over various surfaces including bare ground, hard paved areas, and cultivated fields, but must avoid dense vegetation and vertical structures to maintain speed. It can also traverse liquid bodies if necessary. What is the fastest path for the quadcopter drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat paved area","end_land_type":"a paved lane","task_description":"What is the fastest path for the quadcopter 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":"pointenoire_6.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":223,"end_region_id":265,"start_point":[96,978],"end_point":[907,126],"distance":1176.2759030091538},{"start_region_id":51,"end_region_id":268,"start_point":[938,76],"end_point":[129,875],"distance":1137.0496910865418},{"start_region_id":191,"end_region_id":265,"start_point":[45,838],"end_point":[907,126],"distance":1118.028622173869},{"start_region_id":241,"end_region_id":265,"start_point":[286,981],"end_point":[907,126],"distance":1056.7241835029613},{"start_region_id":148,"end_region_id":265,"start_point":[129,756],"end_point":[907,126],"distance":1001.091404418198}],"complexity_score":0.6516758318607995}
{"id":7446,"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":"pointenoire_6.tif","subfolder":"pointenoire","coordinate_format":"xy","start_end_pairs":[{"start_region_id":268,"end_region_id":276,"start_point":[129,875],"end_point":[774,49],"distance":1047.9985687013127},{"start_region_id":268,"end_region_id":349,"start_point":[129,875],"end_point":[988,336],"distance":1014.1015728219733},{"start_region_id":264,"end_region_id":276,"start_point":[450,531],"end_point":[774,49],"distance":580.7753438292641},{"start_region_id":264,"end_region_id":349,"start_point":[450,531],"end_point":[988,336],"distance":572.2490716462544},{"start_region_id":265,"end_region_id":349,"start_point":[907,126],"end_point":[988,336],"distance":225.07998578283232}],"complexity_score":0.6516758318607995}
{"id":2023,"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_51.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":61,"start_point":[920,298],"end_point":[19,952],"distance":1113.335978040771},{"start_region_id":61,"end_region_id":6,"start_point":[19,952],"end_point":[920,298],"distance":1113.335978040771},{"start_region_id":61,"end_region_id":12,"start_point":[19,952],"end_point":[804,215],"distance":1076.751596237498},{"start_region_id":12,"end_region_id":61,"start_point":[804,215],"end_point":[19,952],"distance":1076.751596237498},{"start_region_id":25,"end_region_id":61,"start_point":[979,515],"end_point":[19,952],"distance":1054.7838641162464}],"complexity_score":0.6517560647902251}
{"id":6875,"query_id":"Q01375","question":"An aerial survey drone starts from a grassy, open field with scattered low vegetation and needs to reach a flat, hard, artificial surface as quickly as possible. The drone can fly over most terrain types, including loose sandy or rocky ground, grassy or shrubby areas, all artificial hard surfaces, cultivated fields with crops, and open water bodies. However, it must avoid densely packed vertical obstacles like tall vegetation clusters. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A grassy, open field with scattered low vegetation","end_land_type":"A flat, hard, artificial surface","task_description":"What is the fastest path for the aerial survey drone to reach the flat, hard, artificial surface from the grassy, open 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":"tonga_51.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":76,"start_point":[19,952],"end_point":[866,269],"distance":1088.0707697571881},{"start_region_id":6,"end_region_id":159,"start_point":[920,298],"end_point":[87,962],"distance":1065.2628783544465},{"start_region_id":12,"end_region_id":159,"start_point":[804,215],"end_point":[87,962],"distance":1035.4216532408427},{"start_region_id":3,"end_region_id":159,"start_point":[542,62],"end_point":[87,962],"distance":1008.4765738479006},{"start_region_id":61,"end_region_id":75,"start_point":[19,952],"end_point":[650,170],"distance":1004.8308315333483}],"complexity_score":0.6517560647902251}
{"id":1061,"query_id":"Q00213","question":"A hiker starts from an area of natural, uneven grassy terrain and needs to reach a cultivated field with soft, tilled soil. The path must avoid any liquid surfaces or vertical structures, and you can only travel on surfaces that are either natural grassy terrain, hard paved surfaces, or cultivated fields. The hard paved surfaces are available for use, but the natural grassy terrain and cultivated fields are traversable only because the ground is dry and firm enough to walk on without sinking. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"Rangeland","end_land_type":"Agriculture land","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":[0,1,4,3,0,0,2,0],"image_name":"ngaoundere_12.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":703,"start_point":[254,974],"end_point":[734,15],"distance":1072.4182952561002},{"start_region_id":107,"end_region_id":707,"start_point":[254,974],"end_point":[714,84],"distance":1001.8482919085104},{"start_region_id":4,"end_region_id":731,"start_point":[689,127],"end_point":[444,985],"distance":892.2942339833874},{"start_region_id":4,"end_region_id":732,"start_point":[689,127],"end_point":[648,1000],"distance":873.9622417473195},{"start_region_id":93,"end_region_id":703,"start_point":[689,908],"end_point":[734,15],"distance":894.1330997116704}],"complexity_score":0.6517798553310546}
{"id":12515,"query_id":"Q02503","question":"An off-road vehicle is positioned in a cultivated field with soft, tilled soil and must get to a paved, hard-surfaced area as quickly as possible. The vehicle can use vehicle lanes, paved surfaces, grassy or shrub-covered areas, and cultivated fields, but cannot go through wooded areas, water bodies, or structures. The grassy or shrub-covered areas are flat and dry, and the cultivated fields are passable because the crops are short and the ground is firm. 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, hard-surfaced 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":"ngaoundere_12.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":703,"end_region_id":429,"start_point":[734,15],"end_point":[143,959],"distance":1113.7400953543874},{"start_region_id":732,"end_region_id":128,"start_point":[648,1000],"end_point":[55,154],"distance":1033.1335828439612},{"start_region_id":707,"end_region_id":429,"start_point":[714,84],"end_point":[143,959],"distance":1044.8282155455029},{"start_region_id":732,"end_region_id":167,"start_point":[648,1000],"end_point":[52,252],"distance":956.4099539423457},{"start_region_id":729,"end_region_id":128,"start_point":[681,861],"end_point":[55,154],"distance":944.3119188064927}],"complexity_score":0.6517798553310546}
{"id":14834,"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_12.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":704,"end_region_id":732,"start_point":[891,481],"end_point":[648,1000],"distance":573.0706762695156},{"start_region_id":732,"end_region_id":704,"start_point":[648,1000],"end_point":[891,481],"distance":573.0706762695156},{"start_region_id":704,"end_region_id":729,"start_point":[891,481],"end_point":[681,861],"distance":434.1658669218482},{"start_region_id":729,"end_region_id":704,"start_point":[681,861],"end_point":[891,481],"distance":434.1658669218482},{"start_region_id":723,"end_region_id":732,"start_point":[734,690],"end_point":[648,1000],"distance":321.70794208412076}],"complexity_score":0.6517798553310546}
{"id":959,"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_62.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":3,"start_point":[162,600],"end_point":[956,105],"distance":935.6607291107177},{"start_region_id":50,"end_region_id":2,"start_point":[162,600],"end_point":[744,19],"distance":822.3654905210943},{"start_region_id":50,"end_region_id":8,"start_point":[162,600],"end_point":[836,137],"distance":817.7071602963986},{"start_region_id":50,"end_region_id":11,"start_point":[162,600],"end_point":[831,208],"distance":775.3870001489579},{"start_region_id":50,"end_region_id":1,"start_point":[162,600],"end_point":[461,35],"distance":639.2386095973866}],"complexity_score":0.6521077402579776}
{"id":3907,"query_id":"Q00782","question":"A hiker starts from a paved road surface and needs to reach a grassy field while prioritizing safety. The terrain includes areas of loose soil and rocks, hard artificial surfaces like sidewalks and parking lots, cultivated crop fields, and wooded areas with individual trees. The hiker can traverse grassy areas and cultivated fields as long as the vegetation is not too dense, and can cross loose soil and rocky areas if they are stable enough to walk on without slipping. Wooded areas can be entered if there are clear paths between trees. However, all water bodies and buildings are completely impassable obstacles that must be avoided. What is the safest path?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved road surface","end_land_type":"grassy field","task_description":"What is the safest path for the hiker to take from the paved road surface to the grassy field?","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_62.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":3,"start_point":[162,600],"end_point":[956,105],"distance":935.6607291107177},{"start_region_id":50,"end_region_id":17,"start_point":[162,600],"end_point":[1000,704],"distance":844.4288010246927},{"start_region_id":50,"end_region_id":2,"start_point":[162,600],"end_point":[744,19],"distance":822.3654905210943},{"start_region_id":50,"end_region_id":8,"start_point":[162,600],"end_point":[836,137],"distance":817.7071602963986},{"start_region_id":50,"end_region_id":11,"start_point":[162,600],"end_point":[831,208],"distance":775.3870001489579}],"complexity_score":0.6521077402579776}
{"id":5098,"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_62.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":50,"start_point":[544,173],"end_point":[162,600],"distance":572.9336785353083},{"start_region_id":50,"end_region_id":49,"start_point":[162,600],"end_point":[544,173],"distance":572.9336785353083}],"complexity_score":0.6521077402579776}
{"id":8578,"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_62.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":49,"end_region_id":109,"start_point":[544,173],"end_point":[129,962],"distance":891.4852775004196},{"start_region_id":50,"end_region_id":61,"start_point":[162,600],"end_point":[835,85],"distance":847.4396733691432},{"start_region_id":50,"end_region_id":59,"start_point":[162,600],"end_point":[731,79],"distance":771.4933570679659},{"start_region_id":50,"end_region_id":68,"start_point":[162,600],"end_point":[901,607],"distance":739.0331521657198},{"start_region_id":50,"end_region_id":54,"start_point":[162,600],"end_point":[618,22],"distance":736.2200757925581}],"complexity_score":0.6521077402579776}
{"id":13012,"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_62.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":47,"start_point":[359,44],"end_point":[558,965],"distance":942.2536813406462},{"start_region_id":47,"end_region_id":24,"start_point":[558,965],"end_point":[359,44],"distance":942.2536813406462},{"start_region_id":24,"end_region_id":46,"start_point":[359,44],"end_point":[326,940],"distance":896.6074949497132},{"start_region_id":46,"end_region_id":24,"start_point":[326,940],"end_point":[359,44],"distance":896.6074949497132},{"start_region_id":24,"end_region_id":38,"start_point":[359,44],"end_point":[214,835],"distance":804.180328035945}],"complexity_score":0.6521077402579776}
{"id":1227,"query_id":"Q00246","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a grassy meadow. The terrain includes soft grassy areas, loose cultivated soil, and paved lanes. You can traverse the grassy areas and the cultivated soil because they are dry and firm enough for walking, but the paved lanes are blocked due to ongoing maintenance. What is the fastest path to the grassy meadow?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the fastest path to the grassy meadow?","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":"muenster_3.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":172,"end_region_id":3,"start_point":[227,306],"end_point":[434,184],"distance":240.2769235694514},{"start_region_id":173,"end_region_id":17,"start_point":[272,761],"end_point":[480,567],"distance":284.42925306655786}],"complexity_score":0.6521384870122808}
{"id":2962,"query_id":"Q00593","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 hiker 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":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, shrub-covered ground","end_land_type":"grassy, shrub-covered ground","task_description":"What is the shortest path the hiker 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":"muenster_3.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":20,"start_point":[434,184],"end_point":[271,456],"distance":317.10093030453254},{"start_region_id":20,"end_region_id":3,"start_point":[271,456],"end_point":[434,184],"distance":317.10093030453254}],"complexity_score":0.6521384870122808}
{"id":346,"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_43.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":240,"end_region_id":212,"start_point":[972,386],"end_point":[240,874],"distance":879.7545112132134},{"start_region_id":243,"end_region_id":157,"start_point":[854,886],"end_point":[979,101],"distance":794.8899294870957},{"start_region_id":241,"end_region_id":212,"start_point":[952,564],"end_point":[240,874],"distance":776.5590769542263},{"start_region_id":240,"end_region_id":198,"start_point":[972,386],"end_point":[293,720],"distance":756.7013942104244},{"start_region_id":240,"end_region_id":218,"start_point":[972,386],"end_point":[437,907],"distance":746.7703797018197}],"complexity_score":0.6521500343166953}
{"id":4723,"query_id":"Q00945","question":"An agricultural drone starts from flat paved ground and needs to reach cultivated terrain. The drone can fly over paved surfaces, vehicle lanes, cultivated terrain, and open ground, but must avoid dense vegetation clusters and structures. What is the shortest path?","agent_category":"Drone","specific_agent":"An agricultural drone","start_land_type":"flat paved ground","end_land_type":"cultivated terrain","task_description":"What is the shortest path from the flat paved ground to the cultivated terrain?","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":"sechura_43.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":243,"start_point":[57,30],"end_point":[854,886],"distance":1169.5918091368458},{"start_region_id":32,"end_region_id":242,"start_point":[57,30],"end_point":[926,702],"distance":1098.5194581799633},{"start_region_id":32,"end_region_id":241,"start_point":[57,30],"end_point":[952,564],"distance":1042.2000767606958},{"start_region_id":33,"end_region_id":243,"start_point":[263,56],"end_point":[854,886],"distance":1018.9116742878158},{"start_region_id":32,"end_region_id":240,"start_point":[57,30],"end_point":[972,386],"distance":981.8151557192423}],"complexity_score":0.6521500343166953}
{"id":7598,"query_id":"Q01520","question":"A quadcopter drone starts from a paved surface adjacent to a water body and needs to reach a cultivated field with soft, tilled soil. The drone can fly over most surfaces, but liquid areas may cause discomfort due to spray or turbulence, and vertical obstacles like trees or buildings are blocked. The objective is to find the most comfortable path.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A paved surface adjacent to a water body","end_land_type":"A cultivated field with soft, tilled soil","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":"sechura_43.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":243,"start_point":[424,400],"end_point":[854,886],"distance":648.9191012753439},{"start_region_id":144,"end_region_id":242,"start_point":[424,400],"end_point":[926,702],"distance":585.8395684827033},{"start_region_id":144,"end_region_id":241,"start_point":[424,400],"end_point":[952,564],"distance":552.8833511691232},{"start_region_id":144,"end_region_id":240,"start_point":[424,400],"end_point":[972,386],"distance":548.1788029466298}],"complexity_score":0.6521500343166953}
{"id":8157,"query_id":"Q01632","question":"A farm truck is currently in a cultivated field with loose, plowed soil and needs to reach a paved lane. The truck can traverse the field because it has high clearance and off-road tires suitable for soft, uneven ground. However, the paved lane is the only other traversable surface available, as all other terrain types—such as water bodies, vertical structures, dense vegetation, and natural sandy or rocky areas—are either physically impassable or blocked for this vehicle. What is the fastest path for the farm truck to take?","agent_category":"Car","specific_agent":"a farm truck","start_land_type":"a cultivated field with loose, plowed soil","end_land_type":"a paved lane","task_description":"What is the fastest path for the farm truck 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":"sechura_43.tif","subfolder":"sechura","coordinate_format":"xy","start_end_pairs":[{"start_region_id":243,"end_region_id":144,"start_point":[854,886],"end_point":[424,400],"distance":648.9191012753439},{"start_region_id":242,"end_region_id":144,"start_point":[926,702],"end_point":[424,400],"distance":585.8395684827033}],"complexity_score":0.6521500343166953}
{"id":3052,"query_id":"Q00611","question":"A quadcopter drone starts from a paved road surface and needs to reach a cultivated crop field. The drone can fly over most surfaces, but trees and buildings are avoided due to collision risks, and water is less preferred for safety. Loose sand or rocky ground are not allowed due to potential landing hazards. What is the safest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved road surface","end_land_type":"cultivated crop field","task_description":"What is the safest path?","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":"chisinau_50.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":248,"start_point":[893,619],"end_point":[417,907],"distance":556.3452165697122},{"start_region_id":159,"end_region_id":248,"start_point":[145,430],"end_point":[417,907],"distance":549.1019941686608},{"start_region_id":160,"end_region_id":249,"start_point":[89,580],"end_point":[101,904],"distance":324.2221460665511},{"start_region_id":177,"end_region_id":248,"start_point":[643,936],"end_point":[417,907],"distance":227.85302280198084}],"complexity_score":0.6521587832948132}
{"id":5343,"query_id":"Q01069","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vertical obstacles. The drone can fly over liquid surfaces and paved lanes, but must navigate carefully around vertical structures. Which path allows the drone to reach the wooded area most quickly?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","task_description":"Which path allows the drone to reach the wooded area most quickly?","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_50.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":249,"end_region_id":181,"start_point":[101,904],"end_point":[948,89],"distance":1175.4292832833457},{"start_region_id":248,"end_region_id":181,"start_point":[417,907],"end_point":[948,89],"distance":975.235868905569},{"start_region_id":249,"end_region_id":186,"start_point":[101,904],"end_point":[466,104],"distance":879.3321329281672},{"start_region_id":249,"end_region_id":218,"start_point":[101,904],"end_point":[893,696],"distance":818.8577410026726},{"start_region_id":249,"end_region_id":196,"start_point":[101,904],"end_point":[655,314],"distance":809.330587584579}],"complexity_score":0.6521587832948132}
{"id":6980,"query_id":"Q01396","question":"An aerial surveillance drone starts from a flat, cultivated field with short vegetation and needs to reach a flat, hard-surfaced area. The drone must avoid any tall, dense vegetation or vertical structures that could cause collisions. Open water bodies are accessible but present a risk if the drone malfunctions. The terrain includes expanses of loose, sandy soil; areas covered with low, wild grasses and shrubs; and hard, compacted surfaces used for vehicle movement. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Agriculture land","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":"chisinau_50.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":248,"end_region_id":108,"start_point":[417,907],"end_point":[107,150],"distance":818.015281030862},{"start_region_id":248,"end_region_id":109,"start_point":[417,907],"end_point":[285,212],"distance":707.4242008865684},{"start_region_id":248,"end_region_id":111,"start_point":[417,907],"end_point":[667,334],"distance":625.16317869817},{"start_region_id":248,"end_region_id":117,"start_point":[417,907],"end_point":[966,666],"distance":599.5681779414248},{"start_region_id":248,"end_region_id":116,"start_point":[417,907],"end_point":[882,527],"distance":600.5206074732157}],"complexity_score":0.6521587832948132}
{"id":12488,"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":"chisinau_50.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":248,"end_region_id":108,"start_point":[417,907],"end_point":[107,150],"distance":818.015281030862},{"start_region_id":248,"end_region_id":109,"start_point":[417,907],"end_point":[285,212],"distance":707.4242008865684},{"start_region_id":248,"end_region_id":111,"start_point":[417,907],"end_point":[667,334],"distance":625.16317869817},{"start_region_id":248,"end_region_id":117,"start_point":[417,907],"end_point":[966,666],"distance":599.5681779414248},{"start_region_id":248,"end_region_id":116,"start_point":[417,907],"end_point":[882,527],"distance":600.5206074732157}],"complexity_score":0.6521587832948132}
{"id":14965,"query_id":"Q02993","question":"A surveillance drone is launched from a cultivated field and needs to reach a paved area. The environment includes loose, sandy ground; grassy and shrub-covered areas; hard, flat surfaces; areas with tall vegetation; and cultivated soil. The drone must avoid collisions with vertical structures and minimize flight over liquid surfaces due to sensor interference. The tall vegetation has sufficient clearance between canopies for safe drone passage, and vertical structures are marked as no-fly zones. What is the safest flight path?","agent_category":"Drone","specific_agent":"A surveillance drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest flight path?","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":"chisinau_50.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":249,"end_region_id":117,"start_point":[101,904],"end_point":[966,666],"distance":897.144915830213},{"start_region_id":249,"end_region_id":116,"start_point":[101,904],"end_point":[882,527],"distance":867.2312263750655},{"start_region_id":248,"end_region_id":108,"start_point":[417,907],"end_point":[107,150],"distance":818.015281030862},{"start_region_id":249,"end_region_id":111,"start_point":[101,904],"end_point":[667,334],"distance":803.278283037703},{"start_region_id":249,"end_region_id":108,"start_point":[101,904],"end_point":[107,150],"distance":754.0238723011361}],"complexity_score":0.6521587832948132}
{"id":8403,"query_id":"Q01681","question":"A quadcopter drone is starting from a paved, hard surface and needs to reach a grassy, vegetated area as quickly as possible. The drone can fly over open sandy or rocky ground, grassy or shrubby terrain, all paved surfaces including roads and parking lots, and water bodies. However, it must avoid flying through dense tree canopies or close to building structures to maintain speed and stability. What is the fastest path?","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 path?","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":"oklahoma_46.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":2,"start_point":[722,980],"end_point":[280,68],"distance":1013.4633688496097},{"start_region_id":108,"end_region_id":72,"start_point":[289,49],"end_point":[688,904],"distance":943.5178853630704},{"start_region_id":218,"end_region_id":21,"start_point":[14,865],"end_point":[710,232],"distance":940.8001913265111},{"start_region_id":110,"end_region_id":64,"start_point":[657,47],"end_point":[124,815],"distance":934.8331401913392},{"start_region_id":255,"end_region_id":39,"start_point":[722,980],"end_point":[137,293],"distance":902.3269917275001}],"complexity_score":0.6521641623270196}
{"id":12916,"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":"oklahoma_46.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":218,"start_point":[657,47],"end_point":[14,865],"distance":1040.4676833040035},{"start_region_id":218,"end_region_id":110,"start_point":[14,865],"end_point":[657,47],"distance":1040.4676833040035},{"start_region_id":255,"end_region_id":108,"start_point":[722,980],"end_point":[289,49],"distance":1026.7667700115737},{"start_region_id":108,"end_region_id":255,"start_point":[289,49],"end_point":[722,980],"distance":1026.7667700115737},{"start_region_id":255,"end_region_id":122,"start_point":[722,980],"end_point":[183,194],"distance":953.0566614845101}],"complexity_score":0.6521641623270196}
{"id":14652,"query_id":"Q02931","question":"A hiker starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The hiker can traverse areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields with crops, and wooded areas with trees, as these surfaces are dry and stable enough for safe foot travel. However, the hiker cannot cross any liquid surfaces or enter any structures. What is the safest 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 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":[2,3,6,5,1,0,4,0],"image_name":"oklahoma_46.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":218,"start_point":[657,47],"end_point":[14,865],"distance":1040.4676833040035},{"start_region_id":218,"end_region_id":110,"start_point":[14,865],"end_point":[657,47],"distance":1040.4676833040035},{"start_region_id":255,"end_region_id":108,"start_point":[722,980],"end_point":[289,49],"distance":1026.7667700115737},{"start_region_id":108,"end_region_id":255,"start_point":[289,49],"end_point":[722,980],"distance":1026.7667700115737},{"start_region_id":255,"end_region_id":122,"start_point":[722,980],"end_point":[183,194],"distance":953.0566614845101}],"complexity_score":0.6521641623270196}
{"id":3018,"query_id":"Q00604","question":"A family SUV is starting from a paved, hard-surfaced area and needs to reach a cultivated field with crops. The vehicle can only travel on surfaces that provide stable traction and predictable handling to minimize risk. It cannot travel on surfaces covered by loose sand or rocks, nor on areas with tall grass or shrubs. It also cannot travel on surfaces covered by water, through dense vegetation that could obstruct the vehicle, or into any structures. What is the safest path for the SUV to take?","agent_category":"Car","specific_agent":"A family SUV","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 SUV to take?","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":"muenster_27.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":144,"end_region_id":429,"start_point":[882,140],"end_point":[861,961],"distance":821.2685309933652},{"start_region_id":182,"end_region_id":429,"start_point":[140,688],"end_point":[861,961],"distance":770.9539545264685},{"start_region_id":153,"end_region_id":429,"start_point":[481,284],"end_point":[861,961],"distance":776.3562326664223},{"start_region_id":222,"end_region_id":429,"start_point":[93,922],"end_point":[861,961],"distance":768.9895968086954},{"start_region_id":163,"end_region_id":429,"start_point":[307,501],"end_point":[861,961],"distance":720.0805510496725}],"complexity_score":0.6522205749175379}
{"id":5399,"query_id":"Q01080","question":"A quadcopter drone is positioned in a cultivated field with soft, tilled soil and needs to reach a wooded area containing tall vertical obstacles. The drone must avoid any liquid surfaces entirely due to the risk of electronic failure upon contact. The drone can fly over cultivated fields, paved lanes, and wooded areas, but flying through wooded areas requires careful navigation between vertical obstacles. What is the safest path to reach the wooded area?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","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","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_27.tif","subfolder":"muenster","coordinate_format":"xy","start_end_pairs":[{"start_region_id":429,"end_region_id":268,"start_point":[861,961],"end_point":[726,98],"distance":873.4952776060097},{"start_region_id":429,"end_region_id":282,"start_point":[861,961],"end_point":[252,343],"distance":867.6433599123548},{"start_region_id":429,"end_region_id":353,"start_point":[861,961],"end_point":[57,744],"distance":832.7694759055473},{"start_region_id":429,"end_region_id":319,"start_point":[861,961],"end_point":[257,559],"distance":725.5480687039282},{"start_region_id":429,"end_region_id":292,"start_point":[861,961],"end_point":[423,392],"distance":718.0564044697325}],"complexity_score":0.6522205749175379}
{"id":7388,"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_43.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":136,"start_point":[70,29],"end_point":[567,431],"distance":639.2284411695086},{"start_region_id":204,"end_region_id":136,"start_point":[966,932],"end_point":[567,431],"distance":640.47013981918},{"start_region_id":139,"end_region_id":136,"start_point":[217,33],"end_point":[567,431],"distance":530.0037735714718},{"start_region_id":208,"end_region_id":136,"start_point":[898,916],"end_point":[567,431],"distance":587.1848090678096},{"start_region_id":142,"end_region_id":136,"start_point":[848,27],"end_point":[567,431],"distance":492.1148239994402}],"complexity_score":0.6522698856801978}
{"id":16566,"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_43.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":136,"end_region_id":138,"start_point":[567,431],"end_point":[70,29],"distance":639.2284411695086},{"start_region_id":136,"end_region_id":139,"start_point":[567,431],"end_point":[217,33],"distance":530.0037735714718},{"start_region_id":136,"end_region_id":208,"start_point":[567,431],"end_point":[898,916],"distance":587.1848090678096},{"start_region_id":136,"end_region_id":142,"start_point":[567,431],"end_point":[848,27],"distance":492.1148239994402},{"start_region_id":136,"end_region_id":189,"start_point":[567,431],"end_point":[336,725],"distance":373.89437011006197}],"complexity_score":0.6522698856801978}
{"id":2061,"query_id":"Q00413","question":"An aerial survey drone starts from a paved lane and needs to reach a hard artificial surface. The drone can fly over liquid surfaces and cultivated fields, but cannot pass through dense vertical obstacles or solid structures. What is the most direct route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"hard artificial surface","task_description":"What is the shortest path from the starting paved lane to the destination hard artificial 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":"vienna_19.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":76,"start_point":[600,511],"end_point":[101,276],"distance":551.5668590479308},{"start_region_id":128,"end_region_id":123,"start_point":[600,511],"end_point":[247,956],"distance":568.0088027486898},{"start_region_id":128,"end_region_id":124,"start_point":[600,511],"end_point":[832,975],"distance":518.7677707799512},{"start_region_id":128,"end_region_id":64,"start_point":[600,511],"end_point":[595,123],"distance":388.03221515745315},{"start_region_id":128,"end_region_id":119,"start_point":[600,511],"end_point":[314,921],"distance":499.8959891817497}],"complexity_score":0.6522872277211815}
{"id":2401,"query_id":"Q00481","question":"A quadcopter drone starts from a flat, hard, paved surface and needs to reach a long, straight, paved lane as quickly as possible. The drone can fly over open, dry, loose ground composed of sand or rocks, and it can also traverse liquid surfaces. However, it must avoid any areas with tall, dense vegetation or vertical structures that could obstruct its flight path. What is the fastest route for the drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a long, straight, 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":"vienna_19.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":128,"start_point":[101,276],"end_point":[600,511],"distance":551.5668590479308},{"start_region_id":123,"end_region_id":128,"start_point":[247,956],"end_point":[600,511],"distance":568.0088027486898},{"start_region_id":124,"end_region_id":128,"start_point":[832,975],"end_point":[600,511],"distance":518.7677707799512},{"start_region_id":64,"end_region_id":128,"start_point":[595,123],"end_point":[600,511],"distance":388.03221515745315},{"start_region_id":119,"end_region_id":128,"start_point":[314,921],"end_point":[600,511],"distance":499.8959891817497}],"complexity_score":0.6522872277211815}
{"id":11033,"query_id":"Q02207","question":"A delivery drone is hovering above a paved road. It needs to reach a destination above a grassy, open field with low vegetation. The drone can fly over sandy or rocky areas, grassy or shrubby patches, paved surfaces like sidewalks or parking lots, asphalt roads, cultivated fields, and water bodies, but it must avoid dense tree canopies and solid structures to minimize collision risks. It should prioritize open areas that offer clear visibility and stable flight conditions. What is the safest path to take?","agent_category":"Drone","specific_agent":"a delivery drone","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","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_19.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":128,"end_region_id":10,"start_point":[600,511],"end_point":[31,199],"distance":648.9260358469214},{"start_region_id":128,"end_region_id":11,"start_point":[600,511],"end_point":[148,163],"distance":570.4454399852802},{"start_region_id":128,"end_region_id":47,"start_point":[600,511],"end_point":[866,733],"distance":346.4678917302439},{"start_region_id":128,"end_region_id":17,"start_point":[600,511],"end_point":[658,266],"distance":251.7717220022932},{"start_region_id":128,"end_region_id":13,"start_point":[600,511],"end_point":[542,308],"distance":211.12318678913502}],"complexity_score":0.6522872277211815}
{"id":1072,"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":"oklahoma_7.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":171,"start_point":[836,80],"end_point":[89,832],"distance":1059.9589614697354},{"start_region_id":46,"end_region_id":170,"start_point":[89,819],"end_point":[876,203],"distance":999.4123273204108},{"start_region_id":9,"end_region_id":171,"start_point":[839,287],"end_point":[89,832],"distance":927.1057113404058},{"start_region_id":31,"end_region_id":170,"start_point":[27,516],"end_point":[876,203],"distance":904.859105054483},{"start_region_id":70,"end_region_id":171,"start_point":[989,951],"end_point":[89,832],"distance":907.8331344470745}],"complexity_score":0.6524113423663556}
{"id":5357,"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_7.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":41,"end_region_id":99,"start_point":[884,679],"end_point":[887,194],"distance":485.00927826176684},{"start_region_id":6,"end_region_id":110,"start_point":[836,80],"end_point":[854,596],"distance":516.3138580359819},{"start_region_id":44,"end_region_id":145,"start_point":[444,708],"end_point":[308,891],"distance":228.0021929719098},{"start_region_id":9,"end_region_id":110,"start_point":[839,287],"end_point":[854,596],"distance":309.3638634359223}],"complexity_score":0.6524113423663556}
{"id":8393,"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":"oklahoma_7.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":170,"end_region_id":171,"start_point":[876,203],"end_point":[89,832],"distance":1007.4770468849403},{"start_region_id":171,"end_region_id":170,"start_point":[89,832],"end_point":[876,203],"distance":1007.4770468849403},{"start_region_id":169,"end_region_id":170,"start_point":[408,484],"end_point":[876,203],"distance":545.8800234483764},{"start_region_id":170,"end_region_id":169,"start_point":[876,203],"end_point":[408,484],"distance":545.8800234483764},{"start_region_id":169,"end_region_id":171,"start_point":[408,484],"end_point":[89,832],"distance":472.0857972868915}],"complexity_score":0.6524113423663556}
{"id":14658,"query_id":"Q02932","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface while minimizing risk. The drone can fly over areas with loose soil and rocks, grassy or shrub-covered ground, cultivated fields with crops, and wooded areas with trees, as these surfaces pose minimal risk for aerial navigation. However, the drone cannot fly over any liquid surfaces or approach any structures. What is the safest 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 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":"oklahoma_7.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":160,"start_point":[887,194],"end_point":[284,960],"distance":974.8666575486106},{"start_region_id":160,"end_region_id":99,"start_point":[284,960],"end_point":[887,194],"distance":974.8666575486106},{"start_region_id":99,"end_region_id":145,"start_point":[887,194],"end_point":[308,891],"distance":906.1180938486991},{"start_region_id":145,"end_region_id":99,"start_point":[308,891],"end_point":[887,194],"distance":906.1180938486991},{"start_region_id":92,"end_region_id":160,"start_point":[73,46],"end_point":[284,960],"distance":938.0389117728539}],"complexity_score":0.6524113423663556}
{"id":707,"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_3.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":10,"start_point":[440,506],"end_point":[80,65],"distance":569.2811256312649},{"start_region_id":1,"end_region_id":14,"start_point":[251,37],"end_point":[143,531],"distance":505.6678751908213},{"start_region_id":8,"end_region_id":11,"start_point":[440,506],"end_point":[101,212],"distance":448.7282028132397},{"start_region_id":1,"end_region_id":13,"start_point":[251,37],"end_point":[217,402],"distance":366.5801413060997},{"start_region_id":1,"end_region_id":12,"start_point":[251,37],"end_point":[418,351],"distance":355.64729719203547}],"complexity_score":0.6525706866663229}
{"id":4848,"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":"shanghai_3.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":10,"start_point":[260,439],"end_point":[80,65],"distance":415.06144123490924},{"start_region_id":16,"end_region_id":11,"start_point":[260,439],"end_point":[101,212],"distance":277.1461708196597},{"start_region_id":16,"end_region_id":14,"start_point":[260,439],"end_point":[143,531],"distance":148.8388390172404}],"complexity_score":0.6525706866663229}
{"id":8749,"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":"shanghai_3.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":10,"start_point":[260,439],"end_point":[80,65],"distance":415.06144123490924},{"start_region_id":16,"end_region_id":11,"start_point":[260,439],"end_point":[101,212],"distance":277.1461708196597},{"start_region_id":16,"end_region_id":14,"start_point":[260,439],"end_point":[143,531],"distance":148.8388390172404}],"complexity_score":0.6525706866663229}
{"id":13207,"query_id":"Q02642","question":"A quadcopter drone starts from a canopy of tall trees and needs to reach a flat, hard surface such as a paved area. The drone prioritizes a smooth and stable flight for comfort, avoiding areas that might cause turbulence or instability. The drone can fly over grassy fields, cultivated areas, roads, and buildings, but flying through dense tree branches is risky and should be minimized, and water surfaces may cause discomfort due to spray or reflections. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a canopy of tall trees","end_land_type":"a flat, hard surface such as a paved area","task_description":"What is the most comfortable path for the quadcopter drone to take from the tree canopy to the paved surface?","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_3.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":10,"start_point":[588,590],"end_point":[80,65],"distance":730.5402110767072},{"start_region_id":35,"end_region_id":11,"start_point":[588,590],"end_point":[101,212],"distance":616.4843874746546},{"start_region_id":35,"end_region_id":14,"start_point":[588,590],"end_point":[143,531],"distance":448.89419688830907},{"start_region_id":24,"end_region_id":12,"start_point":[18,444],"end_point":[418,351],"distance":410.6689664437769},{"start_region_id":25,"end_region_id":10,"start_point":[62,499],"end_point":[80,65],"distance":434.37311150668614}],"complexity_score":0.6525706866663229}
{"id":14584,"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":"oklahoma_48.tif","subfolder":"oklahoma","coordinate_format":"xy","start_end_pairs":[{"start_region_id":59,"end_region_id":102,"start_point":[895,448],"end_point":[101,806],"distance":870.976463516667},{"start_region_id":51,"end_region_id":102,"start_point":[609,129],"end_point":[101,806],"distance":846.4000236294893},{"start_region_id":71,"end_region_id":102,"start_point":[876,819],"end_point":[101,806],"distance":775.1090245894444},{"start_region_id":48,"end_region_id":102,"start_point":[62,47],"end_point":[101,806],"distance":760.0013157883346},{"start_region_id":50,"end_region_id":102,"start_point":[393,106],"end_point":[101,806],"distance":758.4616008737687}],"complexity_score":0.6525984879173671}
{"id":5586,"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":"mexico_city_10.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":22,"start_point":[963,831],"end_point":[200,73],"distance":1075.5152253687531},{"start_region_id":22,"end_region_id":160,"start_point":[200,73],"end_point":[963,831],"distance":1075.5152253687531},{"start_region_id":198,"end_region_id":29,"start_point":[108,861],"end_point":[847,126],"distance":1042.2792332191984},{"start_region_id":29,"end_region_id":198,"start_point":[847,126],"end_point":[108,861],"distance":1042.2792332191984},{"start_region_id":160,"end_region_id":98,"start_point":[963,831],"end_point":[23,491],"distance":999.599919967984}],"complexity_score":0.652619209156392}
{"id":10399,"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":"mexico_city_10.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":374,"end_region_id":374,"start_point":[53,56],"end_point":[948,414],"distance":963.9445004770762}],"complexity_score":0.652619209156392}
{"id":12475,"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":"mexico_city_10.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":313,"end_region_id":348,"start_point":[736,324],"end_point":[184,753],"distance":699.102996703633},{"start_region_id":348,"end_region_id":313,"start_point":[184,753],"end_point":[736,324],"distance":699.102996703633},{"start_region_id":298,"end_region_id":341,"start_point":[87,321],"end_point":[721,645],"distance":711.9915729838381},{"start_region_id":341,"end_region_id":298,"start_point":[721,645],"end_point":[87,321],"distance":711.9915729838381},{"start_region_id":298,"end_region_id":313,"start_point":[87,321],"end_point":[736,324],"distance":649.0069337071832}],"complexity_score":0.652619209156392}
{"id":16829,"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":"mexico_city_10.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":298,"start_point":[963,831],"end_point":[87,321],"distance":1013.6449082395669},{"start_region_id":124,"end_region_id":298,"start_point":[966,635],"end_point":[87,321],"distance":933.4007713731546},{"start_region_id":29,"end_region_id":348,"start_point":[847,126],"end_point":[184,753],"distance":912.5228764255721},{"start_region_id":160,"end_region_id":329,"start_point":[963,831],"end_point":[177,574],"distance":826.949212467126},{"start_region_id":69,"end_region_id":348,"start_point":[844,300],"end_point":[184,753],"distance":800.5054653155092}],"complexity_score":0.652619209156392}
{"id":13037,"query_id":"Q02608","question":"An aerial survey drone starts from a cultivated field with loose soil and crop patterns and needs to reach a paved area with hard, flat surfaces. The drone can fly over loose earth, hard surfaces, vegetation, and liquid areas, but must avoid vertical structures. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest path 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":"chiclayo_34.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":65,"start_point":[954,246],"end_point":[121,940],"distance":1084.2163068318057},{"start_region_id":137,"end_region_id":58,"start_point":[954,246],"end_point":[15,662],"distance":1027.0233687701561},{"start_region_id":137,"end_region_id":8,"start_point":[954,246],"end_point":[24,45],"distance":951.4730684575366},{"start_region_id":137,"end_region_id":59,"start_point":[954,246],"end_point":[126,667],"distance":928.8837386885401},{"start_region_id":138,"end_region_id":8,"start_point":[607,750],"end_point":[24,45],"distance":914.830038859678}],"complexity_score":0.652709260733739}
{"id":13601,"query_id":"Q02721","question":"A quadcopter drone is hovering above a cultivated field with soft, tilled soil. It needs to fly to a paved area with a hard, flat surface. The allowed surfaces are loose, dry earth without vegetation; cultivated fields with soft, uneven soil; and paved areas with hard, smooth surfaces. All other surface types are prohibited or blocked. What is the shortest flight path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the shortest flight path to the destination?","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":"chiclayo_34.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":15,"start_point":[607,750],"end_point":[383,351],"distance":457.5773158713181},{"start_region_id":137,"end_region_id":9,"start_point":[954,246],"end_point":[604,140],"distance":365.6993300513415}],"complexity_score":0.652709260733739}
{"id":13261,"query_id":"Q02653","question":"A hiker is standing in a densely vegetated area with tall, woody plants and needs to reach an open area covered with natural grasses and low shrubs. The hiker can only travel on surfaces that provide stable footing and minimal risk of injury. Hard, paved surfaces like sidewalks and parking lots are available, as are vehicle lanes and compacted dirt tracks. Some cultivated fields with planted crops are also accessible, but the hiker must avoid any liquid surfaces and cannot enter any structures. What is the safest path to take?","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 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":"buenos_aires_18.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":388,"end_region_id":154,"start_point":[87,163],"end_point":[962,925],"distance":1160.2883262361988},{"start_region_id":353,"end_region_id":154,"start_point":[240,44],"end_point":[962,925],"distance":1139.054432413131},{"start_region_id":388,"end_region_id":153,"start_point":[87,163],"end_point":[825,945],"distance":1075.2525284787755},{"start_region_id":353,"end_region_id":153,"start_point":[240,44],"end_point":[825,945],"distance":1074.25602162613},{"start_region_id":354,"end_region_id":154,"start_point":[356,44],"end_point":[962,925],"distance":1069.2974328969467}],"complexity_score":0.652719545926813}
{"id":2396,"query_id":"Q00480","question":"A quadcopter drone starts from a flat, hard, paved surface and needs to reach a long, linear, hard surface used for vehicle movement. The drone can fly over areas with loose soil and vegetation used for crop growth, as well as liquid bodies, but must avoid vertical structures and dense overhead obstacles. Which path should it take to minimize the overall travel distance?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat, hard, paved surface","end_land_type":"a long, linear, hard surface used for vehicle movement","task_description":"Which path should it take to minimize the overall 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":"vienna_53.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":122,"start_point":[41,53],"end_point":[937,852],"distance":1200.506976239622},{"start_region_id":23,"end_region_id":126,"start_point":[913,150],"end_point":[42,958],"distance":1188.0677590104026},{"start_region_id":18,"end_region_id":122,"start_point":[79,92],"end_point":[937,852],"distance":1146.195445811926},{"start_region_id":22,"end_region_id":126,"start_point":[865,193],"end_point":[42,958],"distance":1123.6342821398785},{"start_region_id":107,"end_region_id":111,"start_point":[872,813],"end_point":[59,79],"distance":1095.3195880655107}],"complexity_score":0.6527677459239313}
{"id":6851,"query_id":"Q01371","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a dense cluster of tall, vertical structures. The drone can fly over open, flat areas with short vegetation, but must navigate carefully around the vertical structures due to potential obstacles. The paved surface and open vegetated areas allow for high-speed flight, while the vertical structures require slower, more cautious movement to avoid collisions. 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 structures","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":"vienna_53.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":142,"start_point":[41,53],"end_point":[611,477],"distance":710.4055179965876},{"start_region_id":18,"end_region_id":142,"start_point":[79,92],"end_point":[611,477],"distance":656.6955154407558},{"start_region_id":20,"end_region_id":142,"start_point":[181,139],"end_point":[611,477],"distance":546.9405817819702},{"start_region_id":23,"end_region_id":142,"start_point":[913,150],"end_point":[611,477],"distance":445.1213317737086},{"start_region_id":107,"end_region_id":142,"start_point":[872,813],"end_point":[611,477],"distance":425.46092652557417}],"complexity_score":0.6527677459239313}
{"id":16146,"query_id":"Q03230","question":"An off-road rally car begins on a grassy, uneven field and must reach another grassy, uneven field as quickly as possible. The vehicle can traverse loose, sandy or rocky ground, grassy or shrubby areas, paved lanes, and cultivated crop fields. However, it cannot drive through dense tree stands, water bodies, or structures. What is the fastest route?","agent_category":"Car","specific_agent":"off-road rally car","start_land_type":"grassy, uneven field","end_land_type":"grassy, uneven field","task_description":"What is the fastest route for the off-road rally car to travel from the starting grassy field to the destination grassy 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":"vienna_53.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":10,"start_point":[117,149],"end_point":[942,340],"distance":846.8211145218334},{"start_region_id":10,"end_region_id":3,"start_point":[942,340],"end_point":[117,149],"distance":846.8211145218334},{"start_region_id":5,"end_region_id":10,"start_point":[153,188],"end_point":[942,340],"distance":803.5079339994098},{"start_region_id":10,"end_region_id":5,"start_point":[942,340],"end_point":[153,188],"distance":803.5079339994098},{"start_region_id":13,"end_region_id":4,"start_point":[213,694],"end_point":[801,116],"distance":824.5168282091033}],"complexity_score":0.6527677459239313}
{"id":3981,"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":"dhaka_1.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":99,"start_point":[815,73],"end_point":[329,1007],"distance":1052.8779606393136},{"start_region_id":246,"end_region_id":79,"start_point":[815,73],"end_point":[366,919],"distance":957.7666730472511},{"start_region_id":255,"end_region_id":18,"start_point":[217,660],"end_point":[965,194],"distance":881.2831554046634},{"start_region_id":256,"end_region_id":5,"start_point":[747,776],"end_point":[472,65],"distance":762.3293251607208},{"start_region_id":255,"end_region_id":6,"start_point":[217,660],"end_point":[675,74],"distance":743.7472689025486}],"complexity_score":0.6528180156346116}
{"id":5036,"query_id":"Q01008","question":"A quadcopter drone starts from a concrete patio and needs to reach an asphalt road. The drone can fly over open ground, grassy areas, hard surfaces, roads, cultivated fields, and water, but must avoid flying through dense tree canopies or near buildings due to collision risk. Which path minimizes risk?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete patio","end_land_type":"an asphalt road","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":"dhaka_1.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":234,"end_region_id":246,"start_point":[219,969],"end_point":[815,73],"distance":1076.118952532665},{"start_region_id":207,"end_region_id":246,"start_point":[116,713],"end_point":[815,73],"distance":947.7346675098469},{"start_region_id":118,"end_region_id":256,"start_point":[59,160],"end_point":[747,776],"distance":923.4717104492156},{"start_region_id":180,"end_region_id":246,"start_point":[165,536],"end_point":[815,73],"distance":798.0407257778264},{"start_region_id":118,"end_region_id":246,"start_point":[59,160],"end_point":[815,73],"distance":760.9894874438148}],"complexity_score":0.6528180156346116}
{"id":8636,"query_id":"Q01728","question":"A delivery drone starts from a grassy field and needs to return to another grassy field while ensuring a smooth and stable flight. The drone can fly over various surfaces including loose soil, grassy areas, paved zones, roads, and tree canopies. However, flying directly through dense tree foliage or close to buildings is restricted due to navigation risks, and flying over water is less comfortable due to potential turbulence. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"grassy 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","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":"dhaka_1.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":99,"start_point":[965,194],"end_point":[329,1007],"distance":1032.2136406771613},{"start_region_id":99,"end_region_id":18,"start_point":[329,1007],"end_point":[965,194],"distance":1032.2136406771613},{"start_region_id":6,"end_region_id":99,"start_point":[675,74],"end_point":[329,1007],"distance":995.0904481503177},{"start_region_id":99,"end_region_id":6,"start_point":[329,1007],"end_point":[675,74],"distance":995.0904481503177},{"start_region_id":5,"end_region_id":99,"start_point":[472,65],"end_point":[329,1007],"distance":952.7922123947068}],"complexity_score":0.6528180156346116}
{"id":889,"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_39.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":304,"start_point":[44,239],"end_point":[921,919],"distance":1109.7427629860895},{"start_region_id":7,"end_region_id":302,"start_point":[636,21],"end_point":[111,876],"distance":1003.3194904914386},{"start_region_id":41,"end_region_id":302,"start_point":[775,170],"end_point":[111,876],"distance":969.191415562478},{"start_region_id":67,"end_region_id":304,"start_point":[188,319],"end_point":[921,919],"distance":947.2533979880991},{"start_region_id":70,"end_region_id":302,"start_point":[924,350],"end_point":[111,876],"distance":968.3207113348345}],"complexity_score":0.6528257466718659}
{"id":9925,"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_39.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":122,"start_point":[44,239],"end_point":[889,655],"distance":941.8497757073577},{"start_region_id":122,"end_region_id":52,"start_point":[889,655],"end_point":[44,239],"distance":941.8497757073577},{"start_region_id":70,"end_region_id":52,"start_point":[924,350],"end_point":[44,239],"distance":886.9729420901181},{"start_region_id":52,"end_region_id":70,"start_point":[44,239],"end_point":[924,350],"distance":886.9729420901181},{"start_region_id":95,"end_region_id":52,"start_point":[890,467],"end_point":[44,239],"distance":876.184911990614}],"complexity_score":0.6528257466718659}
{"id":17323,"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":"dortmund_39.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":302,"end_region_id":187,"start_point":[111,876],"end_point":[878,59],"distance":1120.6150097156471},{"start_region_id":304,"end_region_id":217,"start_point":[921,919],"end_point":[152,371],"distance":944.2801491083036},{"start_region_id":296,"end_region_id":262,"start_point":[112,159],"end_point":[850,759],"distance":951.1277516716668},{"start_region_id":304,"end_region_id":245,"start_point":[921,919],"end_point":[137,446],"distance":915.6336603685996},{"start_region_id":296,"end_region_id":292,"start_point":[112,159],"end_point":[532,972],"distance":915.078685141338}],"complexity_score":0.6528257466718659}
{"id":953,"query_id":"Q00191","question":"A quadcopter drone is currently in a grassy, vegetated area and needs to reach a paved lane. The drone can fly over most surfaces, but must avoid vertical structures and dense vegetation that could obstruct its flight path. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"grassy, vegetated area","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_46.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":185,"start_point":[76,222],"end_point":[560,370],"distance":506.1225148123723},{"start_region_id":15,"end_region_id":185,"start_point":[52,380],"end_point":[560,370],"distance":508.09841566373734},{"start_region_id":25,"end_region_id":187,"start_point":[946,506],"end_point":[889,824],"distance":323.0681042752441}],"complexity_score":0.6528298856882245}
{"id":3926,"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_46.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":69,"end_region_id":44,"start_point":[860,165],"end_point":[47,819],"distance":1043.4006900515258},{"start_region_id":143,"end_region_id":12,"start_point":[916,840],"end_point":[76,222],"distance":1042.8441877864593},{"start_region_id":91,"end_region_id":44,"start_point":[873,232],"end_point":[47,819],"distance":1013.3336074561033},{"start_region_id":143,"end_region_id":15,"start_point":[916,840],"end_point":[52,380],"distance":978.8237839366185},{"start_region_id":84,"end_region_id":59,"start_point":[185,157],"end_point":[664,974],"distance":947.0638838008764}],"complexity_score":0.6528298856882245}
{"id":5087,"query_id":"Q01018","question":"A commercial delivery drone is launching from a flat paved surface and needs to land on a flat paved roadway. The drone can fly over most terrain types, but must avoid areas with dense vertical obstacles like trees, as they pose collision risks and cause turbulence. It should also avoid liquid surfaces when possible, as flying low over them can create unstable air currents. The operator wants the smoothest, most vibration-free flight path possible. What is the most comfortable route for the drone?","agent_category":"Drone","specific_agent":"A commercial delivery drone","start_land_type":"flat paved surface","end_land_type":"flat paved roadway","task_description":"What is the most comfortable route for the drone?","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":"dhaka_46.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":187,"start_point":[39,296],"end_point":[889,824],"distance":1000.6417940501985},{"start_region_id":84,"end_region_id":187,"start_point":[185,157],"end_point":[889,824],"distance":969.7963703788544},{"start_region_id":65,"end_region_id":187,"start_point":[297,134],"end_point":[889,824],"distance":909.1556522400331},{"start_region_id":69,"end_region_id":188,"start_point":[860,165],"end_point":[285,776],"distance":839.0148985566346},{"start_region_id":91,"end_region_id":188,"start_point":[873,232],"end_point":[285,776],"distance":801.0493118404135}],"complexity_score":0.6528298856882245}
{"id":17279,"query_id":"Q03456","question":"A quadcopter drone starts from a concrete surface and needs to reach another concrete surface. The drone can fly over areas with hard surfaces like sidewalks and streets, as well as over natural grassy and shrub-covered terrain. However. The drone must avoid flying through dense tree canopies or close to buildings due to navigation constraints. What is the shortest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a concrete surface","end_land_type":"another concrete surface","task_description":"What is the shortest path for the quadcopter drone to reach the destination concrete 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":"dhaka_46.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":91,"start_point":[39,296],"end_point":[873,232],"distance":836.452030901952},{"start_region_id":91,"end_region_id":95,"start_point":[873,232],"end_point":[39,296],"distance":836.452030901952},{"start_region_id":69,"end_region_id":95,"start_point":[860,165],"end_point":[39,296],"distance":831.3855904452519},{"start_region_id":95,"end_region_id":69,"start_point":[39,296],"end_point":[860,165],"distance":831.3855904452519},{"start_region_id":84,"end_region_id":91,"start_point":[185,157],"end_point":[873,232],"distance":692.075862893657}],"complexity_score":0.6528298856882245}
{"id":644,"query_id":"Q00129","question":"A hiker starts from a paved lane and needs to reach a wooded area. The hiker can traverse hard, flat surfaces like sidewalks and parking lots, as well as loose, sandy ground. However, the hiker cannot cross any water bodies or enter any structures. The hiker can also walk through cultivated fields and grassy areas, but only if the vegetation is low enough to pass through. What is the shortest path to the wooded area?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"paved lane","end_land_type":"wooded area","task_description":"What is the shortest path 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":"daressalaam_67.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":378,"start_point":[913,135],"end_point":[897,853],"distance":718.1782508542012},{"start_region_id":229,"end_region_id":270,"start_point":[836,664],"end_point":[950,136],"distance":540.1666409544373},{"start_region_id":224,"end_region_id":250,"start_point":[293,579],"end_point":[275,77],"distance":502.3226055036743},{"start_region_id":229,"end_region_id":272,"start_point":[836,664],"end_point":[864,157],"distance":507.7725868929909},{"start_region_id":224,"end_region_id":409,"start_point":[293,579],"end_point":[528,895],"distance":393.80325036748997}],"complexity_score":0.6528316630159392}
{"id":14120,"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_67.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":48,"start_point":[79,479],"end_point":[1001,553],"distance":924.9648641975542},{"start_region_id":48,"end_region_id":39,"start_point":[1001,553],"end_point":[79,479],"distance":924.9648641975542},{"start_region_id":17,"end_region_id":79,"start_point":[864,237],"end_point":[262,905],"distance":899.2374547359557},{"start_region_id":79,"end_region_id":17,"start_point":[262,905],"end_point":[864,237],"distance":899.2374547359557},{"start_region_id":39,"end_region_id":17,"start_point":[79,479],"end_point":[864,237],"distance":821.4554157104328}],"complexity_score":0.6528316630159392}
{"id":17500,"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_67.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":378,"start_point":[913,135],"end_point":[897,853],"distance":718.1782508542012},{"start_region_id":229,"end_region_id":270,"start_point":[836,664],"end_point":[950,136],"distance":540.1666409544373},{"start_region_id":224,"end_region_id":250,"start_point":[293,579],"end_point":[275,77],"distance":502.3226055036743},{"start_region_id":229,"end_region_id":272,"start_point":[836,664],"end_point":[864,157],"distance":507.7725868929909},{"start_region_id":224,"end_region_id":409,"start_point":[293,579],"end_point":[528,895],"distance":393.80325036748997}],"complexity_score":0.6528316630159392}
{"id":7148,"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_18.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":22,"start_point":[851,700],"end_point":[923,81],"distance":623.1733306231903},{"start_region_id":22,"end_region_id":27,"start_point":[923,81],"end_point":[851,700],"distance":623.1733306231903},{"start_region_id":27,"end_region_id":24,"start_point":[851,700],"end_point":[979,269],"distance":449.60538253005825},{"start_region_id":24,"end_region_id":27,"start_point":[979,269],"end_point":[851,700],"distance":449.60538253005825},{"start_region_id":27,"end_region_id":23,"start_point":[851,700],"end_point":[637,343],"distance":416.22710147226115}],"complexity_score":0.652832257139548}
{"id":10742,"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":"christchurch_18.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":28,"start_point":[698,444],"end_point":[323,529],"distance":384.5126785946076},{"start_region_id":28,"end_region_id":29,"start_point":[323,529],"end_point":[698,444],"distance":384.5126785946076}],"complexity_score":0.652832257139548}
{"id":15471,"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":"christchurch_18.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":28,"start_point":[698,444],"end_point":[323,529],"distance":384.5126785946076},{"start_region_id":28,"end_region_id":29,"start_point":[323,529],"end_point":[698,444],"distance":384.5126785946076}],"complexity_score":0.652832257139548}
{"id":8050,"query_id":"Q01610","question":"An aerial survey drone starts from a paved hard surface and needs to reach a vegetated area with tall, vertical structures. The drone can fly over loose, sandy ground; grassy or shrub-covered terrain; paved areas like parking lots or sidewalks; liquid surfaces; and cultivated fields. However, tall, vertical structures are only traversable if the drone maintains a safe altitude to avoid collisions, and built structures are strictly off-limits due to airspace restrictions. What is the safest path to the destination?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved hard surface","end_land_type":"vegetated area with tall, vertical structures","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":"austin_28.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":92,"end_region_id":105,"start_point":[962,900],"end_point":[121,46],"distance":1198.5812446388438},{"start_region_id":90,"end_region_id":105,"start_point":[944,790],"end_point":[121,46],"distance":1109.443554219862},{"start_region_id":50,"end_region_id":161,"start_point":[842,146],"end_point":[95,845],"distance":1023.0395886768019},{"start_region_id":81,"end_region_id":105,"start_point":[792,818],"end_point":[121,46],"distance":1022.8514066080176},{"start_region_id":92,"end_region_id":134,"start_point":[962,900],"end_point":[91,382],"distance":1013.392816236626}],"complexity_score":0.6528536662905855}
{"id":10339,"query_id":"Q02068","question":"An off-road vehicle starts from a paved street and needs to reach a flat, hard surface like a parking lot or construction site. The vehicle can drive on paved surfaces, loose or rocky ground, and grassy or shrub-covered areas, but cannot pass through water, buildings, or wooded areas. What is the shortest path?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved street","end_land_type":"a flat, hard surface like a parking lot or construction site","task_description":"What is the shortest path for the off-road vehicle to take?","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":"austin_28.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":92,"start_point":[69,108],"end_point":[962,900],"distance":1193.61342150631},{"start_region_id":97,"end_region_id":90,"start_point":[69,108],"end_point":[944,790],"distance":1109.3912745285136},{"start_region_id":103,"end_region_id":60,"start_point":[951,855],"end_point":[103,178],"distance":1085.0958483009692},{"start_region_id":97,"end_region_id":81,"start_point":[69,108],"end_point":[792,818],"distance":1013.3257126906432},{"start_region_id":103,"end_region_id":65,"start_point":[951,855],"end_point":[122,310],"distance":992.1018092917682}],"complexity_score":0.6528536662905855}
{"id":16870,"query_id":"Q03374","question":"An aerial survey drone starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain area. The drone can fly over open grassy fields, hard paved surfaces, and liquid bodies, but must avoid tall vertical obstacles and solid structures. Which path allows the drone to travel as quickly as possible?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, uneven terrain","end_land_type":"grassy, uneven terrain","task_description":"Which path allows the drone to travel as quickly as possible?","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_28.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":8,"end_region_id":41,"start_point":[919,130],"end_point":[54,836],"distance":1116.5397440306367},{"start_region_id":41,"end_region_id":8,"start_point":[54,836],"end_point":[919,130],"distance":1116.5397440306367},{"start_region_id":8,"end_region_id":39,"start_point":[919,130],"end_point":[238,816],"distance":966.621435723417},{"start_region_id":39,"end_region_id":8,"start_point":[238,816],"end_point":[919,130],"distance":966.621435723417},{"start_region_id":42,"end_region_id":8,"start_point":[396,909],"end_point":[919,130],"distance":938.2803419021417}],"complexity_score":0.6528536662905855}
{"id":762,"query_id":"Q00153","question":"A hiker is currently positioned within a densely vegetated area with tall, upright structures providing shade and cover. They need to reach a flat, hard, paved surface designed for vehicle movement. The hiker can traverse areas of loose, dry, granular soil and rock accumulations, as well as hard, artificial surfaces like sidewalks, parking lots, and sports fields. However, they cannot cross any liquid surfaces or enter any constructed shelters or vertical enclosures. The goal is to find the path that minimizes risk.","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 designed for vehicle movement","task_description":"What is the safest path for the hiker to take?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree"],"traverse_vector":[1,0,1,1,1,0,0,0],"cost_vector":[2,0,4,3,1,0,0,0],"image_name":"santiago_17.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":158,"end_region_id":95,"start_point":[367,759],"end_point":[509,49],"distance":724.0607709301754},{"start_region_id":147,"end_region_id":95,"start_point":[940,521],"end_point":[509,49],"distance":639.1752498337213},{"start_region_id":124,"end_region_id":95,"start_point":[62,235],"end_point":[509,49],"distance":484.1539011512765},{"start_region_id":147,"end_region_id":97,"start_point":[940,521],"end_point":[503,573],"distance":440.08294672709144},{"start_region_id":124,"end_region_id":97,"start_point":[62,235],"end_point":[503,573],"distance":555.6302727533841}],"complexity_score":0.6529677386887245}
{"id":4112,"query_id":"Q00823","question":"An aerial surveillance drone starts from a paved lane and needs to reach a tall, leafy canopy while prioritizing safety. The drone can fly over open sandy or rocky ground, hard artificial surfaces like sidewalks and parking lots, vehicle lanes, liquid bodies, and cultivated fields, but must avoid vertical structures and dense vegetation clusters unless explicitly permitted. For this mission, flying near or through vertical structures and liquid areas is prohibited due to collision and signal interference risks, and dense vegetation is allowed only if it is sparse enough for safe navigation. What is the safest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"a tall, leafy canopy","task_description":"What is the safest path for the aerial surveillance drone to take from the paved lane to the tall, leafy canopy?","task_type":"Safest","input_classes":["Bareland","Developed space","Road","Tree","Agriculture land"],"traverse_vector":[1,0,1,1,1,0,1,0],"cost_vector":[2,0,2,2,1,0,2,0],"image_name":"santiago_17.tif","subfolder":"santiago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":95,"end_region_id":158,"start_point":[509,49],"end_point":[367,759],"distance":724.0607709301754},{"start_region_id":95,"end_region_id":147,"start_point":[509,49],"end_point":[940,521],"distance":639.1752498337213},{"start_region_id":95,"end_region_id":124,"start_point":[509,49],"end_point":[62,235],"distance":484.1539011512765},{"start_region_id":97,"end_region_id":147,"start_point":[503,573],"end_point":[940,521],"distance":440.08294672709144},{"start_region_id":97,"end_region_id":124,"start_point":[503,573],"end_point":[62,235],"distance":555.6302727533841}],"complexity_score":0.6529677386887245}
{"id":3938,"query_id":"Q00788","question":"A quadcopter drone starts from a grassy, shrub-covered area and needs to reach a paved vehicle lane. The terrain includes loose, sandy or rocky ground; natural grassy or shrub-covered areas; artificial hard surfaces; paved vehicle lanes; areas with trees; and cultivated fields. You must avoid any liquid bodies and any constructed buildings. Given that you prioritize a smooth and stable flight with minimal vibration or discomfort, what is the most comfortable flight path to take?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"Rangeland","end_land_type":"Road","task_description":"What is the most comfortable flight 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":"dhaka_26.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":221,"start_point":[46,154],"end_point":[538,817],"distance":825.6106830704167},{"start_region_id":6,"end_region_id":221,"start_point":[940,212],"end_point":[538,817],"distance":726.3807541503285},{"start_region_id":7,"end_region_id":221,"start_point":[34,298],"end_point":[538,817],"distance":723.4479939843637},{"start_region_id":2,"end_region_id":221,"start_point":[338,176],"end_point":[538,817],"distance":671.4767307956397},{"start_region_id":12,"end_region_id":221,"start_point":[955,304],"end_point":[538,817],"distance":661.1036227400361}],"complexity_score":0.6530645649581561}
{"id":8638,"query_id":"Q01728","question":"A delivery drone starts from a grassy field and needs to return to another grassy field while ensuring a smooth and stable flight. The drone can fly over various surfaces including loose soil, grassy areas, paved zones, roads, and tree canopies. However, flying directly through dense tree foliage or close to buildings is restricted due to navigation risks, and flying over water is less comfortable due to potential turbulence. What is the most comfortable flight path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy field","end_land_type":"grassy 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","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":"dhaka_26.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":61,"end_region_id":1,"start_point":[889,915],"end_point":[46,154],"distance":1135.6804127922608},{"start_region_id":1,"end_region_id":61,"start_point":[46,154],"end_point":[889,915],"distance":1135.6804127922608},{"start_region_id":1,"end_region_id":58,"start_point":[46,154],"end_point":[933,815],"distance":1106.2052250825793},{"start_region_id":58,"end_region_id":1,"start_point":[933,815],"end_point":[46,154],"distance":1106.2052250825793},{"start_region_id":61,"end_region_id":7,"start_point":[889,915],"end_point":[34,298],"distance":1054.3784899171644}],"complexity_score":0.6530645649581561}
{"id":13075,"query_id":"Q02615","question":"A quadcopter drone starts from a paved, hard surface and needs to reach another paved, hard surface. The drone can fly over loose soil, grassy areas, paved zones, water bodies, and cultivated fields, but must avoid dense tree canopies and vertical structures. 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 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":"dhaka_26.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":207,"end_region_id":176,"start_point":[1000,975],"end_point":[83,572],"distance":1001.6476426368706},{"start_region_id":176,"end_region_id":207,"start_point":[83,572],"end_point":[1000,975],"distance":1001.6476426368706},{"start_region_id":189,"end_region_id":176,"start_point":[881,798],"end_point":[83,572],"distance":829.3853145553037},{"start_region_id":176,"end_region_id":189,"start_point":[83,572],"end_point":[881,798],"distance":829.3853145553037},{"start_region_id":187,"end_region_id":207,"start_point":[221,706],"end_point":[1000,975],"distance":824.1371245126627}],"complexity_score":0.6530645649581561}
{"id":17336,"query_id":"Q03468","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 fly over most surfaces, including areas with low vegetation, paved zones, and open ground, but it must avoid flying through dense, tall vegetation or near vertical structures to prevent collisions. 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 for the quadcopter drone to reach the vehicle lane from the paved, hard surface 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":"dhaka_26.tif","subfolder":"dhaka","coordinate_format":"xy","start_end_pairs":[{"start_region_id":207,"end_region_id":217,"start_point":[1000,975],"end_point":[471,666],"distance":612.6352911806501},{"start_region_id":77,"end_region_id":221,"start_point":[674,272],"end_point":[538,817],"distance":561.712559945031},{"start_region_id":176,"end_region_id":221,"start_point":[83,572],"end_point":[538,817],"distance":516.768807108169},{"start_region_id":207,"end_region_id":221,"start_point":[1000,975],"end_point":[538,817],"distance":488.27041687982694},{"start_region_id":176,"end_region_id":217,"start_point":[83,572],"end_point":[471,666],"distance":399.2242477605788}],"complexity_score":0.6530645649581561}
{"id":11285,"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":"aachen_15.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":53,"end_region_id":7,"start_point":[30,102],"end_point":[894,457],"distance":934.0883255881106},{"start_region_id":53,"end_region_id":6,"start_point":[30,102],"end_point":[828,392],"distance":849.0606574326713},{"start_region_id":66,"end_region_id":7,"start_point":[143,856],"end_point":[894,457],"distance":850.4128409190445},{"start_region_id":60,"end_region_id":31,"start_point":[973,593],"end_point":[139,555],"distance":834.8652585896721},{"start_region_id":66,"end_region_id":6,"start_point":[143,856],"end_point":[828,392],"distance":827.3578427742134}],"complexity_score":0.65319458537442}
{"id":11655,"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":"aachen_15.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":53,"start_point":[894,457],"end_point":[30,102],"distance":934.0883255881106},{"start_region_id":6,"end_region_id":53,"start_point":[828,392],"end_point":[30,102],"distance":849.0606574326713},{"start_region_id":7,"end_region_id":66,"start_point":[894,457],"end_point":[143,856],"distance":850.4128409190445},{"start_region_id":31,"end_region_id":60,"start_point":[139,555],"end_point":[973,593],"distance":834.8652585896721},{"start_region_id":6,"end_region_id":66,"start_point":[828,392],"end_point":[143,856],"distance":827.3578427742134}],"complexity_score":0.65319458537442}
{"id":15569,"query_id":"Q03114","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and soft soil, needing to reach an open grassy area with scattered low shrubs as quickly as possible. The drone can fly over bare sandy or rocky ground, grassy or shrub-covered terrain, paved surfaces like sidewalks or parking lots, vehicle lanes, water bodies such as rivers or ponds, and agricultural plots, but must avoid tall trees and buildings due to collision risks. What is the fastest path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops and soft soil.","end_land_type":"An open grassy area with scattered low shrubs.","task_description":"What is the fastest path for the quadcopter drone to reach the open grassy area from the cultivated 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":"aachen_15.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":117,"end_region_id":7,"start_point":[93,940],"end_point":[894,457],"distance":935.3555473722279},{"start_region_id":117,"end_region_id":6,"start_point":[93,940],"end_point":[828,392],"distance":916.803686729062},{"start_region_id":115,"end_region_id":7,"start_point":[49,629],"end_point":[894,457],"distance":862.3276639421931},{"start_region_id":117,"end_region_id":12,"start_point":[93,940],"end_point":[478,202],"distance":832.3875299402316},{"start_region_id":115,"end_region_id":6,"start_point":[49,629],"end_point":[828,392],"distance":814.2542600441216}],"complexity_score":0.65319458537442}
{"id":16134,"query_id":"Q03227","question":"An off-road vehicle starts from a paved lane and needs to reach a cultivated field. The vehicle can traverse paved surfaces, loose soil and rock areas, grassy and shrub-covered terrain, and cultivated fields. The vehicle cannot traverse areas with standing water, dense tree cover, or solid structures. What is the shortest path?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path from the paved lane to the cultivated 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":"aachen_15.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":117,"start_point":[956,614],"end_point":[93,940],"distance":922.5210024709464},{"start_region_id":71,"end_region_id":115,"start_point":[956,614],"end_point":[49,629],"distance":907.1240268011867},{"start_region_id":71,"end_region_id":112,"start_point":[956,614],"end_point":[202,144],"distance":888.4908553271665},{"start_region_id":67,"end_region_id":117,"start_point":[843,561],"end_point":[93,940],"distance":840.3219621073818},{"start_region_id":67,"end_region_id":115,"start_point":[843,561],"end_point":[49,629],"distance":796.9065189845043}],"complexity_score":0.65319458537442}
{"id":9741,"query_id":"Q01949","question":"An aerial survey drone starts from a cultivated field with loose soil and crop rows and needs to reach a paved area with a hard, flat surface. The drone must avoid vertical obstacles like tall structures and dense vegetation canopies that could cause collisions. Open water surfaces are accessible but pose stability risks in windy conditions. The path should prioritize stable, predictable terrain that minimizes the risk of crashes or signal interference.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"cultivated field","end_land_type":"paved area","task_description":"What is the safest route for the drone to reach 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":"daressalaam_108.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":404,"end_region_id":95,"start_point":[315,833],"end_point":[958,192],"distance":907.9262084552907},{"start_region_id":404,"end_region_id":96,"start_point":[315,833],"end_point":[758,126],"distance":834.3248767716326},{"start_region_id":404,"end_region_id":141,"start_point":[315,833],"end_point":[938,275],"distance":836.356981198818},{"start_region_id":404,"end_region_id":86,"start_point":[315,833],"end_point":[509,54],"distance":802.7932486014067},{"start_region_id":404,"end_region_id":85,"start_point":[315,833],"end_point":[321,122],"distance":711.0253160049929}],"complexity_score":0.6534008542662221}
{"id":15009,"query_id":"Q03002","question":"A quadcopter starts from a densely vegetated area with tall, woody plants and needs to reach a cultivated field with planted crops. The terrain includes areas of loose, dry soil and rocks without vegetation; open expanses covered with natural grasses and shrubs; and hard, artificial surfaces like sidewalks and parking lots. The tall, woody plants are passable because you can fly above them. The cultivated field is passable as it's open airspace. You must avoid any liquid surfaces and any constructed vertical structures due to safety regulations. What is the safest path to take?","agent_category":"Drone","specific_agent":"quadcopter","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 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":"daressalaam_108.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":404,"start_point":[450,49],"end_point":[315,833],"distance":795.53818261602},{"start_region_id":260,"end_region_id":404,"start_point":[64,106],"end_point":[315,833],"distance":769.109875115383},{"start_region_id":300,"end_region_id":404,"start_point":[791,271],"end_point":[315,833],"distance":736.4916835918788},{"start_region_id":299,"end_region_id":404,"start_point":[297,248],"end_point":[315,833],"distance":585.2768575640079},{"start_region_id":297,"end_region_id":404,"start_point":[162,468],"end_point":[315,833],"distance":395.77013530583633}],"complexity_score":0.6534008542662221}
{"id":16795,"query_id":"Q03359","question":"A farm worker starts from a cultivated field and needs to reach another cultivated field area. You must walk across surfaces that minimize risk of slips, trips, or instability. The terrain includes loose, dry soil and rocky patches without vegetation, as well as grassy and shrub-covered areas that are not actively grazed. You can also use paved lanes designed for vehicle traffic and hard, artificial surfaces like sidewalks. However, you cannot travel on any liquid surfaces or any solid vertical structures. What is the safest path to reach the destination?","agent_category":"Pedestrian","specific_agent":"a farm worker","start_land_type":"cultivated field","end_land_type":"cultivated field","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":[1,2,5,4,0,0,3,0],"image_name":"daressalaam_108.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":404,"end_region_id":404,"start_point":[745,1000],"end_point":[4,691],"distance":802.8461870121823}],"complexity_score":0.6534008542662221}
{"id":4239,"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_96.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":9,"end_region_id":11,"start_point":[405,614],"end_point":[270,857],"distance":277.98201380664904},{"start_region_id":11,"end_region_id":9,"start_point":[270,857],"end_point":[405,614],"distance":277.98201380664904}],"complexity_score":0.6534755744929891}
{"id":4802,"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_96.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":157,"end_region_id":188,"start_point":[747,975],"end_point":[671,478],"distance":502.7772866787043},{"start_region_id":141,"end_region_id":189,"start_point":[568,928],"end_point":[907,562],"distance":498.8757360305269},{"start_region_id":136,"end_region_id":188,"start_point":[989,836],"end_point":[671,478],"distance":478.8402656418944},{"start_region_id":141,"end_region_id":188,"start_point":[568,928],"end_point":[671,478],"distance":461.6373035186823},{"start_region_id":47,"end_region_id":189,"start_point":[618,215],"end_point":[907,562],"distance":451.5860936742849}],"complexity_score":0.6534755744929891}
{"id":8797,"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":"daressalaam_96.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":11,"end_region_id":189,"start_point":[270,857],"end_point":[907,562],"distance":701.9928774567446},{"start_region_id":11,"end_region_id":186,"start_point":[270,857],"end_point":[84,265],"distance":620.5320297937891},{"start_region_id":11,"end_region_id":187,"start_point":[270,857],"end_point":[266,221],"distance":636.0125784919666},{"start_region_id":11,"end_region_id":188,"start_point":[270,857],"end_point":[671,478],"distance":551.762630122773},{"start_region_id":9,"end_region_id":189,"start_point":[405,614],"end_point":[907,562],"distance":504.686041019563}],"complexity_score":0.6534755744929891}
{"id":2608,"query_id":"Q00522","question":"A quadcopter drone is on a paved, hard surface and needs to reach a loose, sandy area as quickly as possible. The drone can fly over any terrain except dense vertical obstacles like tall trees or buildings, which are blocked. It must avoid liquid surfaces to maintain stability and speed. What is the fastest 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 fastest path for the drone to reach the loose, sandy area from the paved, hard 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":[1,1,1,1,0,0,1,0],"image_name":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":3,"start_point":[268,436],"end_point":[779,183],"distance":570.2017186926045},{"start_region_id":61,"end_region_id":3,"start_point":[362,439],"end_point":[779,183],"distance":489.3107397145499},{"start_region_id":61,"end_region_id":1,"start_point":[362,439],"end_point":[212,76],"distance":392.77092560422545},{"start_region_id":64,"end_region_id":1,"start_point":[268,436],"end_point":[212,76],"distance":364.3295211755424}],"complexity_score":0.6536087102069319}
{"id":3318,"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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":1,"start_point":[779,183],"end_point":[212,76],"distance":577.0077989074324},{"start_region_id":1,"end_region_id":3,"start_point":[212,76],"end_point":[779,183],"distance":577.0077989074324}],"complexity_score":0.6536087102069319}
{"id":4905,"query_id":"Q00981","question":"An aerial drone starts from a cultivated field and needs to reach a patch of sandy or rocky ground. You are piloting an aerial drone that can fly over hard surfaces, loose soil, vegetation, and liquid areas, but you must avoid flying through dense wooded patches or near structures due to navigation hazards. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"aerial drone","start_land_type":"cultivated field","end_land_type":"sandy or rocky ground","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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":1,"start_point":[1007,950],"end_point":[212,76],"distance":1181.4825432481007},{"start_region_id":160,"end_region_id":3,"start_point":[199,836],"end_point":[779,183],"distance":873.3893747922515},{"start_region_id":161,"end_region_id":3,"start_point":[1007,950],"end_point":[779,183],"distance":800.1706068083231},{"start_region_id":157,"end_region_id":1,"start_point":[441,811],"end_point":[212,76],"distance":769.8480369527482},{"start_region_id":160,"end_region_id":1,"start_point":[199,836],"end_point":[212,76],"distance":760.1111760788681}],"complexity_score":0.6536087102069319}
{"id":7244,"query_id":"Q01449","question":"A quadcopter drone is positioned on a patch of loose, sandy ground and needs to reach a cultivated field with crops. The drone can fly over hard, flat surfaces like paved areas and parking lots, as well as liquid surfaces such as ponds or rivers, but must avoid dense vegetation like trees and vertical structures like buildings due to collision risk. What is the fastest route for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a patch of loose, sandy ground","end_land_type":"a cultivated field with crops","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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":161,"start_point":[212,76],"end_point":[1007,950],"distance":1181.4825432481007},{"start_region_id":3,"end_region_id":160,"start_point":[779,183],"end_point":[199,836],"distance":873.3893747922515},{"start_region_id":3,"end_region_id":161,"start_point":[779,183],"end_point":[1007,950],"distance":800.1706068083231},{"start_region_id":1,"end_region_id":157,"start_point":[212,76],"end_point":[441,811],"distance":769.8480369527482},{"start_region_id":1,"end_region_id":160,"start_point":[212,76],"end_point":[199,836],"distance":760.1111760788681}],"complexity_score":0.6536087102069319}
{"id":9258,"query_id":"Q01852","question":"An off-road vehicle starts on a grassy, uneven field and needs to reach a patch of loose, sandy ground. The vehicle can travel on hard, paved surfaces, compacted dirt tracks, and cultivated fields, but it must avoid any areas with dense vegetation or standing water. What is the fastest route?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the fastest route for the off-road vehicle to travel from the grassy field to the sandy ground?","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_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":3,"start_point":[77,831],"end_point":[779,183],"distance":955.3575246995232},{"start_region_id":26,"end_region_id":1,"start_point":[963,472],"end_point":[212,76],"distance":849.0094227981218},{"start_region_id":37,"end_region_id":1,"start_point":[577,761],"end_point":[212,76],"distance":776.1765263134412},{"start_region_id":38,"end_region_id":1,"start_point":[77,831],"end_point":[212,76],"distance":766.9745758498126},{"start_region_id":29,"end_region_id":1,"start_point":[804,464],"end_point":[212,76],"distance":707.8191859507624}],"complexity_score":0.6536087102069319}
{"id":9265,"query_id":"Q01853","question":"A quadcopter takes off from a grassy field and must land on a sandy patch. It can fly over hard surfaces, vehicle routes, farmlands, and open ground, but should avoid tall obstacles and liquid areas. What is the fastest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Rangeland","end_land_type":"Bareland","task_description":"What is the fastest flight path for the quadcopter to travel from the grassy field to the sandy patch?","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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":3,"start_point":[77,831],"end_point":[779,183],"distance":955.3575246995232},{"start_region_id":26,"end_region_id":1,"start_point":[963,472],"end_point":[212,76],"distance":849.0094227981218},{"start_region_id":37,"end_region_id":1,"start_point":[577,761],"end_point":[212,76],"distance":776.1765263134412},{"start_region_id":38,"end_region_id":1,"start_point":[77,831],"end_point":[212,76],"distance":766.9745758498126},{"start_region_id":29,"end_region_id":1,"start_point":[804,464],"end_point":[212,76],"distance":707.8191859507624}],"complexity_score":0.6536087102069319}
{"id":13443,"query_id":"Q02689","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a flat, paved area with a hard, smooth surface. The drone can fly over open liquid surfaces, but must avoid any areas with tall vertical obstacles or structures. The drone's flight path should prioritize stability and smoothness to ensure clear sensor readings and minimal vibration.","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 flat, paved area with a hard, smooth 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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":64,"start_point":[779,183],"end_point":[268,436],"distance":570.2017186926045},{"start_region_id":3,"end_region_id":61,"start_point":[779,183],"end_point":[362,439],"distance":489.3107397145499},{"start_region_id":1,"end_region_id":61,"start_point":[212,76],"end_point":[362,439],"distance":392.77092560422545},{"start_region_id":1,"end_region_id":64,"start_point":[212,76],"end_point":[268,436],"distance":364.3295211755424}],"complexity_score":0.6536087102069319}
{"id":13468,"query_id":"Q02694","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach an open, dry, solid ground area. The drone can fly over liquid surfaces, but must avoid any vertical structures or dense vegetation that could cause collisions. The drone's primary concern is maintaining stable flight and avoiding obstacles that could damage its rotors or cause loss of control. 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":"open, dry, solid ground","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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":3,"start_point":[268,436],"end_point":[779,183],"distance":570.2017186926045},{"start_region_id":61,"end_region_id":3,"start_point":[362,439],"end_point":[779,183],"distance":489.3107397145499},{"start_region_id":61,"end_region_id":1,"start_point":[362,439],"end_point":[212,76],"distance":392.77092560422545},{"start_region_id":64,"end_region_id":1,"start_point":[268,436],"end_point":[212,76],"distance":364.3295211755424}],"complexity_score":0.6536087102069319}
{"id":14391,"query_id":"Q02879","question":"A delivery drone is hovering above a grassy, uneven field and needs to reach an exposed, rocky ground area. The drone must maintain a smooth, stable flight to protect its payload, so it prefers to fly over terrain that minimizes turbulence. The drone is programmed to avoid flying directly above tall vertical structures and liquid surfaces due to safety protocols. What is the most comfortable path?","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"grassy, uneven field","end_land_type":"exposed, rocky ground","task_description":"What is the most comfortable path from the grassy field to the 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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":3,"start_point":[77,831],"end_point":[779,183],"distance":955.3575246995232},{"start_region_id":26,"end_region_id":1,"start_point":[963,472],"end_point":[212,76],"distance":849.0094227981218},{"start_region_id":37,"end_region_id":1,"start_point":[577,761],"end_point":[212,76],"distance":776.1765263134412},{"start_region_id":38,"end_region_id":1,"start_point":[77,831],"end_point":[212,76],"distance":766.9745758498126},{"start_region_id":29,"end_region_id":1,"start_point":[804,464],"end_point":[212,76],"distance":707.8191859507624}],"complexity_score":0.6536087102069319}
{"id":15816,"query_id":"Q03164","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a grassy, shrub-covered area with low, natural vegetation. The drone can fly over any solid or liquid surface, including paved areas, water bodies, and cultivated fields, but must avoid dense tree canopies and vertical structures like buildings due to collision risk. What is the shortest 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 grassy, shrub-covered area with low, natural 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":"coxsbazar_37.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":32,"start_point":[212,76],"end_point":[953,870],"distance":1086.055707595149},{"start_region_id":3,"end_region_id":38,"start_point":[779,183],"end_point":[77,831],"distance":955.3575246995232},{"start_region_id":1,"end_region_id":26,"start_point":[212,76],"end_point":[963,472],"distance":849.0094227981218},{"start_region_id":1,"end_region_id":37,"start_point":[212,76],"end_point":[577,761],"distance":776.1765263134412},{"start_region_id":1,"end_region_id":38,"start_point":[212,76],"end_point":[77,831],"distance":766.9745758498126}],"complexity_score":0.6536087102069319}
{"id":1983,"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":"tyrolw_52.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":148,"start_point":[702,198],"end_point":[167,812],"distance":814.3838161456796},{"start_region_id":148,"end_region_id":101,"start_point":[167,812],"end_point":[702,198],"distance":814.3838161456796},{"start_region_id":105,"end_region_id":148,"start_point":[745,249],"end_point":[167,812],"distance":806.8785534391158},{"start_region_id":148,"end_region_id":105,"start_point":[167,812],"end_point":[745,249],"distance":806.8785534391158},{"start_region_id":100,"end_region_id":148,"start_point":[358,75],"end_point":[167,812],"distance":761.3474896523926}],"complexity_score":0.6536650011976831}
{"id":12034,"query_id":"Q02407","question":"A jogger starts from a paved sidewalk and needs to reach a paved street as quickly as possible. The jogger can only move on hard, stable surfaces that allow for steady running, such as compacted gravel or asphalt, and cannot traverse soft, loose soil, vegetation, liquid, or vertical obstacles. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved sidewalk","end_land_type":"a paved street","task_description":"What is the fastest path for the jogger to travel from the paved sidewalk to the paved street?","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":"tyrolw_52.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":148,"end_region_id":178,"start_point":[167,812],"end_point":[494,457],"distance":482.6530845234494},{"start_region_id":100,"end_region_id":178,"start_point":[358,75],"end_point":[494,457],"distance":405.48736108539805},{"start_region_id":144,"end_region_id":178,"start_point":[491,823],"end_point":[494,457],"distance":366.0122948754591},{"start_region_id":117,"end_region_id":178,"start_point":[844,479],"end_point":[494,457],"distance":350.69074695520555},{"start_region_id":101,"end_region_id":178,"start_point":[702,198],"end_point":[494,457],"distance":332.18217893198306}],"complexity_score":0.6536650011976831}
{"id":1159,"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_49.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":107,"start_point":[206,953],"end_point":[852,374],"distance":867.5004322765493},{"start_region_id":27,"end_region_id":109,"start_point":[870,987],"end_point":[271,441],"distance":810.5041640855401},{"start_region_id":5,"end_region_id":109,"start_point":[926,24],"end_point":[271,441],"distance":776.4753698604999},{"start_region_id":7,"end_region_id":109,"start_point":[953,99],"end_point":[271,441],"distance":762.9469182059785},{"start_region_id":25,"end_region_id":121,"start_point":[206,953],"end_point":[801,486],"distance":756.3821785314617}],"complexity_score":0.6537021209107486}
{"id":3132,"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_49.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":186,"start_point":[798,173],"end_point":[411,958],"distance":875.2108317428435},{"start_region_id":66,"end_region_id":184,"start_point":[798,173],"end_point":[521,927],"distance":803.2714360662901},{"start_region_id":66,"end_region_id":180,"start_point":[798,173],"end_point":[290,749],"distance":768.010416596025},{"start_region_id":68,"end_region_id":172,"start_point":[707,814],"end_point":[389,137],"distance":747.9659083140086},{"start_region_id":66,"end_region_id":185,"start_point":[798,173],"end_point":[862,911],"distance":740.7698697976316}],"complexity_score":0.6537021209107486}
{"id":5298,"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_49.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":185,"end_region_id":173,"start_point":[862,911],"end_point":[37,198],"distance":1090.4100146275252},{"start_region_id":173,"end_region_id":185,"start_point":[37,198],"end_point":[862,911],"distance":1090.4100146275252},{"start_region_id":169,"end_region_id":185,"start_point":[174,87],"end_point":[862,911],"distance":1073.4616900476701},{"start_region_id":185,"end_region_id":169,"start_point":[862,911],"end_point":[174,87],"distance":1073.4616900476701},{"start_region_id":181,"end_region_id":173,"start_point":[825,736],"end_point":[37,198],"distance":954.142547002281}],"complexity_score":0.6537021209107486}
{"id":483,"query_id":"Q00097","question":"A quadcopter drone is positioned in a cultivated field with rows of crops and needs to reach a paved parking lot. The drone can fly over various surfaces, but must avoid flying directly through dense tree canopies as they pose a collision risk. The drone can safely traverse over liquid surfaces like rivers or ponds. The drone's operator wants to find the most direct route to the destination.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops","end_land_type":"A paved parking lot","task_description":"What is the shortest path the drone can take to reach the paved parking lot from the cultivated 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":"svaneti_32.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":234,"end_region_id":110,"start_point":[780,237],"end_point":[59,736],"distance":876.8363587351976},{"start_region_id":235,"end_region_id":110,"start_point":[729,369],"end_point":[59,736],"distance":763.9299706124901},{"start_region_id":234,"end_region_id":93,"start_point":[780,237],"end_point":[79,237],"distance":701.0},{"start_region_id":235,"end_region_id":93,"start_point":[729,369],"end_point":[79,237],"distance":663.267668441633},{"start_region_id":234,"end_region_id":109,"start_point":[780,237],"end_point":[652,768],"distance":546.2096667031809}],"complexity_score":0.6537062111629983}
{"id":7557,"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":"svaneti_32.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":234,"end_region_id":110,"start_point":[780,237],"end_point":[59,736],"distance":876.8363587351976},{"start_region_id":235,"end_region_id":110,"start_point":[729,369],"end_point":[59,736],"distance":763.9299706124901},{"start_region_id":234,"end_region_id":93,"start_point":[780,237],"end_point":[79,237],"distance":701.0},{"start_region_id":235,"end_region_id":93,"start_point":[729,369],"end_point":[79,237],"distance":663.267668441633},{"start_region_id":234,"end_region_id":109,"start_point":[780,237],"end_point":[652,768],"distance":546.2096667031809}],"complexity_score":0.6537062111629983}
{"id":9058,"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_32.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":110,"end_region_id":234,"start_point":[59,736],"end_point":[780,237],"distance":876.8363587351976},{"start_region_id":110,"end_region_id":235,"start_point":[59,736],"end_point":[729,369],"distance":763.9299706124901},{"start_region_id":93,"end_region_id":234,"start_point":[79,237],"end_point":[780,237],"distance":701.0},{"start_region_id":93,"end_region_id":235,"start_point":[79,237],"end_point":[729,369],"distance":663.267668441633},{"start_region_id":109,"end_region_id":234,"start_point":[652,768],"end_point":[780,237],"distance":546.2096667031809}],"complexity_score":0.6537062111629983}
{"id":2748,"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_31.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":246,"end_region_id":231,"start_point":[797,59],"end_point":[451,717],"distance":743.4245086086414},{"start_region_id":259,"end_region_id":206,"start_point":[498,894],"end_point":[843,172],"distance":800.1931016948347},{"start_region_id":253,"end_region_id":231,"start_point":[783,256],"end_point":[451,717],"distance":568.1065040993634},{"start_region_id":260,"end_region_id":206,"start_point":[434,526],"end_point":[843,172],"distance":540.922360417833},{"start_region_id":254,"end_region_id":206,"start_point":[322,287],"end_point":[843,172],"distance":533.5410012360812}],"complexity_score":0.6537163969149021}
{"id":15437,"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_31.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":231,"end_region_id":206,"start_point":[451,717],"end_point":[843,172],"distance":671.3337471034806},{"start_region_id":206,"end_region_id":231,"start_point":[843,172],"end_point":[451,717],"distance":671.3337471034806},{"start_region_id":223,"end_region_id":206,"start_point":[687,577],"end_point":[843,172],"distance":434.00576033043615},{"start_region_id":206,"end_region_id":223,"start_point":[843,172],"end_point":[687,577],"distance":434.00576033043615},{"start_region_id":223,"end_region_id":231,"start_point":[687,577],"end_point":[451,717],"distance":274.40116617827994}],"complexity_score":0.6537163969149021}
{"id":2284,"query_id":"Q00457","question":"A delivery drone starts from a concrete rooftop and needs to reach another concrete rooftop while prioritizing safety. The drone can fly over paved surfaces like roads and parking lots, which are open and predictable. The drone can fly over cultivated fields with crops, as the vegetation is low and does not pose a collision risk. The drone can fly over areas with trees, but must maintain a safe altitude to avoid branches. The drone can fly over liquid surfaces, but these are avoided due to risk of signal interference or splash damage. The drone can fly near solid vertical structures, but these are avoided due to collision risk and potential signal blockage.","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a concrete rooftop","end_land_type":"a concrete rooftop","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_7.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":84,"end_region_id":149,"start_point":[986,117],"end_point":[144,929],"distance":1169.7469811886672},{"start_region_id":149,"end_region_id":84,"start_point":[144,929],"end_point":[986,117],"distance":1169.7469811886672},{"start_region_id":77,"end_region_id":148,"start_point":[136,235],"end_point":[981,950],"distance":1106.910113785216},{"start_region_id":148,"end_region_id":77,"start_point":[981,950],"end_point":[136,235],"distance":1106.910113785216},{"start_region_id":127,"end_region_id":84,"start_point":[180,637],"end_point":[986,117],"distance":959.1850707762293}],"complexity_score":0.653818211013503}
{"id":6726,"query_id":"Q01346","question":"An aerial survey drone starts from a paved, hard surface and needs to reach cultivated crop fields. The drone can fly over areas of loose earth and rocks, grassy or shrub-covered ground, paved surfaces, vegetated areas with tall vertical obstacles, liquid surfaces, and cultivated fields. However. The drone must avoid flying through dense clusters of tall vertical obstacles as they pose collision risks. 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":"cultivated crop fields","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":"kagera_62.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":27,"end_region_id":211,"start_point":[741,73],"end_point":[32,998],"distance":1165.4638561534202},{"start_region_id":48,"end_region_id":201,"start_point":[143,938],"end_point":[896,71],"distance":1148.345766744494},{"start_region_id":48,"end_region_id":199,"start_point":[143,938],"end_point":[686,20],"distance":1066.5706727638822},{"start_region_id":27,"end_region_id":210,"start_point":[741,73],"end_point":[251,976],"distance":1027.3796766531837},{"start_region_id":27,"end_region_id":212,"start_point":[741,73],"end_point":[453,1006],"distance":976.4389381830284}],"complexity_score":0.6538370413668972}
{"id":10958,"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":"kagera_62.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":4,"start_point":[32,998],"end_point":[943,163],"distance":1235.7774880616655},{"start_region_id":210,"end_region_id":4,"start_point":[251,976],"end_point":[943,163],"distance":1067.6296174235708},{"start_region_id":212,"end_region_id":4,"start_point":[453,1006],"end_point":[943,163],"distance":975.0635876700555},{"start_region_id":205,"end_region_id":4,"start_point":[67,545],"end_point":[943,163],"distance":955.6673061269805},{"start_region_id":211,"end_region_id":14,"start_point":[32,998],"end_point":[767,502],"distance":886.7023175790171}],"complexity_score":0.6538370413668972}
{"id":12089,"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":"kagera_62.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":48,"end_region_id":27,"start_point":[143,938],"end_point":[741,73],"distance":1051.584043241433},{"start_region_id":27,"end_region_id":48,"start_point":[741,73],"end_point":[143,938],"distance":1051.584043241433},{"start_region_id":27,"end_region_id":45,"start_point":[741,73],"end_point":[849,942],"distance":875.6854458080253},{"start_region_id":45,"end_region_id":27,"start_point":[849,942],"end_point":[741,73],"distance":875.6854458080253},{"start_region_id":45,"end_region_id":39,"start_point":[849,942],"end_point":[153,458],"distance":847.7452447522192}],"complexity_score":0.6538370413668972}
{"id":16563,"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":"kagera_62.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":211,"end_region_id":27,"start_point":[32,998],"end_point":[741,73],"distance":1165.4638561534202},{"start_region_id":201,"end_region_id":48,"start_point":[896,71],"end_point":[143,938],"distance":1148.345766744494},{"start_region_id":199,"end_region_id":48,"start_point":[686,20],"end_point":[143,938],"distance":1066.5706727638822},{"start_region_id":210,"end_region_id":27,"start_point":[251,976],"end_point":[741,73],"distance":1027.3796766531837},{"start_region_id":212,"end_region_id":27,"start_point":[453,1006],"end_point":[741,73],"distance":976.4389381830284}],"complexity_score":0.6538370413668972}
{"id":4823,"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_61.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":320,"end_region_id":311,"start_point":[493,470],"end_point":[226,937],"distance":537.9386582129973},{"start_region_id":320,"end_region_id":304,"start_point":[493,470],"end_point":[676,928],"distance":493.20685315595523},{"start_region_id":320,"end_region_id":291,"start_point":[493,470],"end_point":[880,771],"distance":490.2754327926293},{"start_region_id":320,"end_region_id":153,"start_point":[493,470],"end_point":[811,140],"distance":458.28375489427947},{"start_region_id":320,"end_region_id":267,"start_point":[493,470],"end_point":[960,545],"distance":472.9841434974327}],"complexity_score":0.6538555796482596}
{"id":14150,"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_61.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":386,"end_region_id":333,"start_point":[146,716],"end_point":[947,117],"distance":1000.2009798035593},{"start_region_id":333,"end_region_id":386,"start_point":[947,117],"end_point":[146,716],"distance":1000.2009798035593},{"start_region_id":386,"end_region_id":339,"start_point":[146,716],"end_point":[951,213],"distance":949.2281074641649},{"start_region_id":339,"end_region_id":386,"start_point":[951,213],"end_point":[146,716],"distance":949.2281074641649},{"start_region_id":386,"end_region_id":355,"start_point":[146,716],"end_point":[935,368],"distance":862.3369411082886}],"complexity_score":0.6538555796482596}
{"id":17455,"query_id":"Q03491","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster of tall vegetation with vertical structures and canopy cover. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. The drone can fly over areas with loose, dry soil and rocks; areas with low, natural vegetation; paved lanes used by vehicles; liquid surfaces; and clusters of tall vegetation with vertical structures, but flying through dense vertical structures requires careful navigation and increases vibration risk. The drone cannot fly through solid vertical structures like buildings. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","task_description":"What is the most comfortable path for the aerial survey drone to reach its destination while minimizing vibrations?","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_61.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":386,"end_region_id":333,"start_point":[146,716],"end_point":[947,117],"distance":1000.2009798035593},{"start_region_id":333,"end_region_id":386,"start_point":[947,117],"end_point":[146,716],"distance":1000.2009798035593},{"start_region_id":386,"end_region_id":339,"start_point":[146,716],"end_point":[951,213],"distance":949.2281074641649},{"start_region_id":339,"end_region_id":386,"start_point":[951,213],"end_point":[146,716],"distance":949.2281074641649},{"start_region_id":386,"end_region_id":355,"start_point":[146,716],"end_point":[935,368],"distance":862.3369411082886}],"complexity_score":0.6538555796482596}
{"id":16111,"query_id":"Q03223","question":"A quadcopter drone is on grassy, uneven ground with scattered shrubs and needs to reach a cultivated field with rows of crops. The drone can fly over loose, sandy or rocky surfaces, grassy or shrubby areas, paved lanes, cultivated fields, and water bodies, but must avoid dense tree stands and structures unless necessary. To achieve the fastest path, which route should it take?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"grassy, uneven ground with scattered shrubs","end_land_type":"cultivated field with rows of crops","task_description":"Which route allows the quadcopter drone to reach the cultivated field as quickly as possible?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Road","Water","Agriculture land"],"traverse_vector":[1,1,0,1,0,1,1,0],"cost_vector":[1,1,0,1,0,1,1,0],"image_name":"coxsbazar_45.tif","subfolder":"coxsbazar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":211,"start_point":[38,244],"end_point":[937,390],"distance":910.7782386508803},{"start_region_id":41,"end_region_id":211,"start_point":[158,711],"end_point":[937,390],"distance":842.5449542902741},{"start_region_id":3,"end_region_id":209,"start_point":[38,244],"end_point":[726,345],"distance":695.3740000891606},{"start_region_id":45,"end_region_id":211,"start_point":[375,777],"end_point":[937,390],"distance":682.3584102214905},{"start_region_id":41,"end_region_id":209,"start_point":[158,711],"end_point":[726,345],"distance":675.7070371100185}],"complexity_score":0.6538780277598935}
{"id":635,"query_id":"Q00127","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface. The drone can fly over loose soil areas used for crop growth and liquid bodies, but must avoid vertical obstacles like tall vegetation. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat surface","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":"daressalaam_41.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":459,"end_region_id":397,"start_point":[388,703],"end_point":[975,736],"distance":587.9268662002103},{"start_region_id":459,"end_region_id":335,"start_point":[388,703],"end_point":[948,479],"distance":603.1384583990645},{"start_region_id":459,"end_region_id":424,"start_point":[388,703],"end_point":[790,896],"distance":445.9293666041742},{"start_region_id":459,"end_region_id":352,"start_point":[388,703],"end_point":[873,645],"distance":488.45572982615323},{"start_region_id":459,"end_region_id":302,"start_point":[388,703],"end_point":[214,374],"distance":372.1787205093811}],"complexity_score":0.6539610872094084}
{"id":4308,"query_id":"Q00862","question":"An agricultural monitoring drone starts from a grassy, open field with scattered low vegetation and needs to return to another similar grassy, open field. The drone can fly over areas of soft, cultivated soil where crops are growing, and can also cross over calm, liquid surfaces. However, it must avoid densely packed vertical obstacles like tall, solid structures and thick clusters of upright natural obstacles with branches and leaves. The drone's path should be as direct as possible.","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation","end_land_type":"and needs to return to another similar grassy, open field","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":"daressalaam_41.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":7,"start_point":[896,813],"end_point":[248,157],"distance":922.0845948176338},{"start_region_id":7,"end_region_id":89,"start_point":[248,157],"end_point":[896,813],"distance":922.0845948176338},{"start_region_id":7,"end_region_id":111,"start_point":[248,157],"end_point":[660,955],"distance":898.080174594674},{"start_region_id":111,"end_region_id":7,"start_point":[660,955],"end_point":[248,157],"distance":898.080174594674},{"start_region_id":7,"end_region_id":91,"start_point":[248,157],"end_point":[740,846],"distance":846.6315609519881}],"complexity_score":0.6539610872094084}
{"id":4779,"query_id":"Q00956","question":"A hiker starts from a paved road surface and needs to reach a paved parking lot. The terrain includes loose, sandy ground; grassy and shrubby areas; paved surfaces like sidewalks and parking lots; paved roads; individual trees with trunks and canopies; and cultivated fields with crops. The hiker can walk on loose sandy ground, grassy areas, cultivated fields, and through trees only if the ground is firm enough to support foot traffic and vegetation is sparse enough to pass through. What is the shortest path to the destination?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved road surface","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","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_41.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":459,"end_region_id":193,"start_point":[388,703],"end_point":[44,157],"distance":645.3309228605119},{"start_region_id":459,"end_region_id":125,"start_point":[388,703],"end_point":[286,43],"distance":667.8353090395865},{"start_region_id":459,"end_region_id":147,"start_point":[388,703],"end_point":[662,103],"distance":659.6029108486408},{"start_region_id":459,"end_region_id":397,"start_point":[388,703],"end_point":[975,736],"distance":587.9268662002103},{"start_region_id":459,"end_region_id":335,"start_point":[388,703],"end_point":[948,479],"distance":603.1384583990645}],"complexity_score":0.6539610872094084}
{"id":2651,"query_id":"Q00531","question":"An off-road vehicle starts from a cultivated field with soft, tilled soil and needs to reach a paved street. The terrain includes areas of loose, rocky ground without vegetation, as well as flat, hard surfaces like parking lots and sidewalks. The cultivated field is traversable because the soil is dry and compacted enough for vehicle tires. What is the shortest path to the street?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"cultivated field","end_land_type":"paved street","task_description":"What is the shortest path to the street?","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":"labuhan_55.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":428,"end_region_id":241,"start_point":[106,697],"end_point":[765,247],"distance":797.9855888423049},{"start_region_id":426,"end_region_id":260,"start_point":[883,766],"end_point":[277,336],"distance":743.0585441269079},{"start_region_id":426,"end_region_id":265,"start_point":[883,766],"end_point":[200,781],"distance":683.1646946381231},{"start_region_id":422,"end_region_id":241,"start_point":[486,776],"end_point":[765,247],"distance":598.0652138354144},{"start_region_id":426,"end_region_id":241,"start_point":[883,766],"end_point":[765,247],"distance":532.245244224878}],"complexity_score":0.6540952378200674}
{"id":12108,"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":"labuhan_55.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":156,"end_region_id":28,"start_point":[563,323],"end_point":[796,317],"distance":233.0772404161333}],"complexity_score":0.6540952378200674}
{"id":16578,"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":"labuhan_55.tif","subfolder":"labuhan","coordinate_format":"xy","start_end_pairs":[{"start_region_id":428,"end_region_id":241,"start_point":[106,697],"end_point":[765,247],"distance":797.9855888423049},{"start_region_id":426,"end_region_id":260,"start_point":[883,766],"end_point":[277,336],"distance":743.0585441269079},{"start_region_id":423,"end_region_id":241,"start_point":[103,481],"end_point":[765,247],"distance":702.1395872616783},{"start_region_id":426,"end_region_id":265,"start_point":[883,766],"end_point":[200,781],"distance":683.1646946381231},{"start_region_id":422,"end_region_id":241,"start_point":[486,776],"end_point":[765,247],"distance":598.0652138354144}],"complexity_score":0.6540952378200674}
{"id":3091,"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_50.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":335,"end_region_id":30,"start_point":[291,833],"end_point":[729,175],"distance":790.4479742525754},{"start_region_id":137,"end_region_id":105,"start_point":[571,270],"end_point":[158,812],"distance":681.4198412139172},{"start_region_id":137,"end_region_id":95,"start_point":[571,270],"end_point":[222,739],"distance":584.6041395679644}],"complexity_score":0.6540975691218055}
{"id":4198,"query_id":"Q00840","question":"A hiker is standing on a paved sidewalk and wants to reach a shaded tree area while prioritizing a comfortable walk. The hiker can walk on hard surfaces like pavement and roads comfortably. Walking on loose soil, grassy patches, or cultivated fields is possible but may be less comfortable due to unevenness. The hiker cannot swim through water or walk through solid structures. What is the most comfortable route?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved sidewalk","end_land_type":"a shaded tree area","task_description":"What is the most comfortable route for the hiker to travel from the paved sidewalk to the shaded tree 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":[2,3,6,5,1,0,4,0],"image_name":"shanghai_45.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":19,"start_point":[86,191],"end_point":[539,551],"distance":578.6268227450228},{"start_region_id":6,"end_region_id":18,"start_point":[594,212],"end_point":[189,527],"distance":513.078941294612},{"start_region_id":10,"end_region_id":19,"start_point":[113,587],"end_point":[539,551],"distance":427.51842065576545},{"start_region_id":7,"end_region_id":18,"start_point":[509,270],"end_point":[189,527],"distance":410.42538907820995},{"start_region_id":5,"end_region_id":18,"start_point":[86,191],"end_point":[189,527],"distance":351.4327816240255}],"complexity_score":0.6544068056639908}
{"id":13241,"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":"shanghai_45.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":12,"start_point":[621,69],"end_point":[45,481],"distance":708.180767883455}],"complexity_score":0.6544068056639908}
{"id":5725,"query_id":"Q01145","question":"A courier van needs to travel quickly between two paved streets. The vehicle requires smooth, hard surfaces to maintain high speed and stability, and cannot deviate onto unpaved or vegetated terrain. What is the fastest route?","agent_category":"Car","specific_agent":"a courier van","start_land_type":"a paved street","end_land_type":"another paved street","task_description":"What is the fastest route between the two paved streets?","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":"joplin_30.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":80,"start_point":[419,547],"end_point":[913,987],"distance":661.5406261145267},{"start_region_id":80,"end_region_id":79,"start_point":[913,987],"end_point":[419,547],"distance":661.5406261145267}],"complexity_score":0.6545155100189219}
{"id":12733,"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_67.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":110,"start_point":[114,677],"end_point":[897,609],"distance":785.9471992443258},{"start_region_id":122,"end_region_id":90,"start_point":[114,677],"end_point":[764,408],"distance":703.4635740391965},{"start_region_id":122,"end_region_id":100,"start_point":[114,677],"end_point":[562,158],"distance":685.6128645234131},{"start_region_id":118,"end_region_id":110,"start_point":[269,488],"end_point":[897,609],"distance":639.5506234849591},{"start_region_id":122,"end_region_id":103,"start_point":[114,677],"end_point":[549,261],"distance":601.8978318618534}],"complexity_score":0.6545211198263786}
{"id":14796,"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_67.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":122,"end_region_id":2,"start_point":[114,677],"end_point":[726,32],"distance":889.1394716241092},{"start_region_id":122,"end_region_id":69,"start_point":[114,677],"end_point":[960,911],"distance":877.7653444970358},{"start_region_id":122,"end_region_id":29,"start_point":[114,677],"end_point":[926,363],"distance":870.597495976183},{"start_region_id":122,"end_region_id":20,"start_point":[114,677],"end_point":[855,267],"distance":846.8653966245167},{"start_region_id":118,"end_region_id":69,"start_point":[269,488],"end_point":[960,911],"distance":810.1913354263918}],"complexity_score":0.6545211198263786}
{"id":552,"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_48.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":104,"start_point":[126,934],"end_point":[961,34],"distance":1227.690922015798},{"start_region_id":104,"end_region_id":175,"start_point":[961,34],"end_point":[126,934],"distance":1227.690922015798},{"start_region_id":104,"end_region_id":163,"start_point":[961,34],"end_point":[325,899],"distance":1073.648452706937},{"start_region_id":163,"end_region_id":104,"start_point":[325,899],"end_point":[961,34],"distance":1073.648452706937},{"start_region_id":179,"end_region_id":104,"start_point":[474,942],"end_point":[961,34],"distance":1030.3557638019986}],"complexity_score":0.6548228670227929}
{"id":4349,"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":"duesseldorf_48.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":236,"start_point":[126,934],"end_point":[776,435],"distance":819.4516459193916},{"start_region_id":163,"end_region_id":236,"start_point":[325,899],"end_point":[776,435],"distance":647.0680026086902},{"start_region_id":121,"end_region_id":236,"start_point":[175,442],"end_point":[776,435],"distance":601.0407640085654},{"start_region_id":102,"end_region_id":236,"start_point":[237,183],"end_point":[776,435],"distance":595.0},{"start_region_id":148,"end_region_id":240,"start_point":[961,753],"end_point":[431,503],"distance":586.0034129593445}],"complexity_score":0.6548228670227929}
{"id":12719,"query_id":"Q02544","question":"A quadcopter drone starts from a cultivated field with loose soil and crop rows and needs to reach a wooded area with tall vegetation and tree trunks. You can traverse rough bare ground, areas with short grass and shrubs, hard paved surfaces, vehicle lanes, cultivated fields, and wooded areas, but you must avoid buildings and water bodies. The wooded areas are passable only if you fly between tree canopies without collision. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"cultivated field","end_land_type":"wooded area","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","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_35.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":176,"end_region_id":120,"start_point":[81,881],"end_point":[964,59],"distance":1206.3884117480573},{"start_region_id":176,"end_region_id":136,"start_point":[81,881],"end_point":[854,450],"distance":885.0367224019577},{"start_region_id":176,"end_region_id":117,"start_point":[81,881],"end_point":[628,188],"distance":882.8691862331588},{"start_region_id":175,"end_region_id":141,"start_point":[890,730],"end_point":[44,564],"distance":862.1322404364657},{"start_region_id":173,"end_region_id":161,"start_point":[790,230],"end_point":[93,724],"distance":854.3096628272444}],"complexity_score":0.654843747849834}
{"id":14401,"query_id":"Q02881","question":"An agricultural monitoring drone starts from a cultivated field with loose, tilled soil and needs to reach another cultivated field with loose, tilled soil while minimizing risk. The drone can fly over most surfaces including paved areas, firm ground, vegetated areas, and cultivated fields, but should avoid flying directly over vertical structures or dense tree canopies that could cause collisions, and should minimize flight over liquid bodies or areas with unpredictable air currents. What is the safest path?","agent_category":"Drone","specific_agent":"An agricultural monitoring drone","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 safest path for the agricultural monitoring drone to reach the destination 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":"dortmund_35.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":173,"start_point":[890,730],"end_point":[790,230],"distance":509.9019513592785},{"start_region_id":173,"end_region_id":175,"start_point":[790,230],"end_point":[890,730],"distance":509.9019513592785}],"complexity_score":0.654843747849834}
{"id":47,"query_id":"Q00010","question":"An aerial surveillance drone starts from a paved lane and needs to reach a hard, flat surface such as a parking lot or sidewalk while prioritizing safety. The drone can fly over areas with loose soil or rocks, grassy or shrub-covered ground, cultivated fields, individual trees or groups of trees, and bodies of water, but must avoid buildings entirely. It can also pass near or between trees and buildings if necessary, but flying directly through dense tree canopies or inside structures is prohibited. The drone's path should minimize risks such as collisions, signal interference, or unstable flight conditions. What is the safest route?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"paved lane","end_land_type":"hard, flat surface such as a parking lot or sidewalk","task_description":"What is the safest route for the aerial surveillance drone to take from the paved lane to the hard, flat 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":"khartoum_15.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":1,"start_point":[347,343],"end_point":[134,61],"distance":353.4020373455705},{"start_region_id":29,"end_region_id":26,"start_point":[347,343],"end_point":[61,612],"distance":392.62832297224816},{"start_region_id":29,"end_region_id":4,"start_point":[347,343],"end_point":[137,120],"distance":306.31519714176767},{"start_region_id":29,"end_region_id":3,"start_point":[347,343],"end_point":[463,81],"distance":286.53097563788805},{"start_region_id":29,"end_region_id":15,"start_point":[347,343],"end_point":[626,507],"distance":323.6309626719916}],"complexity_score":0.6549562092806666}
{"id":4457,"query_id":"Q00892","question":"A quadcopter drone starts from a hard, paved surface and needs to reach another hard, paved surface. The drone can fly over liquid areas, but must avoid vertical obstacles and dense vegetation for safety. Hard, flat surfaces are preferred for stability and control. The objective is to find the path that minimizes risk.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a hard, paved surface","end_land_type":"a hard, 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":"khartoum_15.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":29,"start_point":[626,589],"end_point":[211,4],"distance":717.2516991963142}],"complexity_score":0.6549562092806666}
{"id":4501,"query_id":"Q00901","question":"A person walking starts from a paved, hard-surfaced area and needs to reach a vehicle lane. The environment contains areas with vertical obstacles that provide overhead cover, but these can be navigated around if necessary. The paved, hard-surfaced areas and vehicle lanes are both accessible surfaces. What is the shortest path to the vehicle lane?","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 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":"khartoum_15.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":29,"start_point":[134,61],"end_point":[347,343],"distance":353.4020373455705},{"start_region_id":26,"end_region_id":29,"start_point":[61,612],"end_point":[347,343],"distance":392.62832297224816},{"start_region_id":3,"end_region_id":29,"start_point":[463,81],"end_point":[347,343],"distance":286.53097563788805},{"start_region_id":15,"end_region_id":29,"start_point":[626,507],"end_point":[347,343],"distance":323.6309626719916},{"start_region_id":5,"end_region_id":29,"start_point":[112,268],"end_point":[347,343],"distance":246.6779276708802}],"complexity_score":0.6549562092806666}
{"id":9147,"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":"khartoum_15.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":29,"start_point":[134,61],"end_point":[347,343],"distance":353.4020373455705},{"start_region_id":26,"end_region_id":29,"start_point":[61,612],"end_point":[347,343],"distance":392.62832297224816},{"start_region_id":3,"end_region_id":29,"start_point":[463,81],"end_point":[347,343],"distance":286.53097563788805},{"start_region_id":15,"end_region_id":29,"start_point":[626,507],"end_point":[347,343],"distance":323.6309626719916},{"start_region_id":5,"end_region_id":29,"start_point":[112,268],"end_point":[347,343],"distance":246.6779276708802}],"complexity_score":0.6549562092806666}
{"id":9162,"query_id":"Q01833","question":"A quadcopter drone starts from a paved lane and needs to reach a flat, hard-surfaced area as quickly as possible. The drone can fly over loose, sandy ground; grassy or shrub-covered terrain; cultivated fields; the initial paved lane; the destination hard surface; and any bodies of water. The drone cannot fly through dense tree stands or enter any structures. Which aerial path minimizes flight time to the flat, hard-surfaced area?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Developed space","task_description":"Which aerial path minimizes flight time to the flat, hard-surfaced 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":"khartoum_15.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":1,"start_point":[347,343],"end_point":[134,61],"distance":353.4020373455705},{"start_region_id":29,"end_region_id":26,"start_point":[347,343],"end_point":[61,612],"distance":392.62832297224816},{"start_region_id":29,"end_region_id":3,"start_point":[347,343],"end_point":[463,81],"distance":286.53097563788805},{"start_region_id":29,"end_region_id":15,"start_point":[347,343],"end_point":[626,507],"distance":323.6309626719916},{"start_region_id":29,"end_region_id":5,"start_point":[347,343],"end_point":[112,268],"distance":246.6779276708802}],"complexity_score":0.6549562092806666}
{"id":1037,"query_id":"Q00208","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a grassy, open area with low vegetation. The vehicle can traverse grassy fields and cultivated plots, as these are firm and dry enough for off-road tires. However, loose sandy or rocky ground is too soft and risky, and any vertical obstacles or liquid surfaces are impassable. 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 grassy, open area with low vegetation","task_description":"What is the safest path?","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":"abancay_19.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":94,"end_region_id":84,"start_point":[913,109],"end_point":[101,978],"distance":1189.3296431183408},{"start_region_id":95,"end_region_id":84,"start_point":[854,146],"end_point":[101,978],"distance":1122.1555150691013},{"start_region_id":94,"end_region_id":59,"start_point":[913,109],"end_point":[108,807],"distance":1065.4712572378478},{"start_region_id":142,"end_region_id":84,"start_point":[990,351],"end_point":[101,978],"distance":1087.86488131569},{"start_region_id":103,"end_region_id":84,"start_point":[892,239],"end_point":[101,978],"distance":1082.4980369497212}],"complexity_score":0.6550590515640973}
{"id":12942,"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":"abancay_19.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":84,"start_point":[412,69],"end_point":[101,978],"distance":960.7299308338426},{"start_region_id":84,"end_region_id":1,"start_point":[101,978],"end_point":[412,69],"distance":960.7299308338426},{"start_region_id":1,"end_region_id":83,"start_point":[412,69],"end_point":[359,942],"distance":874.6073404677095},{"start_region_id":83,"end_region_id":1,"start_point":[359,942],"end_point":[412,69],"distance":874.6073404677095},{"start_region_id":1,"end_region_id":74,"start_point":[412,69],"end_point":[698,876],"distance":856.1804716296675}],"complexity_score":0.6550590515640973}
{"id":17244,"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":"abancay_19.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":291,"end_region_id":296,"start_point":[182,994],"end_point":[526,491],"distance":609.3808333054134},{"start_region_id":94,"end_region_id":296,"start_point":[913,109],"end_point":[526,491],"distance":543.7766085443544},{"start_region_id":258,"end_region_id":296,"start_point":[986,810],"end_point":[526,491],"distance":559.7865664697573},{"start_region_id":278,"end_region_id":296,"start_point":[211,914],"end_point":[526,491],"distance":527.4030716634101},{"start_region_id":125,"end_region_id":296,"start_point":[27,343],"end_point":[526,491],"distance":520.4853504182419}],"complexity_score":0.6550590515640973}
{"id":3815,"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_19.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":106,"start_point":[930,21],"end_point":[198,831],"distance":1091.7527192546854},{"start_region_id":1,"end_region_id":108,"start_point":[155,228],"end_point":[884,972],"distance":1041.6222923881767},{"start_region_id":3,"end_region_id":108,"start_point":[930,21],"end_point":[884,972],"distance":952.111863175751},{"start_region_id":2,"end_region_id":108,"start_point":[484,148],"end_point":[884,972],"distance":915.9563308367926},{"start_region_id":1,"end_region_id":103,"start_point":[155,228],"end_point":[957,707],"distance":934.1546981094726}],"complexity_score":0.6551996695810052}
{"id":10014,"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":"melbourne_19.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":3,"start_point":[218,984],"end_point":[930,21],"distance":1197.6280724832732},{"start_region_id":49,"end_region_id":3,"start_point":[525,918],"end_point":[930,21],"distance":984.1920544284027},{"start_region_id":50,"end_region_id":2,"start_point":[218,984],"end_point":[484,148],"distance":877.2981249267549},{"start_region_id":38,"end_region_id":35,"start_point":[506,63],"end_point":[799,868],"distance":856.664461735165},{"start_region_id":50,"end_region_id":4,"start_point":[218,984],"end_point":[786,343],"distance":856.4490644515878}],"complexity_score":0.6551996695810052}
{"id":12895,"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_19.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":3,"start_point":[218,984],"end_point":[930,21],"distance":1197.6280724832732},{"start_region_id":49,"end_region_id":3,"start_point":[525,918],"end_point":[930,21],"distance":984.1920544284027},{"start_region_id":50,"end_region_id":2,"start_point":[218,984],"end_point":[484,148],"distance":877.2981249267549},{"start_region_id":38,"end_region_id":35,"start_point":[506,63],"end_point":[799,868],"distance":856.664461735165},{"start_region_id":50,"end_region_id":4,"start_point":[218,984],"end_point":[786,343],"distance":856.4490644515878}],"complexity_score":0.6551996695810052}
{"id":872,"query_id":"Q00175","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a cultivated field with loose soil and crops. The area includes open grassy patches and shrubs that are not cultivated or grazed, which can be traversed if the ground is firm and dry. However, the terrain is restricted to these types of surfaces; all other surfaces, such as trees, water bodies, buildings, bare sand or rock areas, and roads, are not traversable due to obstacles or restrictions. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"a paved, hard surface","end_land_type":"a cultivated field with loose soil and crops","task_description":"What is the shortest path to the destination?","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_8.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":264,"start_point":[97,439],"end_point":[95,121],"distance":318.0062892459833}],"complexity_score":0.6553319992343472}
{"id":3276,"query_id":"Q00656","question":"An off-road vehicle starts from a grassy, uneven terrain and needs to reach another grassy, uneven terrain while minimizing risk. The environment contains two surface types: loose, rocky ground that is unstable and requires careful navigation to avoid getting stuck or losing control, and grassy, uneven terrain that offers more predictable handling. The loose, rocky ground is only traversable if you drive slowly and maintain constant vigilance. All other surfaces such as paved roads, vertical obstacles, water bodies, and cultivated fields are not available or accessible in this area. What is the safest path to your destination?","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 safest path to your destination?","task_type":"Safest","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":"dortmund_8.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":13,"start_point":[406,870],"end_point":[519,460],"distance":425.28696194452044},{"start_region_id":13,"end_region_id":35,"start_point":[519,460],"end_point":[406,870],"distance":425.28696194452044}],"complexity_score":0.6553319992343472}
{"id":9556,"query_id":"Q01912","question":"An off-road vehicle starts from a hard, paved surface and needs to reach cultivated soil. The terrain includes compacted, unpaved ground; grassy and shrubby areas; hard, artificial surfaces; vehicle lanes; and soft, plowed earth. The vehicle can traverse all these surfaces, but must avoid any liquid bodies, vertical structures, and areas with dense tree cover. What is the shortest route to the destination?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"hard, paved surface","end_land_type":"cultivated soil","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_8.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":264,"start_point":[507,835],"end_point":[95,121],"distance":824.3421619691668},{"start_region_id":130,"end_region_id":264,"start_point":[287,812],"end_point":[95,121],"distance":717.1784993988596},{"start_region_id":78,"end_region_id":264,"start_point":[714,290],"end_point":[95,121],"distance":641.6556709014578},{"start_region_id":132,"end_region_id":264,"start_point":[111,659],"end_point":[95,121],"distance":538.2378656319156},{"start_region_id":127,"end_region_id":264,"start_point":[258,603],"end_point":[95,121],"distance":508.81529065074295}],"complexity_score":0.6553319992343472}
{"id":17061,"query_id":"Q03413","question":"An aerial drone starts from a paved, hard surface area and needs to reach a vehicle lane. The terrain includes open areas with natural vegetation, smooth hard surfaces, and vehicle lanes. You must avoid any areas with dense vertical obstacles or liquid surfaces. The goal is to find a path that maximizes flight comfort.","agent_category":"Drone","specific_agent":"an aerial drone","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","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_8.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":77,"end_region_id":159,"start_point":[562,104],"end_point":[178,693],"distance":703.1194777560924},{"start_region_id":78,"end_region_id":159,"start_point":[714,290],"end_point":[178,693],"distance":670.600477184441},{"start_region_id":113,"end_region_id":162,"start_point":[95,303],"end_point":[616,489],"distance":553.2061098722609},{"start_region_id":132,"end_region_id":162,"start_point":[111,659],"end_point":[616,489],"distance":532.8461316365166},{"start_region_id":115,"end_region_id":162,"start_point":[97,439],"end_point":[616,489],"distance":521.402915220082}],"complexity_score":0.6553319992343472}
{"id":7808,"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_35.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":215,"start_point":[889,604],"end_point":[86,805],"distance":827.774123780153},{"start_region_id":199,"end_region_id":200,"start_point":[182,981],"end_point":[444,349],"distance":684.1549532087012},{"start_region_id":190,"end_region_id":200,"start_point":[211,937],"end_point":[444,349],"distance":632.4816202863132},{"start_region_id":98,"end_region_id":215,"start_point":[226,198],"end_point":[86,805],"distance":622.9357912337355},{"start_region_id":146,"end_region_id":200,"start_point":[726,873],"end_point":[444,349],"distance":595.0630218724737}],"complexity_score":0.6553724992613437}
{"id":10418,"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_35.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":199,"start_point":[959,298],"end_point":[182,981],"distance":1034.5134121895182},{"start_region_id":267,"end_region_id":181,"start_point":[959,298],"end_point":[50,741],"distance":1011.2022547443216},{"start_region_id":267,"end_region_id":190,"start_point":[959,298],"end_point":[211,937],"distance":983.780971558202},{"start_region_id":292,"end_region_id":181,"start_point":[937,437],"end_point":[50,741],"distance":937.6486548809207},{"start_region_id":292,"end_region_id":199,"start_point":[937,437],"end_point":[182,981],"distance":930.5702552736145}],"complexity_score":0.6553724992613437}
{"id":15179,"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_35.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":199,"end_region_id":110,"start_point":[182,981],"end_point":[909,117],"distance":1129.1700491954257},{"start_region_id":110,"end_region_id":199,"start_point":[909,117],"end_point":[182,981],"distance":1129.1700491954257},{"start_region_id":190,"end_region_id":110,"start_point":[211,937],"end_point":[909,117],"distance":1076.8491073497717},{"start_region_id":110,"end_region_id":190,"start_point":[909,117],"end_point":[211,937],"distance":1076.8491073497717},{"start_region_id":110,"end_region_id":181,"start_point":[909,117],"end_point":[50,741],"distance":1061.723598682821}],"complexity_score":0.6553724992613437}
{"id":16789,"query_id":"Q03358","question":"A delivery drone starts from a paved road surface and needs to reach a grassy field with low vegetation. The drone prioritizes a smooth and stable flight for payload safety, so it can fly over hard surfaces, firm ground, short vegetation, and agricultural fields, but must avoid tall trees, buildings, and water bodies due to turbulence or collision risk. 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 grassy field with low vegetation","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":[1,1,1,1,0,0,1,0],"image_name":"koeln_35.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":215,"end_region_id":4,"start_point":[86,805],"end_point":[656,71],"distance":929.3309421298744},{"start_region_id":215,"end_region_id":12,"start_point":[86,805],"end_point":[556,140],"distance":814.3248737451165},{"start_region_id":215,"end_region_id":47,"start_point":[86,805],"end_point":[788,555],"distance":745.1872247965608},{"start_region_id":215,"end_region_id":60,"start_point":[86,805],"end_point":[818,745],"distance":734.4548999087691},{"start_region_id":215,"end_region_id":42,"start_point":[86,805],"end_point":[718,564],"distance":676.3911590196903}],"complexity_score":0.6553724992613437}
{"id":4078,"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_40.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":38,"end_region_id":190,"start_point":[129,866],"end_point":[915,86],"distance":1107.3373469724572},{"start_region_id":46,"end_region_id":188,"start_point":[695,937],"end_point":[56,79],"distance":1069.8060571898068},{"start_region_id":32,"end_region_id":190,"start_point":[253,848],"end_point":[915,86],"distance":1009.3998216762276},{"start_region_id":34,"end_region_id":188,"start_point":[838,721],"end_point":[56,79],"distance":1011.7746784734237},{"start_region_id":38,"end_region_id":192,"start_point":[129,866],"end_point":[946,319],"distance":983.208014613388}],"complexity_score":0.6554298443830407}
{"id":13028,"query_id":"Q02606","question":"A quadcopter drone starts from a paved road and needs to reach a cultivated field as quickly as possible. The drone can fly over open areas like loose soil, grassy patches, paved surfaces, roads, liquid bodies, and cultivated fields without restriction. However, it must avoid dense vegetation and structures due to collision risk. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a paved road","end_land_type":"a cultivated 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":"duesseldorf_40.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":190,"start_point":[86,819],"end_point":[915,86],"distance":1106.5848363320365},{"start_region_id":93,"end_region_id":192,"start_point":[86,819],"end_point":[946,319],"distance":994.786409235671},{"start_region_id":89,"end_region_id":190,"start_point":[277,764],"end_point":[915,86],"distance":930.9822769526819},{"start_region_id":93,"end_region_id":191,"start_point":[86,819],"end_point":[646,102],"distance":909.7741477971332},{"start_region_id":77,"end_region_id":190,"start_point":[168,602],"end_point":[915,86],"distance":907.8904118890121}],"complexity_score":0.6554298443830407}
{"id":13700,"query_id":"Q02740","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone must avoid any dense vegetation or vertical structures to maintain speed and stability. What is the fastest route?","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 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":"duesseldorf_40.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":190,"start_point":[181,596],"end_point":[915,86],"distance":893.7874467679662},{"start_region_id":65,"end_region_id":188,"start_point":[823,424],"end_point":[56,79],"distance":841.0196192717505},{"start_region_id":64,"end_region_id":192,"start_point":[181,596],"end_point":[946,319],"distance":813.605555536588},{"start_region_id":65,"end_region_id":193,"start_point":[823,424],"end_point":[63,445],"distance":760.2900762209118},{"start_region_id":64,"end_region_id":191,"start_point":[181,596],"end_point":[646,102],"distance":678.4253827798603}],"complexity_score":0.6554298443830407}
{"id":17715,"query_id":"Q03543","question":"An aerial surveillance drone starts from a cultivated field and needs to reach another cultivated field while ensuring minimal risk of collision or damage. The area includes rough, loose soil; grassy or shrub-covered ground; paved lanes used by vehicles; tall vertical obstacles with branches and trunks; and other cultivated plots. You must avoid any liquid surfaces, solid vertical structures, and hard artificial surfaces not meant for aerial travel. 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?","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":"duesseldorf_40.tif","subfolder":"duesseldorf","coordinate_format":"xy","start_end_pairs":[{"start_region_id":191,"end_region_id":190,"start_point":[646,102],"end_point":[915,86],"distance":269.4754163184464},{"start_region_id":190,"end_region_id":191,"start_point":[915,86],"end_point":[646,102],"distance":269.4754163184464}],"complexity_score":0.6554298443830407}
{"id":1175,"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_36.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":34,"start_point":[291,403],"end_point":[147,564],"distance":216.00231480241132},{"start_region_id":34,"end_region_id":24,"start_point":[147,564],"end_point":[291,403],"distance":216.00231480241132}],"complexity_score":0.6555246194781045}
{"id":3706,"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_36.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":132,"start_point":[566,470],"end_point":[42,259],"distance":564.8867143065058},{"start_region_id":103,"end_region_id":175,"start_point":[566,470],"end_point":[52,683],"distance":556.3856576152912},{"start_region_id":103,"end_region_id":112,"start_point":[566,470],"end_point":[308,45],"distance":497.1810535408605},{"start_region_id":103,"end_region_id":114,"start_point":[566,470],"end_point":[630,29],"distance":445.6197930972097},{"start_region_id":103,"end_region_id":121,"start_point":[566,470],"end_point":[513,119],"distance":354.9788726107513}],"complexity_score":0.6555246194781045}
{"id":5479,"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_36.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":5,"start_point":[456,726],"end_point":[941,123],"distance":773.8436534597929},{"start_region_id":5,"end_region_id":25,"start_point":[941,123],"end_point":[456,726],"distance":773.8436534597929},{"start_region_id":21,"end_region_id":5,"start_point":[398,665],"end_point":[941,123],"distance":767.2111834429944},{"start_region_id":5,"end_region_id":21,"start_point":[941,123],"end_point":[398,665],"distance":767.2111834429944},{"start_region_id":25,"end_region_id":2,"start_point":[456,726],"end_point":[689,21],"distance":742.5052188368779}],"complexity_score":0.6555246194781045}
{"id":17085,"query_id":"Q03417","question":"An off-road vehicle starts from a patch of grassy, uneven ground and needs to reach another area of similar grassy, uneven ground. The terrain includes hard, flat surfaces like sidewalks and parking lots, as well as lanes used by vehicles. However, you cannot drive through any areas with trees, water bodies, or buildings. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"grassy, uneven ground","end_land_type":"grassy, uneven ground","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":"chisinau_36.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":5,"start_point":[456,726],"end_point":[941,123],"distance":773.8436534597929},{"start_region_id":5,"end_region_id":25,"start_point":[941,123],"end_point":[456,726],"distance":773.8436534597929},{"start_region_id":21,"end_region_id":5,"start_point":[398,665],"end_point":[941,123],"distance":767.2111834429944},{"start_region_id":5,"end_region_id":21,"start_point":[941,123],"end_point":[398,665],"distance":767.2111834429944},{"start_region_id":25,"end_region_id":2,"start_point":[456,726],"end_point":[689,21],"distance":742.5052188368779}],"complexity_score":0.6555246194781045}
{"id":17468,"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_63.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":50,"end_region_id":341,"start_point":[967,1002],"end_point":[28,126],"distance":1284.1717174895264},{"start_region_id":50,"end_region_id":340,"start_point":[967,1002],"end_point":[131,60],"distance":1259.4681417169709},{"start_region_id":1,"end_region_id":362,"start_point":[239,151],"end_point":[982,838],"distance":1011.9377451207164},{"start_region_id":37,"end_region_id":341,"start_point":[835,699],"end_point":[28,126],"distance":989.7363285239155},{"start_region_id":50,"end_region_id":347,"start_point":[967,1002],"end_point":[130,480],"distance":986.4344884481685}],"complexity_score":0.6555529275081956}
{"id":12424,"query_id":"Q02485","question":"A hiker starts from a grassy, uneven ground and needs to reach a paved lane as quickly as possible. The area includes soft, vegetated surfaces that are passable on foot, as well as hard, flat surfaces like sidewalks and parking lots, and compacted soil paths used for crop growth. However, sandy or rocky expanses, individual trees or wooded patches, liquid bodies, and vertical structures are not accessible. What is the fastest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"grassy, uneven ground","end_land_type":"a paved lane","task_description":"What is the fastest route from the grassy, uneven ground to the paved lane?","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":"rotterdam_44.tif","subfolder":"rotterdam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":39,"start_point":[878,424],"end_point":[168,647],"distance":744.1968825519225},{"start_region_id":6,"end_region_id":37,"start_point":[110,718],"end_point":[488,111],"distance":715.0755204871721},{"start_region_id":6,"end_region_id":40,"start_point":[110,718],"end_point":[773,654],"distance":666.0818268050856},{"start_region_id":3,"end_region_id":37,"start_point":[878,424],"end_point":[488,111],"distance":500.0689952396569},{"start_region_id":6,"end_region_id":38,"start_point":[110,718],"end_point":[580,494],"distance":520.6495942570205}],"complexity_score":0.6556002105443804}
{"id":9354,"query_id":"Q01871","question":"An aerial survey drone starts from a location with tall, vertical obstacles that require careful navigation and needs to reach a long, flat, hard surface. The drone can fly over open, dry ground composed of loose earth and rocks, and can also traverse cultivated fields with low, uniform vegetation. However. The tall vertical obstacles can only be traversed if the drone maintains a safe altitude to avoid collisions. The flat, hard surface is always accessible.","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 a long, flat, hard 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,1,2,1],"image_name":"tulsa_21.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":96,"start_point":[204,1000],"end_point":[438,482],"distance":568.4012667121705},{"start_region_id":106,"end_region_id":96,"start_point":[952,157],"end_point":[438,482],"distance":608.1290981362428},{"start_region_id":99,"end_region_id":96,"start_point":[840,63],"end_point":[438,482],"distance":580.6591082554376}],"complexity_score":0.6556480765842976}
{"id":13374,"query_id":"Q02675","question":"A quadcopter drone starts from a paved road surface and needs to reach a grassy area with low vegetation. The drone can fly over hard surfaces, loose soil, cultivated fields, and water bodies, but must avoid dense tree canopies and building structures. What is the fastest route?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Road","end_land_type":"Rangeland","task_description":"What is the fastest route for the quadcopter drone to travel from the paved road to the grassy 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":"tulsa_21.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":49,"start_point":[438,482],"end_point":[871,998],"distance":673.6059679070547},{"start_region_id":96,"end_region_id":1,"start_point":[438,482],"end_point":[64,30],"distance":586.6685606030035},{"start_region_id":96,"end_region_id":6,"start_point":[438,482],"end_point":[926,66],"distance":641.2487816752559},{"start_region_id":96,"end_region_id":47,"start_point":[438,482],"end_point":[901,836],"distance":582.8250166216271},{"start_region_id":96,"end_region_id":46,"start_point":[438,482],"end_point":[110,879],"distance":514.9689311016733}],"complexity_score":0.6556480765842976}
{"id":13669,"query_id":"Q02734","question":"An off-road vehicle is on a paved, hard surface and must reach an area of natural, uncultivated vegetation. The vehicle can only traverse the following terrain 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 blocked. What is the shortest route?","agent_category":"Car","specific_agent":"An off-road vehicle","start_land_type":"A paved, hard surface","end_land_type":"An area of natural, uncultivated vegetation","task_description":"What is the shortest route 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":"tulsa_21.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":56,"end_region_id":49,"start_point":[47,246],"end_point":[871,998],"distance":1115.5626383130623},{"start_region_id":51,"end_region_id":49,"start_point":[313,56],"end_point":[871,998],"distance":1094.864375162513},{"start_region_id":88,"end_region_id":6,"start_point":[128,811],"end_point":[926,66],"distance":1091.7092103669365},{"start_region_id":56,"end_region_id":47,"start_point":[47,246],"end_point":[901,836],"distance":1037.9865124364574},{"start_region_id":79,"end_region_id":6,"start_point":[113,676],"end_point":[926,66],"distance":1016.4000196772922}],"complexity_score":0.6556480765842976}
{"id":17744,"query_id":"Q03549","question":"An aerial survey drone starts from a location with tall, vertical vegetation that provides overhead cover and needs to reach another location with similar tall, vertical vegetation that provides overhead cover. An aerial survey drone must complete its mission as quickly as possible. The drone can fly over areas with low, herbaceous vegetation or bushes, liquid surfaces, cultivated crop fields, and locations with tall vertical obstacles, but must maintain maximum speed throughout the flight.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a location with tall, vertical vegetation that provides overhead cover","end_land_type":"and needing to reach another location with similar tall, vertical vegetation that provides overhead cover","task_description":"What is the fastest path for the aerial survey drone to complete its mission?","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":"tulsa_21.tif","subfolder":"tulsa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":137,"start_point":[840,63],"end_point":[204,1000],"distance":1132.459712307683},{"start_region_id":137,"end_region_id":99,"start_point":[204,1000],"end_point":[840,63],"distance":1132.459712307683},{"start_region_id":106,"end_region_id":137,"start_point":[952,157],"end_point":[204,1000],"distance":1127.0106476870571},{"start_region_id":137,"end_region_id":106,"start_point":[204,1000],"end_point":[952,157],"distance":1127.0106476870571}],"complexity_score":0.6556480765842976}
{"id":2499,"query_id":"Q00500","question":"A delivery van is currently on a paved lane and needs to reach another paved lane destination. The vehicle requires a hard, smooth surface to maintain high speed and stability. All other terrain types—including soft ground, loose soil, vegetation, vertical obstacles, and liquid surfaces—are impassable due to the vehicle's design and operational requirements. What is the fastest route?","agent_category":"Car","specific_agent":"delivery van","start_land_type":"paved lane","end_land_type":"paved lane","task_description":"What is the fastest route for the delivery van to reach its 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":"tyrolw_21.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":389,"end_region_id":398,"start_point":[238,593],"end_point":[917,917],"distance":752.3410131050945},{"start_region_id":398,"end_region_id":389,"start_point":[917,917],"end_point":[238,593],"distance":752.3410131050945}],"complexity_score":0.6557648904817194}
{"id":6968,"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_21.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":270,"end_region_id":102,"start_point":[49,925],"end_point":[793,80],"distance":1125.8601156449233},{"start_region_id":102,"end_region_id":270,"start_point":[793,80],"end_point":[49,925],"distance":1125.8601156449233},{"start_region_id":102,"end_region_id":279,"start_point":[793,80],"end_point":[142,905],"distance":1050.916742658523},{"start_region_id":279,"end_region_id":102,"start_point":[142,905],"end_point":[793,80],"distance":1050.916742658523},{"start_region_id":96,"end_region_id":325,"start_point":[32,50],"end_point":[507,968],"distance":1033.6096942269844}],"complexity_score":0.6557648904817194}
{"id":10900,"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":"tyrolw_21.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":504,"start_point":[507,14],"end_point":[967,881],"distance":981.4728727784584},{"start_region_id":2,"end_region_id":504,"start_point":[655,127],"end_point":[967,881],"distance":816.0024509767112},{"start_region_id":1,"end_region_id":476,"start_point":[507,14],"end_point":[853,707],"distance":774.5740765091483},{"start_region_id":1,"end_region_id":488,"start_point":[507,14],"end_point":[660,772],"distance":773.2871394249357},{"start_region_id":75,"end_region_id":400,"start_point":[727,824],"end_point":[576,104],"distance":735.6636459687267}],"complexity_score":0.6557648904817194}
{"id":16195,"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":"tyrolw_21.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":398,"start_point":[159,222],"end_point":[917,917],"distance":1028.391462430528},{"start_region_id":1,"end_region_id":398,"start_point":[507,14],"end_point":[917,917],"distance":991.7202226434631},{"start_region_id":38,"end_region_id":398,"start_point":[60,579],"end_point":[917,917],"distance":921.2453527698253},{"start_region_id":2,"end_region_id":398,"start_point":[655,127],"end_point":[917,917],"distance":832.3124413343826},{"start_region_id":38,"end_region_id":390,"start_point":[60,579],"end_point":[832,417],"distance":788.8143000732175}],"complexity_score":0.6557648904817194}
{"id":2448,"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_40.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":104,"end_region_id":106,"start_point":[455,452],"end_point":[419,650],"distance":201.24611797498108},{"start_region_id":106,"end_region_id":104,"start_point":[419,650],"end_point":[455,452],"distance":201.24611797498108}],"complexity_score":0.6558343587376576}
{"id":5366,"query_id":"Q01074","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while minimizing operational risk. The drone can fly over open water surfaces and navigate around individual trees, but must avoid any contact with vertical structures. The drone's primary concern is maintaining stable flight and avoiding collisions. What is the safest path to the cultivated field?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the safest path to the 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":"ngaoundere_60.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":79,"end_region_id":114,"start_point":[396,298],"end_point":[723,971],"distance":748.2365935985756},{"start_region_id":79,"end_region_id":106,"start_point":[396,298],"end_point":[988,45],"distance":643.7957750715673},{"start_region_id":79,"end_region_id":113,"start_point":[396,298],"end_point":[597,891],"distance":626.1389622120636},{"start_region_id":79,"end_region_id":111,"start_point":[396,298],"end_point":[818,729],"distance":603.1956564830353},{"start_region_id":79,"end_region_id":112,"start_point":[396,298],"end_point":[359,859],"distance":562.21881861069}],"complexity_score":0.6559389647615612}
{"id":9776,"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":"ngaoundere_60.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":106,"start_point":[160,858],"end_point":[988,45],"distance":1160.41070315643},{"start_region_id":30,"end_region_id":106,"start_point":[116,748],"end_point":[988,45],"distance":1120.0861574004027},{"start_region_id":4,"end_region_id":114,"start_point":[25,162],"end_point":[723,971],"distance":1068.4966073881565},{"start_region_id":15,"end_region_id":106,"start_point":[37,462],"end_point":[988,45],"distance":1038.4074344880241},{"start_region_id":33,"end_region_id":105,"start_point":[160,858],"end_point":[704,42],"distance":980.7099469262051}],"complexity_score":0.6559389647615612}
{"id":14316,"query_id":"Q02864","question":"A quadcopter starts from a cultivated field and needs to reach a destination on sandy, rocky ground. The drone requires a smooth flight path to avoid vibrations that could destabilize its sensors. All vertical structures like trees and buildings are off-limits due to no-fly zones, and liquid surfaces are to be avoided as they cause signal interference. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"cultivated field","end_land_type":"sandy, rocky ground","task_description":"What is the most comfortable path from the cultivated field to the sandy, 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":"chiclayo_14.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":145,"end_region_id":5,"start_point":[973,228],"end_point":[117,829],"distance":1045.9144324465553},{"start_region_id":155,"end_region_id":1,"start_point":[903,936],"end_point":[57,405],"distance":998.8378246742561},{"start_region_id":145,"end_region_id":4,"start_point":[973,228],"end_point":[50,609],"distance":998.5439399445575},{"start_region_id":154,"end_region_id":1,"start_point":[978,774],"end_point":[57,405],"distance":992.1703482769478},{"start_region_id":153,"end_region_id":1,"start_point":[986,697],"end_point":[57,405],"distance":973.8095296309233}],"complexity_score":0.6559433261864082}
{"id":14423,"query_id":"Q02885","question":"An aerial survey drone starts from loose, sandy ground and needs to reach a cluster of tall vegetation with vertical structures. The drone can fly over open water surfaces, but must navigate carefully around vertical obstacles like trees and buildings. 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":"loose, sandy ground","end_land_type":"a cluster of tall vegetation 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","Building"],"traverse_vector":[1,1,1,1,1,1,1,1],"cost_vector":[2,2,2,2,1,2,2,2],"image_name":"chiclayo_14.tif","subfolder":"chiclayo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":85,"start_point":[117,829],"end_point":[654,191],"distance":833.9142641782787},{"start_region_id":4,"end_region_id":85,"start_point":[50,609],"end_point":[654,191],"distance":734.5338657951721},{"start_region_id":5,"end_region_id":79,"start_point":[117,829],"end_point":[358,187],"distance":685.7441213747297},{"start_region_id":2,"end_region_id":85,"start_point":[287,769],"end_point":[654,191],"distance":684.6699935005184},{"start_region_id":1,"end_region_id":85,"start_point":[57,405],"end_point":[654,191],"distance":634.1963418374471}],"complexity_score":0.6559433261864082}
{"id":1619,"query_id":"Q00324","question":"A quadcopter starts from a paved road and needs to reach a cultivated field. The drone can fly over the road, grassy areas, and the field, but must avoid collisions with trees and buildings, and should minimize flight over water for safety. What is the safest flight path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Road","end_land_type":"Agriculture land","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":"aachen_14.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":369,"start_point":[479,471],"end_point":[801,878],"distance":518.9730243471234},{"start_region_id":241,"end_region_id":368,"start_point":[479,471],"end_point":[154,121],"distance":477.62432936357},{"start_region_id":241,"end_region_id":370,"start_point":[479,471],"end_point":[316,902],"distance":460.792795082562}],"complexity_score":0.6559460851664334}
{"id":2144,"query_id":"Q00429","question":"A quadcopter drone starts from a paved, hard surface area and needs to reach a cultivated field with soft, loose soil. The drone can fly over liquid surfaces, but must avoid vertical obstacles like trees and buildings, and should prioritize terrains that minimize 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 area","end_land_type":"a cultivated field with soft, loose soil","task_description":"What is the safest path for the quadcopter drone to take from the paved, hard surface area to the 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":"aachen_14.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":370,"start_point":[783,52],"end_point":[316,902],"distance":969.8396774725192},{"start_region_id":239,"end_region_id":368,"start_point":[550,960],"end_point":[154,121],"distance":927.7591282224066},{"start_region_id":233,"end_region_id":369,"start_point":[83,894],"end_point":[801,878],"distance":718.1782508542012},{"start_region_id":233,"end_region_id":368,"start_point":[83,894],"end_point":[154,121],"distance":776.2538244672293},{"start_region_id":99,"end_region_id":369,"start_point":[783,52],"end_point":[801,878],"distance":826.1961026293939}],"complexity_score":0.6559460851664334}
{"id":6529,"query_id":"Q01306","question":"An aerial survey drone begins its mission on a paved surface and must return to another paved surface after completing its survey. The drone's primary concern is minimizing operational risk. It can fly over open, solid ground with minimal vegetation, hard artificial surfaces, liquid bodies, and cultivated fields. However, the drone must avoid areas with tall, dense vertical obstacles and solid vertical structures, as these present collision hazards. The drone's flight path should prioritize terrains that offer the most predictable flight conditions and lowest risk of interference or damage.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved surface","end_land_type":"paved surface","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":"aachen_14.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":241,"end_region_id":241,"start_point":[895,16],"end_point":[25,874],"distance":1221.9099803176991}],"complexity_score":0.6559460851664334}
{"id":1404,"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_6.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":108,"start_point":[92,913],"end_point":[834,225],"distance":1011.8833924914471},{"start_region_id":108,"end_region_id":113,"start_point":[834,225],"end_point":[92,913],"distance":1011.8833924914471},{"start_region_id":111,"end_region_id":108,"start_point":[278,791],"end_point":[834,225],"distance":793.4053188629377},{"start_region_id":108,"end_region_id":111,"start_point":[834,225],"end_point":[278,791],"distance":793.4053188629377},{"start_region_id":110,"end_region_id":113,"start_point":[832,604],"end_point":[92,913],"distance":801.9233130418394}],"complexity_score":0.6559692636664866}
{"id":7816,"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_6.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":113,"end_region_id":108,"start_point":[92,913],"end_point":[834,225],"distance":1011.8833924914471},{"start_region_id":108,"end_region_id":113,"start_point":[834,225],"end_point":[92,913],"distance":1011.8833924914471},{"start_region_id":111,"end_region_id":108,"start_point":[278,791],"end_point":[834,225],"distance":793.4053188629377},{"start_region_id":108,"end_region_id":111,"start_point":[834,225],"end_point":[278,791],"distance":793.4053188629377},{"start_region_id":110,"end_region_id":113,"start_point":[832,604],"end_point":[92,913],"distance":801.9233130418394}],"complexity_score":0.6559692636664866}
{"id":15155,"query_id":"Q03031","question":"An aerial survey drone starts from a grassy, uneven field with scattered low vegetation and needs to reach another grassy, uneven field with scattered low vegetation. The drone must avoid areas with dense, tall vertical obstacles that could cause turbulence or collisions, and liquid surfaces that may introduce instability due to wind or spray. However, it can traverse open grassy areas, hard flat surfaces, and cultivated plots. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, uneven field with scattered low vegetation.","end_land_type":"Ending at another grassy, uneven field with scattered low vegetation.","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":[1,1,1,1,0,0,1,0],"image_name":"austin_6.tif","subfolder":"austin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":38,"start_point":[963,247],"end_point":[123,873],"distance":1047.604887350188},{"start_region_id":38,"end_region_id":10,"start_point":[123,873],"end_point":[963,247],"distance":1047.604887350188},{"start_region_id":3,"end_region_id":38,"start_point":[837,107],"end_point":[123,873],"distance":1047.1637885259402},{"start_region_id":38,"end_region_id":3,"start_point":[123,873],"end_point":[837,107],"distance":1047.1637885259402},{"start_region_id":15,"end_region_id":46,"start_point":[101,332],"end_point":[951,927],"distance":1037.5572273373648}],"complexity_score":0.6559692636664866}
{"id":846,"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_24.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":163,"end_region_id":13,"start_point":[81,975],"end_point":[893,175],"distance":1139.8877137683344},{"start_region_id":153,"end_region_id":13,"start_point":[104,861],"end_point":[893,175],"distance":1045.5223574845256},{"start_region_id":163,"end_region_id":7,"start_point":[81,975],"end_point":[728,173],"distance":1030.4431085702888},{"start_region_id":45,"end_region_id":25,"start_point":[109,28],"end_point":[816,749],"distance":1009.7970093043452},{"start_region_id":167,"end_region_id":13,"start_point":[345,992],"end_point":[893,175],"distance":983.7647076410091}],"complexity_score":0.6560273184120631}
{"id":3797,"query_id":"Q00760","question":"A hiker starts from a cultivated field with loose, tilled soil and needs to reach a wooded area with tall vegetation and tree cover. 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 made of asphalt or concrete, and individual trees or groups of trees. You cannot travel across liquid surfaces or enter any structures. What is the shortest path 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 path 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":"kyoto_24.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":255,"end_region_id":238,"start_point":[161,385],"end_point":[936,941],"distance":953.813923152729},{"start_region_id":257,"end_region_id":238,"start_point":[169,600],"end_point":[936,941],"distance":839.3866808569219},{"start_region_id":253,"end_region_id":238,"start_point":[861,109],"end_point":[936,941],"distance":835.3735691294045},{"start_region_id":252,"end_region_id":238,"start_point":[788,125],"end_point":[936,941],"distance":829.3129686674386},{"start_region_id":259,"end_region_id":238,"start_point":[143,983],"end_point":[936,941],"distance":794.1114531348859}],"complexity_score":0.6560273184120631}
{"id":4991,"query_id":"Q00999","question":"A farmer starts from a paved road and needs to get to a cultivated field quickly. The farmer can walk on hard surfaces like sidewalks and roads, and is allowed to cross the cultivated field because the soil is not muddy and the crops are low enough to step over easily. What is the fastest route to the field?","agent_category":"Pedestrian","specific_agent":"farmer","start_land_type":"Road","end_land_type":"Agriculture land","task_description":"What is the fastest route to the field?","task_type":"Fastest","input_classes":["Developed space","Road","Agriculture land"],"traverse_vector":[0,0,1,1,0,0,1,0],"cost_vector":[0,0,3,2,0,0,1,0],"image_name":"kyoto_24.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":188,"end_region_id":259,"start_point":[501,479],"end_point":[143,983],"distance":618.2070850451328},{"start_region_id":188,"end_region_id":256,"start_point":[501,479],"end_point":[1009,378],"distance":517.9430470621263},{"start_region_id":188,"end_region_id":253,"start_point":[501,479],"end_point":[861,109],"distance":516.2363799656123},{"start_region_id":188,"end_region_id":252,"start_point":[501,479],"end_point":[788,125],"distance":455.7246975971348},{"start_region_id":188,"end_region_id":257,"start_point":[501,479],"end_point":[169,600],"distance":353.3624201864143}],"complexity_score":0.6560273184120631}
{"id":2538,"query_id":"Q00508","question":"An off-road vehicle starts from a grassy, open terrain and needs to reach another grassy, open terrain. The vehicle can traverse grassy areas, but must avoid any paved surfaces like roads or parking lots, any trees, any water bodies, and any buildings. What is the shortest path?","agent_category":"Car","specific_agent":"An off-road vehicle","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":"pedrogao_grande_58.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":40,"end_region_id":128,"start_point":[176,586],"end_point":[442,697],"distance":288.2308102892541},{"start_region_id":128,"end_region_id":40,"start_point":[442,697],"end_point":[176,586],"distance":288.2308102892541}],"complexity_score":0.6560974414198049}
{"id":15390,"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_58.tif","subfolder":"pedrogao_grande","coordinate_format":"xy","start_end_pairs":[{"start_region_id":468,"end_region_id":675,"start_point":[124,274],"end_point":[817,75],"distance":721.0062413044702},{"start_region_id":468,"end_region_id":677,"start_point":[124,274],"end_point":[746,124],"distance":639.8312277468176},{"start_region_id":467,"end_region_id":678,"start_point":[635,595],"end_point":[57,301],"distance":648.475134450042},{"start_region_id":468,"end_region_id":674,"start_point":[124,274],"end_point":[676,51],"distance":595.3427584173675},{"start_region_id":467,"end_region_id":679,"start_point":[635,595],"end_point":[51,507],"distance":590.592922409336}],"complexity_score":0.6560974414198049}
{"id":725,"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_57.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":98,"end_region_id":40,"start_point":[471,431],"end_point":[53,133],"distance":513.3497832862112},{"start_region_id":98,"end_region_id":19,"start_point":[471,431],"end_point":[159,40],"distance":500.22494939776846},{"start_region_id":97,"end_region_id":92,"start_point":[275,209],"end_point":[513,605],"distance":462.01731569282117},{"start_region_id":98,"end_region_id":20,"start_point":[471,431],"end_point":[317,30],"distance":429.55442030085084},{"start_region_id":98,"end_region_id":53,"start_point":[471,431],"end_point":[67,261],"distance":438.31039230207625}],"complexity_score":0.6561417463262962}
{"id":4194,"query_id":"Q00839","question":"A delivery drone starts from a paved landing pad and needs to reach another paved landing pad while prioritizing flight comfort. The drone requires stable airspace with minimal turbulence. Open areas like hard surfaces, grassy fields, or agricultural land are preferred for smooth flight. Flying over liquid surfaces may cause discomfort due to wind and spray. Navigating through areas with vertical obstacles like trees or buildings is possible but should be avoided as it requires careful maneuvering and may cause discomfort.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"paved landing pad","end_land_type":"paved landing pad","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":"shanghai_57.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":97,"end_region_id":98,"start_point":[275,209],"end_point":[471,431],"distance":296.1418578992169},{"start_region_id":98,"end_region_id":97,"start_point":[471,431],"end_point":[275,209],"distance":296.1418578992169}],"complexity_score":0.6561417463262962}
{"id":8771,"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_57.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":25,"end_region_id":131,"start_point":[461,69],"end_point":[74,472],"distance":558.728914590967},{"start_region_id":25,"end_region_id":130,"start_point":[461,69],"end_point":[158,538],"distance":558.3636807672934},{"start_region_id":20,"end_region_id":130,"start_point":[317,30],"end_point":[158,538],"distance":532.3016062346609},{"start_region_id":25,"end_region_id":126,"start_point":[461,69],"end_point":[194,512],"distance":517.2407563214639},{"start_region_id":20,"end_region_id":131,"start_point":[317,30],"end_point":[74,472],"distance":504.3936954403772}],"complexity_score":0.6561417463262962}
{"id":17495,"query_id":"Q03499","question":"A hiker starts from a patch of ground shaded by tall vegetation with visible trunks and branches and needs to reach a paved lane used by motor vehicles. The terrain includes areas of soft, grassy ground and cultivated fields with planted crops. The tall vegetation areas are passable as there are clear gaps between the trunks. You must avoid any built structures and any liquid surfaces. 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 branches","end_land_type":"a paved lane used by motor vehicles","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":"shanghai_57.tif","subfolder":"shanghai","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":98,"start_point":[74,472],"end_point":[471,431],"distance":399.1115132390946},{"start_region_id":130,"end_region_id":97,"start_point":[158,538],"end_point":[275,209],"distance":349.1847648452034},{"start_region_id":131,"end_region_id":97,"start_point":[74,472],"end_point":[275,209],"distance":331.0135948869774},{"start_region_id":126,"end_region_id":97,"start_point":[194,512],"end_point":[275,209],"distance":313.639920928443},{"start_region_id":130,"end_region_id":98,"start_point":[158,538],"end_point":[471,431],"distance":330.7839173841437}],"complexity_score":0.6561417463262962}
{"id":930,"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_62.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":239,"start_point":[51,60],"end_point":[628,862],"distance":987.9944331826977},{"start_region_id":124,"end_region_id":155,"start_point":[436,891],"end_point":[805,42],"distance":925.7224205991772},{"start_region_id":135,"end_region_id":155,"start_point":[590,860],"end_point":[805,42],"distance":845.7830691140607},{"start_region_id":133,"end_region_id":165,"start_point":[751,825],"end_point":[282,144],"distance":826.8748393801809},{"start_region_id":133,"end_region_id":155,"start_point":[751,825],"end_point":[805,42],"distance":784.8598601024262}],"complexity_score":0.6563259742721397}
{"id":9929,"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_62.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":278,"end_region_id":275,"start_point":[85,40],"end_point":[637,743],"distance":893.8193329750706},{"start_region_id":279,"end_region_id":275,"start_point":[282,65],"end_point":[637,743],"distance":765.316274490488},{"start_region_id":311,"end_region_id":275,"start_point":[66,216],"end_point":[637,743],"distance":777.026383078464},{"start_region_id":280,"end_region_id":275,"start_point":[568,52],"end_point":[637,743],"distance":694.4364621763463},{"start_region_id":371,"end_region_id":265,"start_point":[576,968],"end_point":[323,350],"distance":667.782150105856}],"complexity_score":0.6563259742721397}
{"id":13023,"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_62.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":155,"end_region_id":275,"start_point":[805,42],"end_point":[637,743],"distance":720.850192481073},{"start_region_id":165,"end_region_id":275,"start_point":[282,144],"end_point":[637,743],"distance":696.2944779330079},{"start_region_id":239,"end_region_id":265,"start_point":[628,862],"end_point":[323,350],"distance":595.960569165444},{"start_region_id":181,"end_region_id":275,"start_point":[578,173],"end_point":[637,743],"distance":573.0453734216863},{"start_region_id":155,"end_region_id":265,"start_point":[805,42],"end_point":[323,350],"distance":572.0034964928099}],"complexity_score":0.6563259742721397}
{"id":14350,"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_62.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":239,"end_region_id":155,"start_point":[628,862],"end_point":[805,42],"distance":838.8855702656948},{"start_region_id":155,"end_region_id":239,"start_point":[805,42],"end_point":[628,862],"distance":838.8855702656948},{"start_region_id":239,"end_region_id":165,"start_point":[628,862],"end_point":[282,144],"distance":797.0194476924638},{"start_region_id":165,"end_region_id":239,"start_point":[282,144],"end_point":[628,862],"distance":797.0194476924638},{"start_region_id":239,"end_region_id":181,"start_point":[628,862],"end_point":[578,173],"distance":690.8118412418826}],"complexity_score":0.6563259742721397}
{"id":2389,"query_id":"Q00478","question":"An aerial surveillance drone starts from a paved, hard-surfaced area and needs to reach a vehicle lane or street. The drone can fly over loose, sandy or rocky ground, liquid surfaces, and other paved areas, but must avoid any vertical structures or dense vegetation. What is the shortest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard-surfaced area","end_land_type":"A vehicle lane or street","task_description":"What is the shortest path?","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":"vienna_70.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":108,"start_point":[52,101],"end_point":[602,518],"distance":690.2093885191653},{"start_region_id":54,"end_region_id":108,"start_point":[19,289],"end_point":[602,518],"distance":626.3625148426429},{"start_region_id":105,"end_region_id":108,"start_point":[900,940],"end_point":[602,518],"distance":516.6120401229534},{"start_region_id":44,"end_region_id":108,"start_point":[840,38],"end_point":[602,518],"distance":535.7648738019319},{"start_region_id":78,"end_region_id":108,"start_point":[125,713],"end_point":[602,518],"distance":515.3193184812694}],"complexity_score":0.6563540052765039}
{"id":6048,"query_id":"Q01210","question":"A family sedan starts from a flat, paved parking lot with artificial grass sports fields and needs to reach an asphalt street for vehicle traffic. The sedan requires smooth, hard surfaces to provide a comfortable ride without bumps or vibrations. Only paved areas designed for vehicles or parking are available for travel.","agent_category":"Car","specific_agent":"A family sedan","start_land_type":"A flat, paved parking lot with artificial grass sports fields","end_land_type":"An asphalt street for vehicle traffic","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":[0,0,1,2,0,0,0,0],"image_name":"vienna_70.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":108,"start_point":[52,101],"end_point":[602,518],"distance":690.2093885191653},{"start_region_id":54,"end_region_id":108,"start_point":[19,289],"end_point":[602,518],"distance":626.3625148426429},{"start_region_id":105,"end_region_id":108,"start_point":[900,940],"end_point":[602,518],"distance":516.6120401229534},{"start_region_id":44,"end_region_id":108,"start_point":[840,38],"end_point":[602,518],"distance":535.7648738019319},{"start_region_id":78,"end_region_id":108,"start_point":[125,713],"end_point":[602,518],"distance":515.3193184812694}],"complexity_score":0.6563540052765039}
{"id":11984,"query_id":"Q02397","question":"A pedestrian starts from a paved lane and needs to reach a hard, flat surface like a sidewalk or pavement. The person must avoid any terrain that is not firm and even, such as loose ground or vegetated areas, to minimize the risk of tripping, slipping, or encountering unstable footing. What is the safest path?","agent_category":"Pedestrian","specific_agent":"a pedestrian","start_land_type":"a paved lane","end_land_type":"a hard, flat surface like a sidewalk or pavement","task_description":"What is the safest path for the pedestrian to take from the paved lane to the hard, flat surface?","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":"vienna_70.tif","subfolder":"vienna","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":42,"start_point":[602,518],"end_point":[52,101],"distance":690.2093885191653},{"start_region_id":108,"end_region_id":54,"start_point":[602,518],"end_point":[19,289],"distance":626.3625148426429},{"start_region_id":108,"end_region_id":105,"start_point":[602,518],"end_point":[900,940],"distance":516.6120401229534},{"start_region_id":108,"end_region_id":44,"start_point":[602,518],"end_point":[840,38],"distance":535.7648738019319},{"start_region_id":108,"end_region_id":78,"start_point":[602,518],"end_point":[125,713],"distance":515.3193184812694}],"complexity_score":0.6563540052765039}
{"id":712,"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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":17,"start_point":[372,412],"end_point":[791,918],"distance":656.9604249876852},{"start_region_id":17,"end_region_id":1,"start_point":[791,918],"end_point":[372,412],"distance":656.9604249876852},{"start_region_id":1,"end_region_id":10,"start_point":[372,412],"end_point":[936,539],"distance":578.1219594514638},{"start_region_id":10,"end_region_id":1,"start_point":[936,539],"end_point":[372,412],"distance":578.1219594514638},{"start_region_id":10,"end_region_id":17,"start_point":[936,539],"end_point":[791,918],"distance":405.79058638662383}],"complexity_score":0.656483904740638}
{"id":3544,"query_id":"Q00709","question":"A quadcopter drone starts from an open, rocky area and needs to reach a grassy, shrubby zone. The drone can fly over loose soil, vegetated fields, hard surfaces, and vertical structures, but must avoid dense tree canopies. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"open, rocky area","end_land_type":"grassy, shrubby zone","task_description":"What is the fastest route?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Agriculture land","Building"],"traverse_vector":[1,1,1,1,0,0,1,1],"cost_vector":[1,1,1,1,0,0,1,1],"image_name":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":10,"end_region_id":29,"start_point":[936,539],"end_point":[243,113],"distance":813.464811777375},{"start_region_id":10,"end_region_id":79,"start_point":[936,539],"end_point":[266,871],"distance":747.7459461608602},{"start_region_id":10,"end_region_id":62,"start_point":[936,539],"end_point":[350,621],"distance":591.7093881290037},{"start_region_id":1,"end_region_id":63,"start_point":[372,412],"end_point":[924,627],"distance":592.3926063009227},{"start_region_id":10,"end_region_id":27,"start_point":[936,539],"end_point":[588,173],"distance":505.0346522764552}],"complexity_score":0.656483904740638}
{"id":5126,"query_id":"Q01026","question":"A hiker starts from a patch of loose, sandy ground and needs to reach a cluster of tall, sturdy plants with thick trunks and overhead canopy. The terrain includes areas of compacted, hard-packed earth that is stable underfoot, as well as smooth, paved surfaces designed for foot traffic. There are also cultivated fields with soft, tilled soil that can be walked on. The hiker must avoid any liquid surfaces and cannot pass through solid vertical structures. Given the need to minimize risk of slips, trips, or instability, what is the safest route?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"needs to reach a cluster of tall, sturdy plants with thick trunks and overhead canopy.","task_description":"What is the safest route 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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":106,"start_point":[791,918],"end_point":[138,146],"distance":1011.1345113287351},{"start_region_id":17,"end_region_id":103,"start_point":[791,918],"end_point":[311,121],"distance":930.3811047092477},{"start_region_id":10,"end_region_id":106,"start_point":[936,539],"end_point":[138,146],"distance":889.5240300295434},{"start_region_id":10,"end_region_id":103,"start_point":[936,539],"end_point":[311,121],"distance":751.8969344265209},{"start_region_id":1,"end_region_id":202,"start_point":[372,412],"end_point":[865,864],"distance":668.8445260297792}],"complexity_score":0.656483904740638}
{"id":5843,"query_id":"Q01169","question":"A quadcopter drone is starting from a sandy, rocky patch and needs to reach a grassy area as quickly as possible. The drone can fly over sandy rocky patches, grassy areas, paved surfaces, vehicle lanes, and wooded areas. The paved surfaces and vehicle lanes are available below. The wooded areas are passable because the drone can fly between the trees. What is the fastest route?","agent_category":"Drone","specific_agent":"quadcopter drone","start_land_type":"sandy, rocky patch","end_land_type":"grassy area","task_description":"What is the fastest route for the quadcopter drone to reach the grassy area?","task_type":"Fastest","input_classes":["Bareland","Rangeland","Developed space","Road","Tree"],"traverse_vector":[1,1,1,1,1,0,0,0],"cost_vector":[2,2,2,2,1,0,0,0],"image_name":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":29,"start_point":[791,918],"end_point":[243,113],"distance":973.8218522912699},{"start_region_id":10,"end_region_id":29,"start_point":[936,539],"end_point":[243,113],"distance":813.464811777375},{"start_region_id":17,"end_region_id":27,"start_point":[791,918],"end_point":[588,173],"distance":772.1619001219887},{"start_region_id":10,"end_region_id":79,"start_point":[936,539],"end_point":[266,871],"distance":747.7459461608602},{"start_region_id":1,"end_region_id":81,"start_point":[372,412],"end_point":[884,922],"distance":722.6645141419357}],"complexity_score":0.656483904740638}
{"id":7135,"query_id":"Q01427","question":"An aerial surveillance drone starts from a dry, open area of loose soil and rocks and needs to reach another dry, open area of loose soil and rocks. The drone can fly over flat, hard surfaces like paved areas and compacted soil, as well as liquid surfaces, and cultivated fields with low vegetation, but must avoid tall vertical obstacles and solid structures. The drone's priority is to minimize risk of collision or instability.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a dry, open area of loose soil and rocks","end_land_type":"ending at another dry, open area of loose soil and rocks","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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":17,"start_point":[372,412],"end_point":[791,918],"distance":656.9604249876852},{"start_region_id":17,"end_region_id":1,"start_point":[791,918],"end_point":[372,412],"distance":656.9604249876852},{"start_region_id":1,"end_region_id":10,"start_point":[372,412],"end_point":[936,539],"distance":578.1219594514638},{"start_region_id":10,"end_region_id":1,"start_point":[936,539],"end_point":[372,412],"distance":578.1219594514638},{"start_region_id":10,"end_region_id":17,"start_point":[936,539],"end_point":[791,918],"distance":405.79058638662383}],"complexity_score":0.656483904740638}
{"id":8211,"query_id":"Q01643","question":"An off-road vehicle is positioned on uneven ground covered with grass and low bushes and must travel to an unvegetated area of loose soil and rocky debris. Paved surfaces like roads and parking lots are unavailable due to flooding. The grassy terrain and loose soil areas are passable, though their surfaces affect speed differently. What is the fastest route to the target location?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"uneven ground covered with grass and low bushes","end_land_type":"unvegetated area of loose soil and rocky debris","task_description":"What is the fastest route to the target location?","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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":10,"start_point":[243,113],"end_point":[936,539],"distance":813.464811777375},{"start_region_id":79,"end_region_id":10,"start_point":[266,871],"end_point":[936,539],"distance":747.7459461608602},{"start_region_id":62,"end_region_id":10,"start_point":[350,621],"end_point":[936,539],"distance":591.7093881290037},{"start_region_id":63,"end_region_id":1,"start_point":[924,627],"end_point":[372,412],"distance":592.3926063009227},{"start_region_id":27,"end_region_id":10,"start_point":[588,173],"end_point":[936,539],"distance":505.0346522764552}],"complexity_score":0.656483904740638}
{"id":8476,"query_id":"Q01696","question":"An aerial survey drone starts from a dry, sandy area with loose soil and scattered rocks and needs to reach a grassy, shrub-covered patch. An aerial survey drone must navigate across a region that includes hard, paved surfaces, vehicle lanes, and open water bodies. The drone can fly over all these surfaces, but it must avoid any tall, dense vegetation or vertical structures that could obstruct its flight path. What is the shortest route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a dry, sandy area with loose soil and scattered rocks","end_land_type":"and needing to reach a grassy, shrub-covered patch","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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":17,"end_region_id":29,"start_point":[791,918],"end_point":[243,113],"distance":973.8218522912699},{"start_region_id":1,"end_region_id":88,"start_point":[372,412],"end_point":[967,989],"distance":828.8268818034319},{"start_region_id":10,"end_region_id":29,"start_point":[936,539],"end_point":[243,113],"distance":813.464811777375},{"start_region_id":17,"end_region_id":27,"start_point":[791,918],"end_point":[588,173],"distance":772.1619001219887},{"start_region_id":10,"end_region_id":79,"start_point":[936,539],"end_point":[266,871],"distance":747.7459461608602}],"complexity_score":0.656483904740638}
{"id":15132,"query_id":"Q03027","question":"A quadcopter drone is positioned on a grassy, open field and needs to reach an exposed, sandy or rocky ground area. The drone can fly over any solid or liquid surface, but must avoid dense vertical obstacles like tall vegetation or structures, and can only traverse areas with loose soil or low vegetation if they are dry and stable. The drone prioritizes terrains that allow maximum and stable flight speed. What is the fastest path?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"grassy, open field","end_land_type":"exposed, sandy or rocky ground","task_description":"What is the fastest path for the drone to reach the exposed, sandy or rocky ground 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":"western_6.tif","subfolder":"western","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":17,"start_point":[243,113],"end_point":[791,918],"distance":973.8218522912699},{"start_region_id":88,"end_region_id":1,"start_point":[967,989],"end_point":[372,412],"distance":828.8268818034319},{"start_region_id":29,"end_region_id":10,"start_point":[243,113],"end_point":[936,539],"distance":813.464811777375},{"start_region_id":27,"end_region_id":17,"start_point":[588,173],"end_point":[791,918],"distance":772.1619001219887},{"start_region_id":79,"end_region_id":10,"start_point":[266,871],"end_point":[936,539],"distance":747.7459461608602}],"complexity_score":0.656483904740638}
{"id":10009,"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":"abancay_46.tif","subfolder":"abancay","coordinate_format":"xy","start_end_pairs":[{"start_region_id":45,"end_region_id":131,"start_point":[405,945],"end_point":[804,21],"distance":1006.4675851710277},{"start_region_id":38,"end_region_id":131,"start_point":[625,871],"end_point":[804,21],"distance":868.6431948734762},{"start_region_id":39,"end_region_id":131,"start_point":[727,883],"end_point":[804,21],"distance":865.4322619361957},{"start_region_id":19,"end_region_id":132,"start_point":[188,354],"end_point":[917,791],"distance":849.9470571747396},{"start_region_id":35,"end_region_id":131,"start_point":[429,741],"end_point":[804,21],"distance":811.8035476640885}],"complexity_score":0.6565313915536833}
{"id":4662,"query_id":"Q00933","question":"A farm vehicle starts from a paved street and needs to reach a cultivated field. The terrain includes hard, flat surfaces like parking lots and lanes, as well as loose, uneven ground with crops. You can drive on the cultivated field because it is dry and compacted enough to support vehicle weight. What is the shortest path to the destination?","agent_category":"Car","specific_agent":"a farm vehicle","start_land_type":"paved street","end_land_type":"cultivated field","task_description":"What is the shortest path to 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":"pomorskie_38.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":185,"start_point":[365,155],"end_point":[687,970],"distance":876.3041709360969},{"start_region_id":124,"end_region_id":185,"start_point":[450,789],"end_point":[687,970],"distance":298.2113344593059}],"complexity_score":0.6566558620493114}
{"id":7689,"query_id":"Q01538","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over loose, dry ground without vegetation; hard, artificial surfaces; paved lanes; liquid bodies; and cultivated areas. However, it 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":"cultivated field with crops","task_description":"What is the safest path?","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":"pomorskie_38.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":185,"start_point":[365,155],"end_point":[687,970],"distance":876.3041709360969},{"start_region_id":124,"end_region_id":185,"start_point":[450,789],"end_point":[687,970],"distance":298.2113344593059}],"complexity_score":0.6566558620493114}
{"id":13566,"query_id":"Q02714","question":"An agricultural monitoring drone starts from a hard artificial surface and needs to reach a crop-growing area as quickly as possible. The drone can fly over firm ground, paved areas, and cultivated zones, but must avoid colliding with tall vertical obstacles and structures. What is the fastest route?","agent_category":"Drone","specific_agent":"agricultural monitoring drone","start_land_type":"hard artificial surface","end_land_type":"crop-growing area","task_description":"What is the fastest route from the hard artificial surface to the crop-growing area?","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":"pomorskie_38.tif","subfolder":"pomorskie","coordinate_format":"xy","start_end_pairs":[{"start_region_id":93,"end_region_id":184,"start_point":[162,318],"end_point":[1009,903],"distance":1029.3852534401296},{"start_region_id":90,"end_region_id":184,"start_point":[325,176],"end_point":[1009,903],"distance":998.190863512585},{"start_region_id":94,"end_region_id":184,"start_point":[312,365],"end_point":[1009,903],"distance":880.4845257016161},{"start_region_id":90,"end_region_id":185,"start_point":[325,176],"end_point":[687,970],"distance":872.6282140751581},{"start_region_id":93,"end_region_id":185,"start_point":[162,318],"end_point":[687,970],"distance":837.0955739937943}],"complexity_score":0.6566558620493114}
{"id":4164,"query_id":"Q00833","question":"An aerial photography 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 liquid areas, but must avoid dense vertical obstacles that could cause turbulence. The flight path should prioritize smooth, stable airspace to protect the camera gimbal and ensure clear footage.","agent_category":"Drone","specific_agent":"Aerial photography 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 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_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[282,164],"end_point":[21,522],"distance":443.0406301909566},{"start_region_id":1,"end_region_id":2,"start_point":[282,164],"end_point":[304,573],"distance":409.59125967237145}],"complexity_score":0.6568067354263435}
{"id":6358,"query_id":"Q01272","question":"A quadcopter drone is on a paved, hard surface and needs to reach a patch of loose, sandy or rocky ground without vegetation. The drone can fly over open liquid surfaces, cultivated fields with crops, grassy or shrubby areas, and other paved or compacted surfaces. However, it must avoid flying through dense vertical obstacles like tall structures or thick tree canopies. 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":"loose, sandy or rocky ground without vegetation","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_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":7,"end_region_id":1,"start_point":[32,376],"end_point":[282,164],"distance":327.7865158910598},{"start_region_id":8,"end_region_id":1,"start_point":[388,428],"end_point":[282,164],"distance":284.4855005092527}],"complexity_score":0.6568067354263435}
{"id":7707,"query_id":"Q01542","question":"An aerial survey 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 parking lot or sports court. The drone can fly over open water bodies and cultivated fields with low crops, but must avoid areas with tall, dense vegetation or vertical structures. The drone's flight path should prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations and jolts.","agent_category":"Drone","specific_agent":"Aerial survey 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 parking lot or sports court.","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_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[282,164],"end_point":[21,522],"distance":443.0406301909566},{"start_region_id":1,"end_region_id":2,"start_point":[282,164],"end_point":[304,573],"distance":409.59125967237145}],"complexity_score":0.6568067354263435}
{"id":8784,"query_id":"Q01757","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of exposed, dry ground composed of loose earth and rocks. The drone can fly over liquid surfaces, grassy or shrub-covered terrain, and other paved or hard-packed vehicle lanes. It must avoid any tall, solid vertical structures and dense vegetation that could obstruct its flight path. What is the shortest possible route?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"paved, hard surface","end_land_type":"exposed, dry ground composed of loose earth and rocks","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":"khartoum_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":1,"start_point":[21,522],"end_point":[282,164],"distance":443.0406301909566},{"start_region_id":2,"end_region_id":1,"start_point":[304,573],"end_point":[282,164],"distance":409.59125967237145}],"complexity_score":0.6568067354263435}
{"id":8816,"query_id":"Q01764","question":"A delivery drone starts from a flat, hard surface and needs to reach a sandy area. The environment includes loose, granular ground; grassy or shrub-covered areas; hard, paved surfaces; and tall vegetation that can be flown through carefully. You must avoid any liquid surfaces and solid vertical structures. The drone requires a path that ensures stable flight and minimizes turbulence.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"flat, hard surface","end_land_type":"sandy area","task_description":"What is the most comfortable flight path to reach the sandy 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":"khartoum_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":1,"start_point":[21,522],"end_point":[282,164],"distance":443.0406301909566},{"start_region_id":5,"end_region_id":1,"start_point":[513,480],"end_point":[282,164],"distance":391.42943169874184},{"start_region_id":6,"end_region_id":1,"start_point":[397,518],"end_point":[282,164],"distance":372.21096168705185},{"start_region_id":2,"end_region_id":1,"start_point":[304,573],"end_point":[282,164],"distance":409.59125967237145}],"complexity_score":0.6568067354263435}
{"id":9822,"query_id":"Q01965","question":"An aerial survey drone starts from a patch of loose, sandy ground, an aerial survey drone must complete a mission and return to another similar patch of loose, sandy ground. The drone can fly over areas with sparse, low vegetation; flat, hard surfaces; tall vegetation with vertical obstacles; liquid surfaces; and cultivated fields with rows of crops. However, it must avoid any structures or buildings entirely. What is the safest path for the drone to take?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy ground","end_land_type":"and needing to return to another similar patch of loose, sandy ground","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":"khartoum_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[568,14],"end_point":[170,332],"distance":509.4389070340034}],"complexity_score":0.6568067354263435}
{"id":11865,"query_id":"Q02373","question":"A quadcopter drone starts from a patch of loose, sandy ground and needs to reach a paved, hard-surfaced area. The terrain includes only loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces. The quadcopter drone can traverse loose, sandy ground, paved, hard-surfaced areas, and vehicle lanes with hard surfaces.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"Bareland","end_land_type":"Developed space","task_description":"What is the shortest path for the quadcopter drone 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":"khartoum_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":4,"start_point":[282,164],"end_point":[21,522],"distance":443.0406301909566},{"start_region_id":1,"end_region_id":2,"start_point":[282,164],"end_point":[304,573],"distance":409.59125967237145}],"complexity_score":0.6568067354263435}
{"id":16701,"query_id":"Q03341","question":"A quadcopter drone starts above a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The drone can fly over hard, paved surfaces like roads, cultivated fields with relatively even soil, grassy or shrub-covered areas, and additional patches of loose, sandy ground. However, the drone should avoid flying over bodies of water due to potential signal interference and safety risks, and it should also avoid dense vegetation like trees and man-made structures to prevent collisions, unless explicitly permitted. ","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","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_57.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":1,"start_point":[564,66],"end_point":[118,436],"distance":579.4963330341271}],"complexity_score":0.6568067354263435}
{"id":697,"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_50.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":251,"end_region_id":127,"start_point":[522,531],"end_point":[879,210],"distance":480.09374084651427},{"start_region_id":251,"end_region_id":206,"start_point":[522,531],"end_point":[815,855],"distance":436.83520920365385},{"start_region_id":251,"end_region_id":145,"start_point":[522,531],"end_point":[119,434],"distance":414.5093485073648},{"start_region_id":251,"end_region_id":209,"start_point":[522,531],"end_point":[340,889],"distance":401.6067728512556},{"start_region_id":251,"end_region_id":137,"start_point":[522,531],"end_point":[211,282],"distance":398.3992971881351}],"complexity_score":0.6568257901916033}
{"id":4202,"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_50.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":127,"end_region_id":391,"start_point":[879,210],"end_point":[540,947],"distance":811.2274650182894},{"start_region_id":137,"end_region_id":388,"start_point":[211,282],"end_point":[671,908],"distance":776.837177277195},{"start_region_id":119,"end_region_id":388,"start_point":[371,204],"end_point":[671,908],"distance":765.2555128844222},{"start_region_id":119,"end_region_id":391,"start_point":[371,204],"end_point":[540,947],"distance":761.9776899621143},{"start_region_id":137,"end_region_id":391,"start_point":[211,282],"end_point":[540,947],"distance":741.9339593252218}],"complexity_score":0.6568257901916033}
{"id":13247,"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":"buenos_aires_50.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":4,"end_region_id":209,"start_point":[889,54],"end_point":[340,889],"distance":999.3127638532393},{"start_region_id":4,"end_region_id":197,"start_point":[889,54],"end_point":[201,747],"distance":976.5208651124665},{"start_region_id":82,"end_region_id":127,"start_point":[158,862],"end_point":[879,210],"distance":972.0828154020624},{"start_region_id":8,"end_region_id":206,"start_point":[242,106],"end_point":[815,855],"distance":943.0429470602068},{"start_region_id":41,"end_region_id":206,"start_point":[23,426],"end_point":[815,855],"distance":900.7247082211079}],"complexity_score":0.6568257901916033}
{"id":1214,"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":"accra_65.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":246,"start_point":[946,88],"end_point":[107,622],"distance":994.5235039957578},{"start_region_id":161,"end_region_id":189,"start_point":[946,88],"end_point":[236,212],"distance":720.7468348872577},{"start_region_id":160,"end_region_id":189,"start_point":[491,590],"end_point":[236,212],"distance":455.9703937757363},{"start_region_id":160,"end_region_id":234,"start_point":[491,590],"end_point":[974,507],"distance":490.0795853736411},{"start_region_id":161,"end_region_id":234,"start_point":[946,88],"end_point":[974,507],"distance":419.934518705}],"complexity_score":0.6568519859446694}
{"id":8251,"query_id":"Q01651","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over loose, sandy or rocky ground without vegetation, over areas covered with natural grass or shrubs, and over paved, hard-surfaced areas. However, the drone cannot fly through dense vegetation like trees or through buildings, and cannot travel over water surfaces, vehicle lanes, or agricultural fields. 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 for the quadcopter drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space"],"traverse_vector":[1,1,1,0,0,0,0,0],"cost_vector":[1,1,1,0,0,0,0,0],"image_name":"accra_65.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":102,"end_region_id":120,"start_point":[790,41],"end_point":[583,397],"distance":411.80699362686886},{"start_region_id":120,"end_region_id":102,"start_point":[583,397],"end_point":[790,41],"distance":411.80699362686886},{"start_region_id":102,"end_region_id":123,"start_point":[790,41],"end_point":[903,411],"distance":386.87077946001557},{"start_region_id":123,"end_region_id":102,"start_point":[903,411],"end_point":[790,41],"distance":386.87077946001557},{"start_region_id":123,"end_region_id":120,"start_point":[903,411],"end_point":[583,397],"distance":320.30610359467084}],"complexity_score":0.6568519859446694}
{"id":17060,"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":"accra_65.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":151,"end_region_id":161,"start_point":[151,916],"end_point":[946,88],"distance":1147.8715084886462},{"start_region_id":156,"end_region_id":161,"start_point":[602,983],"end_point":[946,88],"distance":958.8331450257651},{"start_region_id":147,"end_region_id":161,"start_point":[401,860],"end_point":[946,88],"distance":944.9915343536153},{"start_region_id":119,"end_region_id":161,"start_point":[265,599],"end_point":[946,88],"distance":851.4000234907209},{"start_region_id":118,"end_region_id":161,"start_point":[166,393],"end_point":[946,88],"distance":837.511193955042}],"complexity_score":0.6568519859446694}
{"id":12949,"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_6.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":37,"start_point":[206,346],"end_point":[518,33],"distance":441.9423039266551},{"start_region_id":34,"end_region_id":40,"start_point":[206,346],"end_point":[319,111],"distance":260.7565914794869},{"start_region_id":34,"end_region_id":42,"start_point":[206,346],"end_point":[62,189],"distance":213.03755537463343}],"complexity_score":0.6569445504532456}
{"id":14521,"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_6.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":37,"start_point":[206,346],"end_point":[518,33],"distance":441.9423039266551},{"start_region_id":34,"end_region_id":40,"start_point":[206,346],"end_point":[319,111],"distance":260.7565914794869},{"start_region_id":34,"end_region_id":42,"start_point":[206,346],"end_point":[62,189],"distance":213.03755537463343}],"complexity_score":0.6569445504532456}
{"id":17238,"query_id":"Q03448","question":"A quadcopter starts from a forested area with tall vegetation casting shadows and needs to reach another forested area with tall vegetation casting shadows. The environment includes open grassy fields with scattered bushes, hard paved surfaces like sidewalks and parking lots, and forested patches with tall vegetation. You can fly over grassy fields, paved surfaces, and forested patches. You cannot fly through dense vertical obstacles like thick tree canopies or buildings unless explicitly permitted. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"a forested area with tall vegetation casting shadows","end_land_type":"another forested area with tall vegetation casting shadows","task_description":"What is the shortest path from the starting forested area to the destination forested area?","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":"paris_6.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":42,"end_region_id":37,"start_point":[62,189],"end_point":[518,33],"distance":481.9460550725569},{"start_region_id":37,"end_region_id":42,"start_point":[518,33],"end_point":[62,189],"distance":481.9460550725569},{"start_region_id":42,"end_region_id":40,"start_point":[62,189],"end_point":[319,111],"distance":268.57587382339466},{"start_region_id":40,"end_region_id":42,"start_point":[319,111],"end_point":[62,189],"distance":268.57587382339466},{"start_region_id":40,"end_region_id":37,"start_point":[319,111],"end_point":[518,33],"distance":213.74049686477292}],"complexity_score":0.6569445504532456}
{"id":8847,"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_68.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":368,"end_region_id":259,"start_point":[38,245],"end_point":[988,985],"distance":1204.200979903272},{"start_region_id":443,"end_region_id":38,"start_point":[123,921],"end_point":[961,197],"distance":1107.4384858763037},{"start_region_id":352,"end_region_id":259,"start_point":[210,233],"end_point":[988,985],"distance":1082.0295744571865},{"start_region_id":389,"end_region_id":259,"start_point":[71,432],"end_point":[988,985],"distance":1070.8398573082718},{"start_region_id":353,"end_region_id":259,"start_point":[503,44],"end_point":[988,985],"distance":1058.6340255253465}],"complexity_score":0.6569805284509265}
{"id":13294,"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_68.tif","subfolder":"mexico_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":351,"end_region_id":289,"start_point":[173,753],"end_point":[898,21],"distance":1030.2664703852106},{"start_region_id":351,"end_region_id":293,"start_point":[173,753],"end_point":[915,135],"distance":965.6541824069318},{"start_region_id":351,"end_region_id":298,"start_point":[173,753],"end_point":[889,282],"distance":857.0280042098974},{"start_region_id":351,"end_region_id":287,"start_point":[173,753],"end_point":[624,65],"distance":822.6451239750953},{"start_region_id":334,"end_region_id":314,"start_point":[1004,105],"end_point":[341,571],"distance":810.38571063414}],"complexity_score":0.6569805284509265}
{"id":616,"query_id":"Q00124","question":"A hiker starts from a paved sidewalk and needs to reach another paved sidewalk area. The terrain includes hard, flat surfaces like sidewalks and roads, as well as loose, sandy ground and areas with tall, dense vegetation. The hiker can traverse the sandy ground and vegetation because they are wearing sturdy boots and the vegetation is not too thick to pass through. However, water bodies and buildings are completely impassable. What is the shortest 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 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":"daressalaam_127.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":118,"start_point":[107,894],"end_point":[912,149],"distance":1096.836359718258},{"start_region_id":118,"end_region_id":221,"start_point":[912,149],"end_point":[107,894],"distance":1096.836359718258},{"start_region_id":216,"end_region_id":114,"start_point":[900,760],"end_point":[109,84],"distance":1040.5080489837644},{"start_region_id":114,"end_region_id":216,"start_point":[109,84],"end_point":[900,760],"distance":1040.5080489837644},{"start_region_id":221,"end_region_id":117,"start_point":[107,894],"end_point":[717,95],"distance":1005.2367880255875}],"complexity_score":0.6569957363272473}
{"id":4310,"query_id":"Q00862","question":"An agricultural monitoring drone starts from a grassy, open field with scattered low vegetation and needs to return to another similar grassy, open field. The drone can fly over areas of soft, cultivated soil where crops are growing, and can also cross over calm, liquid surfaces. However, it must avoid densely packed vertical obstacles like tall, solid structures and thick clusters of upright natural obstacles with branches and leaves. The drone's path should be as direct as possible.","agent_category":"Drone","specific_agent":"Agricultural monitoring drone","start_land_type":"Starting from a grassy, open field with scattered low vegetation","end_land_type":"and needs to return to another similar grassy, open field","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":"daressalaam_127.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":15,"end_region_id":33,"start_point":[645,221],"end_point":[108,304],"distance":543.3764809043541},{"start_region_id":33,"end_region_id":15,"start_point":[108,304],"end_point":[645,221],"distance":543.3764809043541},{"start_region_id":33,"end_region_id":4,"start_point":[108,304],"end_point":[506,30],"distance":483.1976821136459},{"start_region_id":4,"end_region_id":33,"start_point":[506,30],"end_point":[108,304],"distance":483.1976821136459},{"start_region_id":33,"end_region_id":30,"start_point":[108,304],"end_point":[512,268],"distance":405.6007889538678}],"complexity_score":0.6569957363272473}
{"id":17547,"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":"daressalaam_127.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":238,"start_point":[108,304],"end_point":[860,923],"distance":973.9943531663826},{"start_region_id":4,"end_region_id":238,"start_point":[506,30],"end_point":[860,923],"distance":960.6065791987894},{"start_region_id":11,"end_region_id":238,"start_point":[410,138],"end_point":[860,923],"distance":904.8342389631374},{"start_region_id":33,"end_region_id":237,"start_point":[108,304],"end_point":[918,391],"distance":814.6588242939495},{"start_region_id":30,"end_region_id":238,"start_point":[512,268],"end_point":[860,923],"distance":741.706815392713}],"complexity_score":0.6569957363272473}
{"id":10381,"query_id":"Q02077","question":"A hiker starts from a paved sidewalk and needs to reach another paved sidewalk as quickly as possible. The hiker can walk on paved surfaces like sidewalks and roads, and can also traverse unpaved areas with loose soil or sparse vegetation if needed, but cannot enter water bodies or buildings. Which route should the hiker follow to minimize travel time?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"paved sidewalk","end_land_type":"another paved sidewalk","task_description":"Which route should the hiker follow 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":[1,2,4,3,0,0,0,0],"image_name":"maputo_4.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":170,"start_point":[984,58],"end_point":[50,882],"distance":1245.5247889945829},{"start_region_id":170,"end_region_id":18,"start_point":[50,882],"end_point":[984,58],"distance":1245.5247889945829},{"start_region_id":181,"end_region_id":18,"start_point":[236,955],"end_point":[984,58],"distance":1167.9524819101161},{"start_region_id":18,"end_region_id":181,"start_point":[984,58],"end_point":[236,955],"distance":1167.9524819101161},{"start_region_id":157,"end_region_id":18,"start_point":[182,796],"end_point":[984,58],"distance":1089.8843975394823}],"complexity_score":0.6570045543804576}
{"id":15136,"query_id":"Q03028","question":"An aerial survey drone starts from a paved, hard surface and needs to return to another paved, hard surface while prioritizing safety. The drone can fly over areas of loose, dry soil and rocks; open areas covered with low, non-cultivated vegetation; all paved and compacted surfaces; bodies of liquid; and cultivated fields with crops. However, it must avoid any tall, vertical structures and dense clusters of tall vegetation that could pose collision risks. What is the safest path for the drone?","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 drone?","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":"maputo_4.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":170,"start_point":[984,58],"end_point":[50,882],"distance":1245.5247889945829},{"start_region_id":170,"end_region_id":18,"start_point":[50,882],"end_point":[984,58],"distance":1245.5247889945829},{"start_region_id":181,"end_region_id":18,"start_point":[236,955],"end_point":[984,58],"distance":1167.9524819101161},{"start_region_id":18,"end_region_id":181,"start_point":[984,58],"end_point":[236,955],"distance":1167.9524819101161},{"start_region_id":157,"end_region_id":18,"start_point":[182,796],"end_point":[984,58],"distance":1089.8843975394823}],"complexity_score":0.6570045543804576}
{"id":16856,"query_id":"Q03372","question":"A quadcopter drone is starting from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over grassy or shrub-covered terrain, as well as liquid surfaces, but must avoid any tall, vertical obstacles like trees or structures. Which path should the drone take to minimize the total travel distance?","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":"Which path should the drone 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":"maputo_4.tif","subfolder":"maputo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":18,"end_region_id":170,"start_point":[984,58],"end_point":[50,882],"distance":1245.5247889945829},{"start_region_id":170,"end_region_id":18,"start_point":[50,882],"end_point":[984,58],"distance":1245.5247889945829},{"start_region_id":181,"end_region_id":18,"start_point":[236,955],"end_point":[984,58],"distance":1167.9524819101161},{"start_region_id":18,"end_region_id":181,"start_point":[984,58],"end_point":[236,955],"distance":1167.9524819101161},{"start_region_id":157,"end_region_id":18,"start_point":[182,796],"end_point":[984,58],"distance":1089.8843975394823}],"complexity_score":0.6570045543804576}
{"id":3255,"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_25.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":64,"end_region_id":148,"start_point":[91,43],"end_point":[964,659],"distance":1068.4498116430177},{"start_region_id":88,"end_region_id":146,"start_point":[928,986],"end_point":[294,125],"distance":1069.2413198151294},{"start_region_id":81,"end_region_id":145,"start_point":[197,860],"end_point":[819,66],"distance":1008.6228234578077},{"start_region_id":64,"end_region_id":151,"start_point":[91,43],"end_point":[722,855],"distance":1028.3506211404747},{"start_region_id":65,"end_region_id":148,"start_point":[103,142],"end_point":[964,659],"distance":1004.2957731664512}],"complexity_score":0.6570648834933436}
{"id":5290,"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_25.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":148,"start_point":[294,125],"end_point":[964,659],"distance":856.7706811043431},{"start_region_id":148,"end_region_id":146,"start_point":[964,659],"end_point":[294,125],"distance":856.7706811043431},{"start_region_id":146,"end_region_id":151,"start_point":[294,125],"end_point":[722,855],"distance":846.2174661397625},{"start_region_id":151,"end_region_id":146,"start_point":[722,855],"end_point":[294,125],"distance":846.2174661397625},{"start_region_id":148,"end_region_id":147,"start_point":[964,659],"end_point":[143,528],"distance":831.3855904452519}],"complexity_score":0.6570648834933436}
{"id":16970,"query_id":"Q03394","question":"A quadcopter drone is currently positioned over a cultivated field and needs to reach another cultivated field as quickly as possible. The area contains expanses of loose, dry soil and rock without vegetation, as well as clusters of tall, dense vegetation with vertical structures. The cultivated fields themselves are covered in low, managed crops. The drone can fly over all these surfaces, but navigating through the dense vertical vegetation would require slower, more careful maneuvering to avoid collisions, while the open, vegetation-free ground and the low-crop fields allow for unimpeded, high-speed flight. What is the fastest path for the drone to take?","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 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":"ngaoundere_25.tif","subfolder":"ngaoundere","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":148,"start_point":[294,125],"end_point":[964,659],"distance":856.7706811043431},{"start_region_id":148,"end_region_id":146,"start_point":[964,659],"end_point":[294,125],"distance":856.7706811043431},{"start_region_id":146,"end_region_id":151,"start_point":[294,125],"end_point":[722,855],"distance":846.2174661397625},{"start_region_id":151,"end_region_id":146,"start_point":[722,855],"end_point":[294,125],"distance":846.2174661397625},{"start_region_id":148,"end_region_id":147,"start_point":[964,659],"end_point":[143,528],"distance":831.3855904452519}],"complexity_score":0.6570648834933436}
{"id":1999,"query_id":"Q00400","question":"An aerial delivery drone starts from a paved, flat surface and needs to reach another paved, flat surface as quickly as possible. The drone can fly over hard surfaces like roads and parking lots, open water bodies, and cultivated fields with low vegetation. However, it must avoid flying through dense tree canopies or close to vertical structures like buildings, as these could obstruct its path or pose collision risks. What is the fastest route?","agent_category":"Drone","specific_agent":"Aerial delivery drone","start_land_type":"A paved, flat surface","end_land_type":"Another paved, flat 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":"tonga_21.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":57,"end_region_id":165,"start_point":[952,50],"end_point":[972,863],"distance":813.2459652528256},{"start_region_id":165,"end_region_id":57,"start_point":[972,863],"end_point":[952,50],"distance":813.2459652528256},{"start_region_id":57,"end_region_id":157,"start_point":[952,50],"end_point":[891,851],"distance":803.3193636406382},{"start_region_id":157,"end_region_id":57,"start_point":[891,851],"end_point":[952,50],"distance":803.3193636406382},{"start_region_id":165,"end_region_id":128,"start_point":[972,863],"end_point":[290,437],"distance":804.114419718985}],"complexity_score":0.6570843743548368}
{"id":11026,"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":"tonga_21.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":223,"end_region_id":1,"start_point":[941,818],"end_point":[47,47],"distance":1180.5409776877718},{"start_region_id":223,"end_region_id":3,"start_point":[941,818],"end_point":[165,122],"distance":1042.3972371413884},{"start_region_id":223,"end_region_id":4,"start_point":[941,818],"end_point":[315,19],"distance":1015.0256154403198},{"start_region_id":218,"end_region_id":48,"start_point":[418,241],"end_point":[962,993],"distance":928.1379207854833},{"start_region_id":220,"end_region_id":7,"start_point":[301,825],"end_point":[736,40],"distance":897.4686624055461}],"complexity_score":0.6570843743548368}
{"id":15741,"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":"tonga_21.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":165,"start_point":[47,47],"end_point":[972,863],"distance":1233.4832791732524},{"start_region_id":1,"end_region_id":157,"start_point":[47,47],"end_point":[891,851],"distance":1165.655180574427},{"start_region_id":3,"end_region_id":165,"start_point":[165,122],"end_point":[972,863],"distance":1095.5957283596902},{"start_region_id":40,"end_region_id":57,"start_point":[314,942],"end_point":[952,50],"distance":1096.6804457087762},{"start_region_id":4,"end_region_id":165,"start_point":[315,19],"end_point":[972,863],"distance":1069.5723444442642}],"complexity_score":0.6570843743548368}
{"id":2841,"query_id":"Q00569","question":"A quadcopter drone is positioned on a flat paved area and needs to reach a paved lane as quickly as possible. The drone can fly over various surfaces including bare ground, hard paved areas, and cultivated fields, but must avoid dense vegetation and vertical structures to maintain speed. It can also traverse liquid bodies if necessary. What is the fastest path for the quadcopter drone?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a flat paved area","end_land_type":"a paved lane","task_description":"What is the fastest path for the quadcopter 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":"joplin_8.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":140,"start_point":[204,388],"end_point":[853,483],"distance":655.916153178133},{"start_region_id":109,"end_region_id":140,"start_point":[214,424],"end_point":[853,483],"distance":641.7180066041469}],"complexity_score":0.6571693406166782}
{"id":10613,"query_id":"Q02123","question":"A delivery drone starts from a grassy, uneven field and needs to reach a paved road surface while prioritizing flight comfort. The drone can traverse loose, sandy terrain, compacted dirt areas, and hard, flat surfaces, but cannot fly through dense vegetation or near vertical structures. The drone prefers open areas with minimal turbulence for stable flight. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"grassy, uneven field","end_land_type":"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":[1,1,1,1,0,0,1,0],"image_name":"joplin_8.tif","subfolder":"joplin","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":140,"start_point":[38,78],"end_point":[853,483],"distance":910.082413850526},{"start_region_id":28,"end_region_id":140,"start_point":[58,247],"end_point":[853,483],"distance":829.2894548949721},{"start_region_id":71,"end_region_id":138,"start_point":[963,981],"end_point":[305,500],"distance":815.0613473843549},{"start_region_id":3,"end_region_id":140,"start_point":[196,133],"end_point":[853,483],"distance":744.4118483742719},{"start_region_id":69,"end_region_id":138,"start_point":[982,870],"end_point":[305,500],"distance":771.5108553999743}],"complexity_score":0.6571693406166782}
{"id":9604,"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_94.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":293,"end_region_id":293,"start_point":[748,7],"end_point":[738,985],"distance":978.0511234081785}],"complexity_score":0.6572181706886665}
{"id":13250,"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":"daressalaam_94.tif","subfolder":"daressalaam","coordinate_format":"xy","start_end_pairs":[{"start_region_id":74,"end_region_id":99,"start_point":[161,831],"end_point":[889,107],"distance":1026.722942180606},{"start_region_id":26,"end_region_id":253,"start_point":[160,286],"end_point":[904,958],"distance":1002.5567315618603},{"start_region_id":34,"end_region_id":253,"start_point":[114,415],"end_point":[904,958],"distance":958.6182764792251},{"start_region_id":34,"end_region_id":204,"start_point":[114,415],"end_point":[979,568],"distance":878.427003227929},{"start_region_id":74,"end_region_id":104,"start_point":[161,831],"end_point":[712,149],"distance":876.7696390728867}],"complexity_score":0.6572181706886665}
{"id":1921,"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_53.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":186,"end_region_id":179,"start_point":[99,28],"end_point":[518,445],"distance":591.1429607125505},{"start_region_id":198,"end_region_id":179,"start_point":[44,101],"end_point":[518,445],"distance":585.672263300901},{"start_region_id":192,"end_region_id":179,"start_point":[862,38],"end_point":[518,445],"distance":532.9024300939151},{"start_region_id":291,"end_region_id":179,"start_point":[853,814],"end_point":[518,445],"distance":498.3833865609888},{"start_region_id":233,"end_region_id":179,"start_point":[88,248],"end_point":[518,445],"distance":472.97885787844683}],"complexity_score":0.6572236404546706}
{"id":6939,"query_id":"Q01388","question":"An aerial surveillance drone starts from a paved, hard surface, an aerial surveillance drone must navigate to another paved, hard surface area. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid tall trees and structures to minimize collision risk. 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":"aachen_53.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":158,"start_point":[212,68],"end_point":[949,945],"distance":1145.5557603189816},{"start_region_id":158,"end_region_id":87,"start_point":[949,945],"end_point":[212,68],"distance":1145.5557603189816},{"start_region_id":87,"end_region_id":155,"start_point":[212,68],"end_point":[932,914],"distance":1110.907736943082},{"start_region_id":155,"end_region_id":87,"start_point":[932,914],"end_point":[212,68],"distance":1110.907736943082},{"start_region_id":105,"end_region_id":158,"start_point":[210,146],"end_point":[949,945],"distance":1088.3574780374324}],"complexity_score":0.6572236404546706}
{"id":10903,"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_53.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":291,"start_point":[967,487],"end_point":[853,814],"distance":346.30189141845585}],"complexity_score":0.6572236404546706}
{"id":1742,"query_id":"Q00349","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach another grassy, open field with low vegetation. The drone's flight must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations. The drone can fly over loose, sandy areas; grassy fields; paved lanes; liquid surfaces; and cultivated crop fields. However, it must avoid flying through dense tree canopies and cannot pass through solid vertical structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"grassy, open field with low vegetation","end_land_type":"grassy, open field with low vegetation","task_description":"What is the most comfortable path for the aerial survey drone to travel from the starting grassy field to the destination grassy 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":"christchurch_69.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":52,"end_region_id":7,"start_point":[117,720],"end_point":[953,129],"distance":1023.8051572442873},{"start_region_id":7,"end_region_id":52,"start_point":[953,129],"end_point":[117,720],"distance":1023.8051572442873},{"start_region_id":1,"end_region_id":126,"start_point":[122,147],"end_point":[789,915],"distance":1017.2084348844145},{"start_region_id":126,"end_region_id":1,"start_point":[789,915],"end_point":[122,147],"distance":1017.2084348844145},{"start_region_id":7,"end_region_id":144,"start_point":[953,129],"end_point":[419,969],"distance":995.3672689012835}],"complexity_score":0.6572955699416454}
{"id":5878,"query_id":"Q01176","question":"A quadcopter drone starts from a flat, hard surface and needs to reach a paved lane as quickly as possible. The drone can fly over most surfaces but must avoid areas with tall vertical obstacles or dense overhead obstructions. Liquid surfaces and open airspace are permitted.","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 fastest flight path from the starting point 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":"christchurch_69.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":183,"end_region_id":207,"start_point":[976,760],"end_point":[122,325],"distance":958.4054465621531},{"start_region_id":198,"end_region_id":207,"start_point":[666,964],"end_point":[122,325],"distance":839.2002144899631},{"start_region_id":177,"end_region_id":207,"start_point":[916,416],"end_point":[122,325],"distance":799.1977227194782},{"start_region_id":165,"end_region_id":207,"start_point":[818,127],"end_point":[122,325],"distance":723.6159202228763},{"start_region_id":188,"end_region_id":207,"start_point":[567,846],"end_point":[122,325],"distance":685.1758898268386}],"complexity_score":0.6572955699416454}
{"id":16300,"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":"christchurch_69.tif","subfolder":"christchurch","coordinate_format":"xy","start_end_pairs":[{"start_region_id":207,"end_region_id":126,"start_point":[122,325],"end_point":[789,915],"distance":890.4992981468317},{"start_region_id":207,"end_region_id":7,"start_point":[122,325],"end_point":[953,129],"distance":853.8014991788197},{"start_region_id":207,"end_region_id":145,"start_point":[122,325],"end_point":[539,963],"distance":762.1896089556718},{"start_region_id":207,"end_region_id":144,"start_point":[122,325],"end_point":[419,969],"distance":709.1861532771209},{"start_region_id":207,"end_region_id":21,"start_point":[122,325],"end_point":[736,190],"distance":628.6660480732198}],"complexity_score":0.6572955699416454}
{"id":12967,"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":"svaneti_40.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":50,"start_point":[885,78],"end_point":[363,595],"distance":734.6924526630173},{"start_region_id":161,"end_region_id":40,"start_point":[74,864],"end_point":[444,319],"distance":658.729838401146},{"start_region_id":162,"end_region_id":40,"start_point":[322,947],"end_point":[444,319],"distance":639.7405724197896},{"start_region_id":155,"end_region_id":50,"start_point":[848,262],"end_point":[363,595],"distance":588.3145417206683},{"start_region_id":151,"end_region_id":50,"start_point":[451,35],"end_point":[363,595],"distance":566.87211961782}],"complexity_score":0.6573468158526047}
{"id":13803,"query_id":"Q02761","question":"A hiker starts from a cultivated field and needs to reach another cultivated field. The terrain includes loose, sandy areas; grassy, uneven ground; hard, paved surfaces; and soft, tilled soil. The hiker can traverse the loose sandy areas and grassy ground because they are wearing sturdy boots, and the soft tilled soil is accessible as it is not currently planted. However, the hard paved surfaces are blocked due to ongoing construction. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the shortest path for the hiker to take?","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":"svaneti_40.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":152,"end_region_id":160,"start_point":[885,78],"end_point":[141,605],"distance":911.73735253087},{"start_region_id":160,"end_region_id":152,"start_point":[141,605],"end_point":[885,78],"distance":911.73735253087},{"start_region_id":152,"end_region_id":158,"start_point":[885,78],"end_point":[133,467],"distance":846.6551836491642},{"start_region_id":158,"end_region_id":152,"start_point":[133,467],"end_point":[885,78],"distance":846.6551836491642},{"start_region_id":160,"end_region_id":155,"start_point":[141,605],"end_point":[848,262],"distance":785.8104097045292}],"complexity_score":0.6573468158526047}
{"id":17643,"query_id":"Q03529","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field while prioritizing safety. The hiker can use paved lanes for vehicles, but must avoid any liquid surfaces and vertical structures. The hiker can traverse cultivated crop fields only if they are currently fallow and dry, and can walk through wooded areas only if the trees are widely spaced with clear ground between them. What is the safest path?","agent_category":"Pedestrian","specific_agent":"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":"svaneti_40.tif","subfolder":"svaneti","coordinate_format":"xy","start_end_pairs":[{"start_region_id":33,"end_region_id":8,"start_point":[339,832],"end_point":[985,362],"distance":798.884221899519},{"start_region_id":8,"end_region_id":33,"start_point":[985,362],"end_point":[339,832],"distance":798.884221899519},{"start_region_id":1,"end_region_id":33,"start_point":[506,42],"end_point":[339,832],"distance":807.458358059411},{"start_region_id":33,"end_region_id":1,"start_point":[339,832],"end_point":[506,42],"distance":807.458358059411},{"start_region_id":3,"end_region_id":15,"start_point":[200,439],"end_point":[997,504],"distance":799.6461717534825}],"complexity_score":0.6573468158526047}
{"id":1922,"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_56.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":200,"end_region_id":199,"start_point":[736,53],"end_point":[897,913],"distance":874.9405694102886},{"start_region_id":229,"end_region_id":199,"start_point":[374,339],"end_point":[897,913],"distance":776.5339657735519},{"start_region_id":289,"end_region_id":197,"start_point":[643,954],"end_point":[547,438],"distance":524.8542654870969},{"start_region_id":238,"end_region_id":199,"start_point":[760,429],"end_point":[897,913],"distance":503.0159043211258},{"start_region_id":200,"end_region_id":197,"start_point":[736,53],"end_point":[547,438],"distance":428.88926309713094}],"complexity_score":0.6573586304160293}
{"id":6940,"query_id":"Q01388","question":"An aerial surveillance drone starts from a paved, hard surface, an aerial surveillance drone must navigate to another paved, hard surface area. The drone can fly over open water bodies and cultivated fields with low vegetation, but must avoid tall trees and structures to minimize collision risk. 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":"aachen_56.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":148,"start_point":[210,800],"end_point":[882,68],"distance":993.684054415688},{"start_region_id":148,"end_region_id":187,"start_point":[882,68],"end_point":[210,800],"distance":993.684054415688},{"start_region_id":188,"end_region_id":148,"start_point":[358,883],"end_point":[882,68],"distance":968.9174371431242},{"start_region_id":148,"end_region_id":188,"start_point":[882,68],"end_point":[358,883],"distance":968.9174371431242},{"start_region_id":150,"end_region_id":187,"start_point":[782,143],"end_point":[210,800],"distance":871.1102111673356}],"complexity_score":0.6573586304160293}
{"id":12146,"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_56.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":129,"end_region_id":148,"start_point":[96,944],"end_point":[882,68],"distance":1176.9333031229935},{"start_region_id":97,"end_region_id":148,"start_point":[33,761],"end_point":[882,68],"distance":1095.9242674564698},{"start_region_id":129,"end_region_id":150,"start_point":[96,944],"end_point":[782,143],"distance":1054.607509929642},{"start_region_id":124,"end_region_id":148,"start_point":[213,877],"end_point":[882,68],"distance":1049.7818821069452},{"start_region_id":129,"end_region_id":164,"start_point":[96,944],"end_point":[910,350],"distance":1007.6864591726933}],"complexity_score":0.6573586304160293}
{"id":6148,"query_id":"Q01230","question":"A quadcopter drone is positioned on a paved, hard surface and needs to reach an area of natural, uncultivated vegetation as quickly as possible. The drone can fly over open ground with loose soil or rocks, areas with low vegetation, all paved or compacted surfaces, liquid bodies, and cultivated fields. However, it must avoid flying through dense vertical obstacles like trees or structures, as these require careful navigation and slow down travel. 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":"area of natural, uncultivated 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":"little_rock_17.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":146,"end_region_id":2,"start_point":[607,924],"end_point":[167,74],"distance":957.1311299921239},{"start_region_id":146,"end_region_id":7,"start_point":[607,924],"end_point":[267,86],"distance":904.3472784279278},{"start_region_id":139,"end_region_id":5,"start_point":[99,670],"end_point":[789,200],"distance":834.8652585896721},{"start_region_id":146,"end_region_id":3,"start_point":[607,924],"end_point":[416,112],"distance":834.1612553937039},{"start_region_id":139,"end_region_id":43,"start_point":[99,670],"end_point":[917,554],"distance":826.1839988767636}],"complexity_score":0.6575755971988978}
{"id":6611,"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":"little_rock_17.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":70,"end_region_id":87,"start_point":[651,251],"end_point":[861,550],"distance":365.37788657771836},{"start_region_id":87,"end_region_id":70,"start_point":[861,550],"end_point":[651,251],"distance":365.37788657771836},{"start_region_id":70,"end_region_id":82,"start_point":[651,251],"end_point":[868,490],"distance":322.8157369150395},{"start_region_id":82,"end_region_id":70,"start_point":[868,490],"end_point":[651,251],"distance":322.8157369150395},{"start_region_id":69,"end_region_id":87,"start_point":[817,229],"end_point":[861,550],"distance":324.0015432062014}],"complexity_score":0.6575755971988978}
{"id":11874,"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_17.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":69,"start_point":[532,460],"end_point":[817,229],"distance":366.8596461863856},{"start_region_id":138,"end_region_id":82,"start_point":[532,460],"end_point":[868,490],"distance":337.33662712489433},{"start_region_id":138,"end_region_id":87,"start_point":[532,460],"end_point":[861,550],"distance":341.08796519373124},{"start_region_id":138,"end_region_id":79,"start_point":[532,460],"end_point":[828,379],"distance":306.88271375233893},{"start_region_id":138,"end_region_id":70,"start_point":[532,460],"end_point":[651,251],"distance":240.50363822611914}],"complexity_score":0.6575755971988978}
{"id":15869,"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_17.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":54,"end_region_id":2,"start_point":[899,871],"end_point":[167,74],"distance":1082.1427817067395},{"start_region_id":2,"end_region_id":54,"start_point":[167,74],"end_point":[899,871],"distance":1082.1427817067395},{"start_region_id":54,"end_region_id":7,"start_point":[899,871],"end_point":[267,86],"distance":1007.7941258014953},{"start_region_id":7,"end_region_id":54,"start_point":[267,86],"end_point":[899,871],"distance":1007.7941258014953},{"start_region_id":2,"end_region_id":61,"start_point":[167,74],"end_point":[561,957],"distance":966.9151979361995}],"complexity_score":0.6575755971988978}
{"id":7128,"query_id":"Q01426","question":"A quadcopter drone is positioned in a cultivated field with soft, tilled soil and crop rows. It needs to reach a paved area with a hard, flat surface. The drone can fly over liquid surfaces like rivers or lakes, but cannot fly through dense vertical obstacles like tall trees or buildings. 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":"al_qurnah_41.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":360,"end_region_id":100,"start_point":[45,715],"end_point":[992,255],"distance":1052.810049344135},{"start_region_id":360,"end_region_id":92,"start_point":[45,715],"end_point":[949,171],"distance":1055.060187856598},{"start_region_id":360,"end_region_id":78,"start_point":[45,715],"end_point":[880,84],"distance":1046.6068985058334},{"start_region_id":360,"end_region_id":77,"start_point":[45,715],"end_point":[776,59],"distance":982.1899001720594},{"start_region_id":360,"end_region_id":169,"start_point":[45,715],"end_point":[973,909],"distance":948.0611794604819}],"complexity_score":0.6575941929885893}
{"id":14663,"query_id":"Q02933","question":"A hiker is standing on a grassy, open field covered with natural vegetation and shrubs. They need to reach a cultivated field where crops are growing. The terrain includes areas of loose, dry soil and rocks without vegetation, hard paved surfaces like sidewalks and parking lots, and patches of tall trees. The hiker can traverse grassy fields, cultivated areas, loose rocky ground, paved surfaces, and wooded areas. What is the shortest path from the starting grassy field to the destination cultivated field?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the shortest path from the starting grassy field to the destination cultivated 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":"al_qurnah_41.tif","subfolder":"al_qurnah","coordinate_format":"xy","start_end_pairs":[{"start_region_id":24,"end_region_id":361,"start_point":[578,395],"end_point":[123,930],"distance":702.3175919767352},{"start_region_id":24,"end_region_id":360,"start_point":[578,395],"end_point":[45,715],"distance":621.6823947965713},{"start_region_id":40,"end_region_id":361,"start_point":[64,624],"end_point":[123,930],"distance":311.6360056219435},{"start_region_id":63,"end_region_id":360,"start_point":[250,927],"end_point":[45,715],"distance":294.9050694715165}],"complexity_score":0.6575941929885893}
{"id":3358,"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_67.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":296,"end_region_id":116,"start_point":[445,497],"end_point":[69,120],"distance":532.4518757596784},{"start_region_id":296,"end_region_id":115,"start_point":[445,497],"end_point":[840,106],"distance":555.7931269816136},{"start_region_id":296,"end_region_id":285,"start_point":[445,497],"end_point":[295,966],"distance":492.40328999713233},{"start_region_id":296,"end_region_id":108,"start_point":[445,497],"end_point":[635,76],"distance":461.88851468725653},{"start_region_id":296,"end_region_id":136,"start_point":[445,497],"end_point":[69,295],"distance":426.82549127248717}],"complexity_score":0.6577081033886734}
{"id":5601,"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_67.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":296,"end_region_id":296,"start_point":[998,871],"end_point":[4,163],"distance":1220.3687967167957}],"complexity_score":0.6577081033886734}
{"id":7806,"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_67.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":296,"start_point":[69,120],"end_point":[445,497],"distance":532.4518757596784},{"start_region_id":115,"end_region_id":296,"start_point":[840,106],"end_point":[445,497],"distance":555.7931269816136},{"start_region_id":285,"end_region_id":296,"start_point":[295,966],"end_point":[445,497],"distance":492.40328999713233},{"start_region_id":108,"end_region_id":296,"start_point":[635,76],"end_point":[445,497],"distance":461.88851468725653},{"start_region_id":136,"end_region_id":296,"start_point":[69,295],"end_point":[445,497],"distance":426.82549127248717}],"complexity_score":0.6577081033886734}
{"id":5634,"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_28.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":184,"end_region_id":88,"start_point":[961,824],"end_point":[50,45],"distance":1198.650074041628},{"start_region_id":184,"end_region_id":118,"start_point":[961,824],"end_point":[55,354],"distance":1020.6546918522445},{"start_region_id":184,"end_region_id":123,"start_point":[961,824],"end_point":[49,496],"distance":969.1893519844303},{"start_region_id":184,"end_region_id":122,"start_point":[961,824],"end_point":[78,763],"distance":885.1045136027723},{"start_region_id":184,"end_region_id":92,"start_point":[961,824],"end_point":[566,92],"distance":831.7746088935392}],"complexity_score":0.6577307430696386}
{"id":7713,"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_28.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":137,"start_point":[50,45],"end_point":[616,992],"distance":1103.2520111017247},{"start_region_id":137,"end_region_id":88,"start_point":[616,992],"end_point":[50,45],"distance":1103.2520111017247},{"start_region_id":122,"end_region_id":104,"start_point":[78,763],"end_point":[933,120],"distance":1069.8009160586842},{"start_region_id":104,"end_region_id":122,"start_point":[933,120],"end_point":[78,763],"distance":1069.8009160586842},{"start_region_id":88,"end_region_id":132,"start_point":[50,45],"end_point":[856,712],"distance":1046.195488424606}],"complexity_score":0.6577307430696386}
{"id":10476,"query_id":"Q02096","question":"A quadcopter drone is starting from a grassy, open field with low vegetation and needs to reach a dense cluster of tall, leafy trees. The drone can fly over bare, rocky ground; grassy, open fields; paved, hard surfaces; and water bodies, but it must avoid colliding with vertical structures like buildings and navigate carefully through tree canopies due to potential obstacles. The goal is to find the path that minimizes risk of collision or loss of control.","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a grassy, open field with low vegetation","end_land_type":"a dense cluster of tall, leafy trees","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":"houston_28.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":2,"end_region_id":184,"start_point":[205,136],"end_point":[961,824],"distance":1022.1937194093887},{"start_region_id":4,"end_region_id":184,"start_point":[417,61],"end_point":[961,824],"distance":937.0725692282322},{"start_region_id":33,"end_region_id":184,"start_point":[207,389],"end_point":[961,824],"distance":870.4831991486108},{"start_region_id":11,"end_region_id":184,"start_point":[525,111],"end_point":[961,824],"distance":835.7421851264899},{"start_region_id":5,"end_region_id":184,"start_point":[734,66],"end_point":[961,824],"distance":791.260386977637}],"complexity_score":0.6577307430696386}
{"id":15298,"query_id":"Q03060","question":"A hiker is starting from an area of natural, uncultivated grassy terrain and needs to reach a paved, hard-surface area. The hiker can traverse grassy areas, cultivated fields with crops, and wooded areas with trees, but cannot cross water bodies or enter buildings. What is the shortest path to reach the paved area?","agent_category":"Pedestrian","specific_agent":"A hiker","start_land_type":"Rangeland","end_land_type":"Developed space","task_description":"What is the shortest path to reach the paved 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":"houston_28.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":85,"end_region_id":88,"start_point":[799,1009],"end_point":[50,45],"distance":1220.7772114517866},{"start_region_id":63,"end_region_id":88,"start_point":[1007,763],"end_point":[50,45],"distance":1196.400016716817},{"start_region_id":66,"end_region_id":88,"start_point":[802,906],"end_point":[50,45],"distance":1143.1644676073518},{"start_region_id":8,"end_region_id":122,"start_point":[976,93],"end_point":[78,763],"distance":1120.4034987449834},{"start_region_id":86,"end_region_id":104,"start_point":[238,983],"end_point":[933,120],"distance":1108.0586627069886}],"complexity_score":0.6577307430696386}
{"id":16670,"query_id":"Q03334","question":"A quadcopter starts from a grassy, uneven field and needs to reach another grassy, uneven field while prioritizing flight comfort. You seek stable airspace with minimal turbulence or obstacles. You can traverse loose, sandy or rocky ground without vegetation, as well as cultivated fields with crops or grazing vegetation. Paved lanes and streets are also available. However, you cannot travel through areas with dense vertical obstacles or liquid surfaces, and solid structures are restricted unless explicitly permitted. What is the most comfortable path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"grassy, uneven field","end_land_type":"grassy, uneven field","task_description":"What is the most comfortable path from the starting grassy, uneven field to the destination grassy, uneven field?","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":"houston_28.tif","subfolder":"houston","coordinate_format":"xy","start_end_pairs":[{"start_region_id":86,"end_region_id":8,"start_point":[238,983],"end_point":[976,93],"distance":1156.1764571206247},{"start_region_id":8,"end_region_id":86,"start_point":[976,93],"end_point":[238,983],"distance":1156.1764571206247},{"start_region_id":76,"end_region_id":8,"start_point":[244,895],"end_point":[976,93],"distance":1085.8305576838404},{"start_region_id":8,"end_region_id":76,"start_point":[976,93],"end_point":[244,895],"distance":1085.8305576838404},{"start_region_id":85,"end_region_id":2,"start_point":[799,1009],"end_point":[205,136],"distance":1055.9190309867513}],"complexity_score":0.6577307430696386}
{"id":10777,"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":"lambayeque_17.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":263,"start_point":[95,40],"end_point":[942,521],"distance":974.0482534248496},{"start_region_id":93,"end_region_id":263,"start_point":[102,279],"end_point":[942,521],"distance":874.1647441987122},{"start_region_id":170,"end_region_id":263,"start_point":[197,953],"end_point":[942,521],"distance":861.1904551259263},{"start_region_id":165,"end_region_id":263,"start_point":[185,823],"end_point":[942,521],"distance":815.0171777330831},{"start_region_id":67,"end_region_id":263,"start_point":[216,163],"end_point":[942,521],"distance":809.4689617273784}],"complexity_score":0.6578290018056822}
{"id":15583,"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":"lambayeque_17.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":175,"end_region_id":2,"start_point":[972,998],"end_point":[152,94],"distance":1220.4982589090407},{"start_region_id":158,"end_region_id":2,"start_point":[967,854],"end_point":[152,94],"distance":1114.3720204671329},{"start_region_id":80,"end_region_id":48,"start_point":[985,213],"end_point":[98,867],"distance":1102.0367507483586},{"start_region_id":63,"end_region_id":48,"start_point":[825,80],"end_point":[98,867],"distance":1071.4000186671642},{"start_region_id":58,"end_region_id":20,"start_point":[95,40],"end_point":[966,678],"distance":1079.6689307375664}],"complexity_score":0.6578290018056822}
{"id":16297,"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":"lambayeque_17.tif","subfolder":"lambayeque","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":2,"start_point":[903,795],"end_point":[152,94],"distance":1027.3276011088187},{"start_region_id":177,"end_region_id":19,"start_point":[903,795],"end_point":[57,514],"distance":891.446577199105},{"start_region_id":178,"end_region_id":16,"start_point":[199,878],"end_point":[945,469],"distance":850.7625990839042},{"start_region_id":177,"end_region_id":48,"start_point":[903,795],"end_point":[98,867],"distance":808.2134619022378},{"start_region_id":178,"end_region_id":20,"start_point":[199,878],"end_point":[966,678],"distance":792.646831823606}],"complexity_score":0.6578290018056822}
{"id":2784,"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_28.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":66,"end_region_id":68,"start_point":[512,455],"end_point":[153,503],"distance":362.19469902250086},{"start_region_id":68,"end_region_id":66,"start_point":[153,503],"end_point":[512,455],"distance":362.19469902250086}],"complexity_score":0.6579676087470693}
{"id":7334,"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_28.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":160,"end_region_id":172,"start_point":[463,825],"end_point":[978,917],"distance":523.1529413087534},{"start_region_id":172,"end_region_id":160,"start_point":[978,917],"end_point":[463,825],"distance":523.1529413087534},{"start_region_id":160,"end_region_id":142,"start_point":[463,825],"end_point":[962,690],"distance":516.939067976101},{"start_region_id":142,"end_region_id":160,"start_point":[962,690],"end_point":[463,825],"distance":516.939067976101},{"start_region_id":161,"end_region_id":142,"start_point":[640,905],"end_point":[962,690],"distance":387.18083630262487}],"complexity_score":0.6579676087470693}
{"id":15382,"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_28.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":58,"end_region_id":31,"start_point":[169,899],"end_point":[814,19],"distance":1091.0659925045782},{"start_region_id":31,"end_region_id":58,"start_point":[814,19],"end_point":[169,899],"distance":1091.0659925045782},{"start_region_id":53,"end_region_id":39,"start_point":[827,818],"end_point":[43,216],"distance":988.4634540538158},{"start_region_id":39,"end_region_id":53,"start_point":[43,216],"end_point":[827,818],"distance":988.4634540538158},{"start_region_id":38,"end_region_id":58,"start_point":[747,132],"end_point":[169,899],"distance":960.402519780118}],"complexity_score":0.6579676087470693}
{"id":16523,"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":"chicago_28.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":19,"end_region_id":142,"start_point":[420,915],"end_point":[962,690],"distance":586.8466579950848},{"start_region_id":7,"end_region_id":160,"start_point":[849,387],"end_point":[463,825],"distance":583.8150392033422},{"start_region_id":7,"end_region_id":161,"start_point":[849,387],"end_point":[640,905],"distance":558.574077450789},{"start_region_id":19,"end_region_id":172,"start_point":[420,915],"end_point":[978,917],"distance":558.0035842178794},{"start_region_id":7,"end_region_id":172,"start_point":[849,387],"end_point":[978,917],"distance":545.4731890753202}],"complexity_score":0.6579676087470693}
{"id":12990,"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_5.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":116,"end_region_id":137,"start_point":[949,912],"end_point":[112,92],"distance":1171.7375986115662},{"start_region_id":123,"end_region_id":137,"start_point":[827,948],"end_point":[112,92],"distance":1115.3299960101494},{"start_region_id":116,"end_region_id":144,"start_point":[949,912],"end_point":[95,202],"distance":1110.592634587498},{"start_region_id":116,"end_region_id":152,"start_point":[949,912],"end_point":[80,314],"distance":1054.8767700542087},{"start_region_id":123,"end_region_id":144,"start_point":[827,948],"end_point":[95,202],"distance":1045.1507068361002}],"complexity_score":0.6579773888023827}
{"id":14567,"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_5.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":116,"start_point":[112,92],"end_point":[949,912],"distance":1171.7375986115662},{"start_region_id":137,"end_region_id":123,"start_point":[112,92],"end_point":[827,948],"distance":1115.3299960101494},{"start_region_id":144,"end_region_id":116,"start_point":[95,202],"end_point":[949,912],"distance":1110.592634587498},{"start_region_id":152,"end_region_id":116,"start_point":[80,314],"end_point":[949,912],"distance":1054.8767700542087},{"start_region_id":144,"end_region_id":123,"start_point":[95,202],"end_point":[827,948],"distance":1045.1507068361002}],"complexity_score":0.6579773888023827}
{"id":17228,"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":"ulaanbaatar_5.tif","subfolder":"ulaanbaatar","coordinate_format":"xy","start_end_pairs":[{"start_region_id":137,"end_region_id":116,"start_point":[112,92],"end_point":[949,912],"distance":1171.7375986115662},{"start_region_id":137,"end_region_id":123,"start_point":[112,92],"end_point":[827,948],"distance":1115.3299960101494},{"start_region_id":144,"end_region_id":116,"start_point":[95,202],"end_point":[949,912],"distance":1110.592634587498},{"start_region_id":152,"end_region_id":116,"start_point":[80,314],"end_point":[949,912],"distance":1054.8767700542087},{"start_region_id":144,"end_region_id":123,"start_point":[95,202],"end_point":[827,948],"distance":1045.1507068361002}],"complexity_score":0.6579773888023827}
{"id":17033,"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_41.tif","subfolder":"accra","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":102,"start_point":[82,947],"end_point":[660,470],"distance":749.408433365945},{"start_region_id":51,"end_region_id":102,"start_point":[33,83],"end_point":[660,470],"distance":736.8161236020829},{"start_region_id":95,"end_region_id":102,"start_point":[171,994],"end_point":[660,470],"distance":716.7265866423542},{"start_region_id":82,"end_region_id":102,"start_point":[182,915],"end_point":[660,470],"distance":653.076565189718},{"start_region_id":63,"end_region_id":102,"start_point":[72,345],"end_point":[660,470],"distance":601.1397508067488}],"complexity_score":0.6579794337539522}
{"id":3664,"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_10.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":161,"end_region_id":164,"start_point":[509,519],"end_point":[143,983],"distance":590.975464803743},{"start_region_id":164,"end_region_id":161,"start_point":[143,983],"end_point":[509,519],"distance":590.975464803743}],"complexity_score":0.6580095630350317}
{"id":8253,"query_id":"Q01651","question":"A quadcopter drone starts from a paved, hard-surfaced area and needs to reach another paved, hard-surfaced area. The drone can fly over loose, sandy or rocky ground without vegetation, over areas covered with natural grass or shrubs, and over paved, hard-surfaced areas. However, the drone cannot fly through dense vegetation like trees or through buildings, and cannot travel over water surfaces, vehicle lanes, or agricultural fields. 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 for the quadcopter drone to reach the destination?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Developed space"],"traverse_vector":[1,1,1,0,0,0,0,0],"cost_vector":[1,1,1,0,0,0,0,0],"image_name":"kitsap_10.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":135,"end_region_id":121,"start_point":[703,571],"end_point":[819,229],"distance":361.13709308239163},{"start_region_id":121,"end_region_id":135,"start_point":[819,229],"end_point":[703,571],"distance":361.13709308239163},{"start_region_id":128,"end_region_id":123,"start_point":[181,432],"end_point":[138,137],"distance":298.11742652854093},{"start_region_id":123,"end_region_id":128,"start_point":[138,137],"end_point":[181,432],"distance":298.11742652854093}],"complexity_score":0.6580095630350317}
{"id":12727,"query_id":"Q02546","question":"A quadcopter drone starts from a grassy, uneven field with scattered shrubs and needs to reach a flat, paved area with a smooth, stable surface. The drone can only travel across surfaces that are either grassy fields, cultivated crop fields, paved parking lots, or vehicle lanes. The drone is permitted to fly over these surfaces at low altitude. The drone must avoid any areas with tall, dense vegetation or vertical structures that could pose collision risks. What is the safest path to reach the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","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":[0,1,1,1,0,0,1,0],"image_name":"kitsap_10.tif","subfolder":"kitsap","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":123,"start_point":[927,949],"end_point":[138,137],"distance":1132.1947712297563},{"start_region_id":103,"end_region_id":131,"start_point":[927,949],"end_point":[18,319],"distance":1105.9751353443712},{"start_region_id":94,"end_region_id":131,"start_point":[954,808],"end_point":[18,319],"distance":1056.038351576305},{"start_region_id":94,"end_region_id":123,"start_point":[954,808],"end_point":[138,137],"distance":1056.4549209502504},{"start_region_id":103,"end_region_id":114,"start_point":[927,949],"end_point":[459,32],"distance":1029.5207622967105}],"complexity_score":0.6580095630350317}
{"id":6537,"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":"aachen_18.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":187,"end_region_id":207,"start_point":[705,927],"end_point":[515,548],"distance":423.95872440604404},{"start_region_id":136,"end_region_id":207,"start_point":[322,265],"end_point":[515,548],"distance":342.54634722910123},{"start_region_id":188,"end_region_id":207,"start_point":[846,833],"end_point":[515,548],"distance":436.790567663726},{"start_region_id":185,"end_region_id":206,"start_point":[220,830],"end_point":[190,455],"distance":376.19808611953357},{"start_region_id":159,"end_region_id":207,"start_point":[940,648],"end_point":[515,548],"distance":436.6062299143245}],"complexity_score":0.658119879635808}
{"id":16280,"query_id":"Q03256","question":"A quadcopter drone starts from a cultivated field and needs to reach a grassy meadow. The terrain includes areas of loose, dry soil and rocks without vegetation, as well as hard, paved surfaces designed for vehicles. However, the paved surfaces are currently closed for maintenance and cannot be used. The drone can fly over most surfaces but must avoid areas with dense, tall vegetation that could entangle its rotors. You must find a path that minimizes the total distance traveled.","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"cultivated field","end_land_type":"grassy meadow","task_description":"What is the shortest path from the cultivated field to the grassy meadow?","task_type":"Shortest","input_classes":["Bareland","Rangeland","Water","Agriculture land"],"traverse_vector":[1,1,0,0,0,1,1,0],"cost_vector":[1,1,0,0,0,1,1,0],"image_name":"aachen_18.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":355,"end_region_id":4,"start_point":[828,162],"end_point":[538,94],"distance":297.8657415682441}],"complexity_score":0.658119879635808}
{"id":2641,"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_47.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":229,"end_region_id":196,"start_point":[605,594],"end_point":[95,815],"distance":555.8246126252417},{"start_region_id":229,"end_region_id":188,"start_point":[605,594],"end_point":[51,562],"distance":554.9234181398367},{"start_region_id":229,"end_region_id":180,"start_point":[605,594],"end_point":[63,454],"distance":559.7892460560493},{"start_region_id":229,"end_region_id":136,"start_point":[605,594],"end_point":[324,68],"distance":596.3530833323493},{"start_region_id":229,"end_region_id":163,"start_point":[605,594],"end_point":[996,350],"distance":460.8871879321446}],"complexity_score":0.6581258470481904}
{"id":2566,"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":"koeln_6.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":63,"start_point":[826,344],"end_point":[950,553],"distance":243.0164603478538},{"start_region_id":63,"end_region_id":29,"start_point":[950,553],"end_point":[826,344],"distance":243.0164603478538}],"complexity_score":0.6581364802198648}
{"id":6693,"query_id":"Q01339","question":"An aerial survey drone starts from a cultivated field and needs to reach another cultivated field while maintaining stable flight for sensor calibration. The drone can fly over open sandy or rocky expanses, grassy or shrubby areas, paved surfaces like parking lots or tennis courts, vehicle lanes including streets and runways, bodies of water such as rivers or lakes, and other cultivated fields. However, it must avoid flying through dense tree canopies or close to building structures to prevent turbulence and ensure a smooth, vibration-free flight path. What is the most comfortable route?","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 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":"koeln_6.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":577,"end_region_id":581,"start_point":[516,411],"end_point":[952,923],"distance":672.4879181070839},{"start_region_id":581,"end_region_id":577,"start_point":[952,923],"end_point":[516,411],"distance":672.4879181070839},{"start_region_id":578,"end_region_id":581,"start_point":[432,581],"end_point":[952,923],"distance":622.385732484285},{"start_region_id":581,"end_region_id":578,"start_point":[952,923],"end_point":[432,581],"distance":622.385732484285}],"complexity_score":0.6581364802198648}
{"id":1288,"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_1.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":539,"end_region_id":350,"start_point":[576,647],"end_point":[374,268],"distance":429.4706043491219},{"start_region_id":537,"end_region_id":350,"start_point":[726,406],"end_point":[374,268],"distance":378.08464660707926}],"complexity_score":0.658250312742705}
{"id":2847,"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":"koeln_1.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":539,"end_region_id":350,"start_point":[576,647],"end_point":[374,268],"distance":429.4706043491219},{"start_region_id":537,"end_region_id":350,"start_point":[726,406],"end_point":[374,268],"distance":378.08464660707926}],"complexity_score":0.658250312742705}
{"id":6857,"query_id":"Q01372","question":"An aerial survey drone starts from a dense cluster of tall, vertical structures with complex branching patterns and needs to reach a large, flat expanse of regularly patterned, low-lying vegetation. The drone can fly over open, solid ground with no vegetation, as well as over hard, flat, artificial surfaces. However, it must navigate carefully around the tall, vertical structures at the start, as flying directly through them is slow and risky. The goal 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":"A dense cluster of tall, vertical structures with complex branching patterns.","end_land_type":"A large, flat expanse of regularly patterned, low-lying vegetation.","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":"koeln_1.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":523,"end_region_id":537,"start_point":[181,967],"end_point":[726,406],"distance":782.1419308539851},{"start_region_id":510,"end_region_id":537,"start_point":[93,828],"end_point":[726,406],"distance":760.7713191229018},{"start_region_id":378,"end_region_id":539,"start_point":[96,27],"end_point":[576,647],"distance":784.0918313565063},{"start_region_id":412,"end_region_id":537,"start_point":[25,191],"end_point":[726,406],"distance":733.2298411821494},{"start_region_id":412,"end_region_id":539,"start_point":[25,191],"end_point":[576,647],"distance":715.2181485393111}],"complexity_score":0.658250312742705}
{"id":14149,"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_6.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":358,"end_region_id":518,"start_point":[949,107],"end_point":[135,996],"distance":1205.3700676555727},{"start_region_id":518,"end_region_id":358,"start_point":[135,996],"end_point":[949,107],"distance":1205.3700676555727},{"start_region_id":338,"end_region_id":510,"start_point":[72,29],"end_point":[921,876],"distance":1199.253934744431},{"start_region_id":510,"end_region_id":338,"start_point":[921,876],"end_point":[72,29],"distance":1199.253934744431},{"start_region_id":343,"end_region_id":518,"start_point":[809,35],"end_point":[135,996],"distance":1173.795978865152}],"complexity_score":0.6583711710566594}
{"id":17454,"query_id":"Q03491","question":"An aerial survey drone starts from a cluster of tall vegetation with vertical structures and canopy cover and needs to reach another similar cluster of tall vegetation with vertical structures and canopy cover. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. The drone can fly over areas with loose, dry soil and rocks; areas with low, natural vegetation; paved lanes used by vehicles; liquid surfaces; and clusters of tall vegetation with vertical structures, but flying through dense vertical structures requires careful navigation and increases vibration risk. The drone cannot fly through solid vertical structures like buildings. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"A cluster of tall vegetation with vertical structures and canopy cover","end_land_type":"Another cluster of tall vegetation with vertical structures and canopy cover","task_description":"What is the most comfortable path for the aerial survey drone to reach its destination while minimizing vibrations?","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_6.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":358,"end_region_id":518,"start_point":[949,107],"end_point":[135,996],"distance":1205.3700676555727},{"start_region_id":518,"end_region_id":358,"start_point":[135,996],"end_point":[949,107],"distance":1205.3700676555727},{"start_region_id":338,"end_region_id":510,"start_point":[72,29],"end_point":[921,876],"distance":1199.253934744431},{"start_region_id":510,"end_region_id":338,"start_point":[921,876],"end_point":[72,29],"distance":1199.253934744431},{"start_region_id":343,"end_region_id":518,"start_point":[809,35],"end_point":[135,996],"distance":1173.795978865152}],"complexity_score":0.6583711710566594}
{"id":1085,"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_36.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":41,"start_point":[910,534],"end_point":[745,909],"distance":409.69500851242987},{"start_region_id":110,"end_region_id":22,"start_point":[81,630],"end_point":[79,291],"distance":339.00589965367857},{"start_region_id":105,"end_region_id":22,"start_point":[376,405],"end_point":[79,291],"distance":318.1273329973393},{"start_region_id":105,"end_region_id":38,"start_point":[376,405],"end_point":[129,647],"distance":345.79329085452196},{"start_region_id":106,"end_region_id":4,"start_point":[910,534],"end_point":[878,224],"distance":311.64723647098174}],"complexity_score":0.6584350346708008}
{"id":3805,"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_36.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":106,"end_region_id":110,"start_point":[910,534],"end_point":[81,630],"distance":834.5399930500635},{"start_region_id":110,"end_region_id":106,"start_point":[81,630],"end_point":[910,534],"distance":834.5399930500635},{"start_region_id":106,"end_region_id":105,"start_point":[910,534],"end_point":[376,405],"distance":549.3605373522929},{"start_region_id":105,"end_region_id":106,"start_point":[376,405],"end_point":[910,534],"distance":549.3605373522929},{"start_region_id":105,"end_region_id":110,"start_point":[376,405],"end_point":[81,630],"distance":371.01212918178294}],"complexity_score":0.6584350346708008}
{"id":5365,"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_36.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":100,"start_point":[79,291],"end_point":[500,977],"distance":804.8832213433201},{"start_region_id":38,"end_region_id":58,"start_point":[129,647],"end_point":[724,113],"distance":799.4879611351255},{"start_region_id":4,"end_region_id":99,"start_point":[878,224],"end_point":[995,969],"distance":754.1312883046294},{"start_region_id":22,"end_region_id":103,"start_point":[79,291],"end_point":[37,999],"distance":709.2446686440442},{"start_region_id":22,"end_region_id":102,"start_point":[79,291],"end_point":[282,961],"distance":700.0778528135281}],"complexity_score":0.6584350346708008}
{"id":10093,"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_36.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":22,"end_region_id":100,"start_point":[79,291],"end_point":[500,977],"distance":804.8832213433201},{"start_region_id":38,"end_region_id":58,"start_point":[129,647],"end_point":[724,113],"distance":799.4879611351255},{"start_region_id":4,"end_region_id":99,"start_point":[878,224],"end_point":[995,969],"distance":754.1312883046294},{"start_region_id":22,"end_region_id":103,"start_point":[79,291],"end_point":[37,999],"distance":709.2446686440442},{"start_region_id":22,"end_region_id":102,"start_point":[79,291],"end_point":[282,961],"distance":700.0778528135281}],"complexity_score":0.6584350346708008}
{"id":12839,"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_36.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":105,"end_region_id":110,"start_point":[376,405],"end_point":[81,630],"distance":371.01212918178294},{"start_region_id":110,"end_region_id":105,"start_point":[81,630],"end_point":[376,405],"distance":371.01212918178294}],"complexity_score":0.6584350346708008}
{"id":2248,"query_id":"Q00450","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an artificial, flat, hard surface. The drone can fly over loose, dry ground composed of sand or rocks, as well as liquid areas, but must avoid any areas with tall vegetation or vertical 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":"artificial, flat, 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":"little_rock_41.tif","subfolder":"little_rock","coordinate_format":"xy","start_end_pairs":[{"start_region_id":89,"end_region_id":43,"start_point":[491,588],"end_point":[974,113],"distance":677.4319153981454},{"start_region_id":89,"end_region_id":48,"start_point":[491,588],"end_point":[114,241],"distance":512.3846211587542},{"start_region_id":89,"end_region_id":62,"start_point":[491,588],"end_point":[870,525],"distance":384.2004685057008},{"start_region_id":89,"end_region_id":52,"start_point":[491,588],"end_point":[784,310],"distance":403.8972641650349},{"start_region_id":89,"end_region_id":58,"start_point":[491,588],"end_point":[210,403],"distance":336.4312708414603}],"complexity_score":0.6584453554012641}
{"id":683,"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_30.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":515,"end_region_id":338,"start_point":[883,816],"end_point":[59,72],"distance":1110.1855700737603},{"start_region_id":538,"end_region_id":338,"start_point":[681,949],"end_point":[59,72],"distance":1075.1804499710734},{"start_region_id":446,"end_region_id":341,"start_point":[91,490],"end_point":[946,39],"distance":966.6571263897039},{"start_region_id":443,"end_region_id":338,"start_point":[945,439],"end_point":[59,72],"distance":959.0020855034675},{"start_region_id":538,"end_region_id":341,"start_point":[681,949],"end_point":[946,39],"distance":947.8000844059891}],"complexity_score":0.6585452940924791}
{"id":4221,"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_30.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":143,"end_region_id":515,"start_point":[23,71],"end_point":[883,816],"distance":1137.8158902036832},{"start_region_id":143,"end_region_id":538,"start_point":[23,71],"end_point":[681,949],"distance":1097.2000729128667},{"start_region_id":290,"end_region_id":388,"start_point":[124,958],"end_point":[804,211],"distance":1010.1529587146691},{"start_region_id":143,"end_region_id":443,"start_point":[23,71],"end_point":[945,439],"distance":992.7275557775155},{"start_region_id":290,"end_region_id":443,"start_point":[124,958],"end_point":[945,439],"distance":971.2888344874557}],"complexity_score":0.6585452940924791}
{"id":2280,"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_41.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":609,"end_region_id":360,"start_point":[955,28],"end_point":[91,1002],"distance":1301.9877111555238},{"start_region_id":609,"end_region_id":351,"start_point":[955,28],"end_point":[105,950],"distance":1254.0271129445327},{"start_region_id":625,"end_region_id":120,"start_point":[897,938],"end_point":[119,21],"distance":1202.5693327205713},{"start_region_id":627,"end_region_id":148,"start_point":[146,925],"end_point":[993,128],"distance":1163.0210660172927},{"start_region_id":609,"end_region_id":338,"start_point":[955,28],"end_point":[129,839],"distance":1157.582394475659}],"complexity_score":0.6586518138087157}
{"id":15507,"query_id":"Q03102","question":"An aerial surveillance drone is deployed from a grassy, open field with scattered low shrubs and wild vegetation to reach a cultivated crop field with rows of planted vegetation. The drone must avoid tall, dense vegetation and vertical structures, and liquid surfaces are permissible but not preferred due to potential signal interference. Hard, flat surfaces like paved areas or compacted soil are available and safe for low-altitude flight. The drone's path should prioritize minimizing risk of collision, signal loss, or environmental hazards.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"Starting from a grassy, open field with scattered low shrubs and wild vegetation.","end_land_type":"Ending at a cultivated crop field with rows of planted 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":"tokyo_41.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":625,"start_point":[92,106],"end_point":[897,938],"distance":1157.691236902137},{"start_region_id":3,"end_region_id":623,"start_point":[92,106],"end_point":[852,818],"distance":1041.4144227923866},{"start_region_id":11,"end_region_id":627,"start_point":[906,217],"end_point":[146,925],"distance":1038.683782486277},{"start_region_id":3,"end_region_id":624,"start_point":[92,106],"end_point":[670,879],"distance":965.2010153330756},{"start_region_id":3,"end_region_id":621,"start_point":[92,106],"end_point":[913,497],"distance":909.3525169041982}],"complexity_score":0.6586518138087157}
{"id":16334,"query_id":"Q03267","question":"A 4x4 off-road vehicle starts from a cultivated field with loose soil and crop stubble and needs to reach a grassy, open area with scattered low shrubs. The vehicle can travel on compacted dirt tracks and firm, unpaved surfaces that provide reasonable traction, but it cannot go through dense vegetation, over water, or into built structures. To achieve the fastest possible travel, what path should be taken?","agent_category":"Car","specific_agent":"a 4x4 off-road vehicle","start_land_type":"a cultivated field with loose soil and crop stubble","end_land_type":"a grassy, open area with scattered low shrubs","task_description":"What is the fastest path from the starting point 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":"tokyo_41.tif","subfolder":"tokyo","coordinate_format":"xy","start_end_pairs":[{"start_region_id":625,"end_region_id":3,"start_point":[897,938],"end_point":[92,106],"distance":1157.691236902137},{"start_region_id":623,"end_region_id":3,"start_point":[852,818],"end_point":[92,106],"distance":1041.4144227923866},{"start_region_id":627,"end_region_id":11,"start_point":[146,925],"end_point":[906,217],"distance":1038.683782486277},{"start_region_id":624,"end_region_id":3,"start_point":[670,879],"end_point":[92,106],"distance":965.2010153330756},{"start_region_id":621,"end_region_id":3,"start_point":[913,497],"end_point":[92,106],"distance":909.3525169041982}],"complexity_score":0.6586518138087157}
{"id":3833,"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_19.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":239,"start_point":[534,50],"end_point":[934,976],"distance":1008.7001536631191},{"start_region_id":239,"end_region_id":232,"start_point":[934,976],"end_point":[534,50],"distance":1008.7001536631191},{"start_region_id":234,"end_region_id":241,"start_point":[913,175],"end_point":[367,994],"distance":984.3154982016691},{"start_region_id":241,"end_region_id":234,"start_point":[367,994],"end_point":[913,175],"distance":984.3154982016691},{"start_region_id":232,"end_region_id":241,"start_point":[534,50],"end_point":[367,994],"distance":958.6579160472206}],"complexity_score":0.6586806191526432}
{"id":14021,"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_19.tif","subfolder":"kyoto","coordinate_format":"xy","start_end_pairs":[{"start_region_id":233,"end_region_id":240,"start_point":[745,249],"end_point":[649,984],"distance":741.242875176551},{"start_region_id":240,"end_region_id":233,"start_point":[649,984],"end_point":[745,249],"distance":741.242875176551},{"start_region_id":238,"end_region_id":233,"start_point":[669,760],"end_point":[745,249],"distance":516.6207506479003},{"start_region_id":233,"end_region_id":238,"start_point":[745,249],"end_point":[669,760],"distance":516.6207506479003},{"start_region_id":235,"end_region_id":234,"start_point":[987,398],"end_point":[913,175],"distance":234.95744295510198}],"complexity_score":0.6586806191526432}
{"id":6525,"query_id":"Q01305","question":"An aerial surveillance drone starts from a grassy, open field and needs to reach another grassy, open field while prioritizing smooth, stable flight to protect its sensitive imaging equipment. The drone can fly over areas with hard, flat surfaces; loose, dry soil; cultivated fields; and water bodies, but must avoid dense vegetation and vertical structures. What is the most comfortable 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 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":"aachen_37.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":16,"end_region_id":103,"start_point":[240,108],"end_point":[95,924],"distance":828.7828424864983},{"start_region_id":103,"end_region_id":16,"start_point":[95,924],"end_point":[240,108],"distance":828.7828424864983},{"start_region_id":16,"end_region_id":105,"start_point":[240,108],"end_point":[206,934],"distance":826.6994617150782},{"start_region_id":105,"end_region_id":16,"start_point":[206,934],"end_point":[240,108],"distance":826.6994617150782},{"start_region_id":28,"end_region_id":104,"start_point":[95,137],"end_point":[374,905],"distance":817.1077040390697}],"complexity_score":0.6587446149080941}
{"id":11280,"query_id":"Q02256","question":"An off-road vehicle starts from a patch of wild grasses and shrubs and needs to reach a cultivated field with crops. The terrain includes only unpaved, natural surfaces: loose, rocky soil; wild vegetation like grass and bushes; and tilled, planted soil. Paved areas, roads, water, trees, and buildings are not available for travel. What is the shortest route to the field?","agent_category":"Car","specific_agent":"off-road vehicle","start_land_type":"Rangeland","end_land_type":"Agriculture land","task_description":"What is the shortest route to the field?","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":"aachen_37.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":103,"end_region_id":450,"start_point":[95,924],"end_point":[661,671],"distance":619.9717735510222},{"start_region_id":88,"end_region_id":450,"start_point":[179,664],"end_point":[661,671],"distance":482.0508271956392}],"complexity_score":0.6587446149080941}
{"id":16140,"query_id":"Q03228","question":"A hiker starts from a paved lane and needs to reach a cultivated field. The hiker can traverse paved surfaces, loose soil and rock areas, grassy and shrub-covered terrain, and cultivated fields. The hiker cannot traverse areas with standing water or solid structures. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"hiker","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the shortest path from the paved lane to the cultivated 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":"aachen_37.tif","subfolder":"aachen","coordinate_format":"xy","start_end_pairs":[{"start_region_id":263,"end_region_id":449,"start_point":[290,929],"end_point":[871,195],"distance":936.1180481114548},{"start_region_id":262,"end_region_id":449,"start_point":[66,690],"end_point":[871,195],"distance":945.0132274206536},{"start_region_id":262,"end_region_id":450,"start_point":[66,690],"end_point":[661,671],"distance":595.3032840493995},{"start_region_id":246,"end_region_id":450,"start_point":[394,217],"end_point":[661,671],"distance":526.6925099144661},{"start_region_id":263,"end_region_id":450,"start_point":[290,929],"end_point":[661,671],"distance":451.8904734556815}],"complexity_score":0.6587446149080941}
{"id":971,"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_13.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":96,"end_region_id":2,"start_point":[93,552],"end_point":[382,14],"distance":610.7086048190249},{"start_region_id":96,"end_region_id":6,"start_point":[93,552],"end_point":[508,184],"distance":554.6611578252077},{"start_region_id":61,"end_region_id":6,"start_point":[54,257],"end_point":[508,184],"distance":459.83149087464636},{"start_region_id":61,"end_region_id":9,"start_point":[54,257],"end_point":[456,382],"distance":420.98574797729196},{"start_region_id":61,"end_region_id":2,"start_point":[54,257],"end_point":[382,14],"distance":408.2070553040454}],"complexity_score":0.6588472888385399}
{"id":3885,"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_13.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":43,"start_point":[623,80],"end_point":[115,580],"distance":712.7860829168875}],"complexity_score":0.6588472888385399}
{"id":14469,"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_13.tif","subfolder":"paris","coordinate_format":"xy","start_end_pairs":[{"start_region_id":43,"end_region_id":61,"start_point":[357,436],"end_point":[54,257],"distance":351.9232870953555},{"start_region_id":43,"end_region_id":96,"start_point":[357,436],"end_point":[93,552],"distance":288.36088500349695}],"complexity_score":0.6588472888385399}
{"id":1497,"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_15.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":32,"start_point":[81,161],"end_point":[632,483],"distance":638.1888435251748}],"complexity_score":0.6588847820847478}
{"id":10508,"query_id":"Q02102","question":"A quadcopter drone is hovering over a grassy, uneven field and needs to reach a paved, flat area. The drone can fly over most surfaces, including soft soil, low vegetation, hard pavements, and roads, but flying through dense tree canopies or close to buildings is risky and should be avoided unless necessary. The drone prioritizes smooth, open airspace for stable flight. What is the most comfortable path for the drone to take?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"a grassy, uneven field","end_land_type":"a paved, flat 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":"vegas_15.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":12,"end_region_id":15,"start_point":[126,584],"end_point":[530,75],"distance":649.8438273923974},{"start_region_id":13,"end_region_id":14,"start_point":[514,620],"end_point":[200,72],"distance":631.5853069855251},{"start_region_id":9,"end_region_id":15,"start_point":[73,504],"end_point":[530,75],"distance":626.8093809125705},{"start_region_id":9,"end_region_id":18,"start_point":[73,504],"end_point":[643,312],"distance":601.4682036483724},{"start_region_id":12,"end_region_id":18,"start_point":[126,584],"end_point":[643,312],"distance":584.1857581283542}],"complexity_score":0.6588847820847478}
{"id":12393,"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_15.tif","subfolder":"vegas","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":9,"start_point":[514,620],"end_point":[73,504],"distance":456.00109648990974},{"start_region_id":9,"end_region_id":13,"start_point":[73,504],"end_point":[514,620],"distance":456.00109648990974},{"start_region_id":5,"end_region_id":9,"start_point":[483,419],"end_point":[73,504],"distance":418.7182823808867},{"start_region_id":9,"end_region_id":5,"start_point":[73,504],"end_point":[483,419],"distance":418.7182823808867},{"start_region_id":5,"end_region_id":12,"start_point":[483,419],"end_point":[126,584],"distance":393.2861553627333}],"complexity_score":0.6588847820847478}
{"id":169,"query_id":"Q00034","question":"An aerial survey drone starts from a grassy, open field with scattered low shrubs and needs to reach another grassy, open field with scattered low shrubs. The drone must avoid areas with dense, tall vegetation that could cause turbulence and instability, and avoid flying over structures that could create unpredictable wind patterns. Liquid surfaces should be avoided as they can cause sensor interference and reduce flight stability. The terrain includes loose, sandy patches and cultivated fields with low, even crops, which are acceptable but less ideal than open grassy areas. What is the most comfortable path for the drone?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a grassy, open field with scattered low shrubs.","end_land_type":"Ending at another grassy, open field with scattered low shrubs.","task_description":"What is the most comfortable path for the drone?","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":"bielefeld_14.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":2,"start_point":[67,922],"end_point":[916,78],"distance":1197.1370013494695},{"start_region_id":2,"end_region_id":71,"start_point":[916,78],"end_point":[67,922],"distance":1197.1370013494695},{"start_region_id":65,"end_region_id":2,"start_point":[156,846],"end_point":[916,78],"distance":1080.4739700705427},{"start_region_id":2,"end_region_id":65,"start_point":[916,78],"end_point":[156,846],"distance":1080.4739700705427},{"start_region_id":66,"end_region_id":16,"start_point":[817,896],"end_point":[49,198],"distance":1037.7995952976664}],"complexity_score":0.6589064011411432}
{"id":9383,"query_id":"Q01877","question":"An aerial surveillance drone is currently positioned on a hard, flat, artificial surface. It needs to reach a natural area covered with low vegetation and bushes. The drone must avoid all tall, vertical structures and dense clusters of tall vegetation that could pose collision risks. It can fly over open water bodies, but should minimize time over them due to potential signal interference and lack of landing options. The primary goal is to complete the mission while minimizing all operational risks.","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A hard, flat, artificial surface","end_land_type":"A natural area covered with low vegetation and bushes","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_14.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":88,"end_region_id":71,"start_point":[821,99],"end_point":[67,922],"distance":1116.174269547547},{"start_region_id":83,"end_region_id":71,"start_point":[742,42],"end_point":[67,922],"distance":1109.064921454105},{"start_region_id":190,"end_region_id":2,"start_point":[115,811],"end_point":[916,78],"distance":1085.7670099980014},{"start_region_id":194,"end_region_id":2,"start_point":[205,878],"end_point":[916,78],"distance":1070.290147576815},{"start_region_id":172,"end_region_id":2,"start_point":[42,695],"end_point":[916,78],"distance":1069.8434464911209}],"complexity_score":0.6589064011411432}
{"id":17805,"query_id":"Q03561","question":"An aerial survey drone starts from a grassy, open field with low vegetation and needs to reach a paved vehicle lane. The drone can fly over areas with loose soil and scattered plants, liquid surfaces, and cultivated fields with crops, but must avoid dense vertical obstacles like tall trees and man-made structures. 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":"paved vehicle 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":"bielefeld_14.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":71,"end_region_id":227,"start_point":[67,922],"end_point":[807,144],"distance":1073.7243594144636},{"start_region_id":66,"end_region_id":226,"start_point":[817,896],"end_point":[240,43],"distance":1029.824256851624},{"start_region_id":65,"end_region_id":227,"start_point":[156,846],"end_point":[807,144],"distance":957.3949028483491},{"start_region_id":52,"end_region_id":227,"start_point":[86,664],"end_point":[807,144],"distance":888.9550044856039},{"start_region_id":44,"end_region_id":226,"start_point":[923,706],"end_point":[240,43],"distance":951.8707895507667}],"complexity_score":0.6589064011411432}
{"id":2188,"query_id":"Q00438","question":"A jogger starts from a paved sidewalk and needs to reach another paved sidewalk as quickly as possible. The jogger can traverse hard, flat surfaces like sidewalks and roads, which are always accessible. Additionally. The jogger can cross cultivated fields with planted crops and areas with scattered trees, as the fields are dry and firm enough for running and the trees are sparse enough to navigate between. However, the jogger cannot cross water bodies or enter buildings, as these are impassable. What is the fastest path?","agent_category":"Pedestrian","specific_agent":"a jogger","start_land_type":"a paved sidewalk","end_land_type":"a paved sidewalk","task_description":"What is the fastest path for the jogger 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":[0,0,4,3,1,0,2,0],"image_name":"tuscaloosa_45.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":28,"end_region_id":39,"start_point":[740,61],"end_point":[971,974],"distance":941.7696108921757},{"start_region_id":39,"end_region_id":28,"start_point":[971,974],"end_point":[740,61],"distance":941.7696108921757},{"start_region_id":28,"end_region_id":40,"start_point":[740,61],"end_point":[779,984],"distance":923.8235762308732},{"start_region_id":40,"end_region_id":28,"start_point":[779,984],"end_point":[740,61],"distance":923.8235762308732},{"start_region_id":28,"end_region_id":37,"start_point":[740,61],"end_point":[872,829],"distance":779.2611885626026}],"complexity_score":0.6590178971954257}
{"id":6144,"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":"tuscaloosa_45.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":39,"end_region_id":46,"start_point":[971,974],"end_point":[59,216],"distance":1185.8785772582285},{"start_region_id":40,"end_region_id":46,"start_point":[779,984],"end_point":[59,216],"distance":1052.7221855741427},{"start_region_id":37,"end_region_id":46,"start_point":[872,829],"end_point":[59,216],"distance":1018.2033195781676},{"start_region_id":29,"end_region_id":46,"start_point":[936,38],"end_point":[59,216],"distance":894.8815564084445},{"start_region_id":32,"end_region_id":46,"start_point":[926,374],"end_point":[59,216],"distance":881.2791839139286}],"complexity_score":0.6590178971954257}
{"id":15885,"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":"tuscaloosa_45.tif","subfolder":"tuscaloosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":29,"end_region_id":26,"start_point":[936,38],"end_point":[213,979],"distance":1186.680243368027},{"start_region_id":28,"end_region_id":26,"start_point":[740,61],"end_point":[213,979],"distance":1058.5145251719505},{"start_region_id":39,"end_region_id":2,"start_point":[971,974],"end_point":[294,196],"distance":1031.3161493935795},{"start_region_id":29,"end_region_id":25,"start_point":[936,38],"end_point":[575,980],"distance":1008.8037470192108},{"start_region_id":29,"end_region_id":20,"start_point":[936,38],"end_point":[403,867],"distance":985.5607540887573}],"complexity_score":0.6590178971954257}
{"id":7947,"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":"bielefeld_63.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":222,"end_region_id":120,"start_point":[96,730],"end_point":[867,233],"distance":917.3058377662272},{"start_region_id":221,"end_region_id":147,"start_point":[689,94],"end_point":[285,679],"distance":710.9437389836132},{"start_region_id":222,"end_region_id":117,"start_point":[96,730],"end_point":[392,124],"distance":674.4271643402274},{"start_region_id":222,"end_region_id":116,"start_point":[96,730],"end_point":[107,60],"distance":670.090292423342},{"start_region_id":221,"end_region_id":118,"start_point":[689,94],"end_point":[39,200],"distance":658.5863648755568}],"complexity_score":0.6591093768329934}
{"id":13452,"query_id":"Q02691","question":"An aerial survey drone starts from a paved lane and needs to reach a cultivated field while prioritizing a smooth and stable flight to minimize vibrations and ensure steady sensor readings. The drone can fly over open grassy areas, hard artificial surfaces, paved lanes, liquid bodies, and cultivated fields, but must avoid dense vertical obstacles like trees and structures. What is the most comfortable path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"cultivated field","task_description":"What is the most comfortable path for the aerial survey drone to take from the paved lane 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":"bielefeld_63.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":112,"end_region_id":222,"start_point":[917,777],"end_point":[96,730],"distance":822.3442101699263},{"start_region_id":112,"end_region_id":221,"start_point":[917,777],"end_point":[689,94],"distance":720.0506926598988},{"start_region_id":111,"end_region_id":221,"start_point":[360,399],"end_point":[689,94],"distance":448.6267936715327},{"start_region_id":111,"end_region_id":222,"start_point":[360,399],"end_point":[96,730],"distance":423.38752933925673}],"complexity_score":0.6591093768329934}
{"id":17810,"query_id":"Q03562","question":"A quadcopter drone is deployed from a cultivated field with rows of crops and soft soil, needing to reach an open area covered with wild grasses and low shrubs. The drone can fly over any terrain except dense tree canopies and solid structures, which are blocked. It must avoid liquid surfaces due to safety concerns, and cannot use paved surfaces or compacted artificial areas because they are restricted for drone operations. What is the shortest path to the destination?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"A cultivated field with rows of crops and soft soil","end_land_type":"An open area covered with wild grasses and low shrubs","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":"bielefeld_63.tif","subfolder":"bielefeld","coordinate_format":"xy","start_end_pairs":[{"start_region_id":221,"end_region_id":11,"start_point":[689,94],"end_point":[960,243],"distance":309.2604080706096},{"start_region_id":222,"end_region_id":47,"start_point":[96,730],"end_point":[307,907],"distance":275.40878707840824},{"start_region_id":222,"end_region_id":55,"start_point":[96,730],"end_point":[122,965],"distance":236.4339231159522},{"start_region_id":221,"end_region_id":10,"start_point":[689,94],"end_point":[874,209],"distance":217.83020910791964}],"complexity_score":0.6591093768329934}
{"id":1777,"query_id":"Q00356","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, uneven terrain while maintaining stable flight. The drone can fly over loose, sandy ground; grassy areas with shrubs; paved surfaces; liquid surfaces; and cultivated fields with crops. However. The drone must avoid areas with dense, tall vegetation that could interfere with sensors and maintain a smooth, vibration-free flight path. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain","task_description":"What is 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":"wallace_8.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":44,"start_point":[485,297],"end_point":[885,935],"distance":753.023240013215},{"start_region_id":108,"end_region_id":4,"start_point":[636,697],"end_point":[428,62],"distance":668.198323853031},{"start_region_id":108,"end_region_id":10,"start_point":[636,697],"end_point":[984,74],"distance":713.6056333858359},{"start_region_id":108,"end_region_id":1,"start_point":[636,697],"end_point":[254,184],"distance":639.6037836035681},{"start_region_id":108,"end_region_id":8,"start_point":[636,697],"end_point":[840,47],"distance":681.2605962478675}],"complexity_score":0.6591436287776427}
{"id":2553,"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_8.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":107,"end_region_id":156,"start_point":[485,297],"end_point":[26,970],"distance":814.6226120112307},{"start_region_id":108,"end_region_id":156,"start_point":[636,697],"end_point":[26,970],"distance":668.3030749592583},{"start_region_id":108,"end_region_id":111,"start_point":[636,697],"end_point":[545,82],"distance":621.6960672225617},{"start_region_id":108,"end_region_id":112,"start_point":[636,697],"end_point":[871,88],"distance":652.7679526447357},{"start_region_id":108,"end_region_id":122,"start_point":[636,697],"end_point":[949,199],"distance":588.1946956578238}],"complexity_score":0.6591436287776427}
{"id":6621,"query_id":"Q01325","question":"An aerial surveillance drone starts from a paved, hard surface and needs to reach a cultivated field with crops. The drone can fly over open sandy or rocky ground, grassy or shrub-covered areas, paved surfaces like parking lots or sidewalks, vehicle lanes, water bodies, and cultivated fields. However, it must avoid flying through dense tree canopies or close to building structures to minimize collision risks. 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":"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","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_43.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":318,"start_point":[828,912],"end_point":[65,79],"distance":1129.6273721896084},{"start_region_id":125,"end_region_id":318,"start_point":[525,950],"end_point":[65,79],"distance":985.0081217939271},{"start_region_id":135,"end_region_id":318,"start_point":[253,991],"end_point":[65,79],"distance":931.1756010549245},{"start_region_id":131,"end_region_id":319,"start_point":[828,912],"end_point":[179,288],"distance":900.320498489288},{"start_region_id":89,"end_region_id":318,"start_point":[640,633],"end_point":[65,79],"distance":798.4616459166965}],"complexity_score":0.6591541815192778}
{"id":11124,"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":"palu_43.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":131,"end_region_id":318,"start_point":[828,912],"end_point":[65,79],"distance":1129.6273721896084},{"start_region_id":125,"end_region_id":318,"start_point":[525,950],"end_point":[65,79],"distance":985.0081217939271},{"start_region_id":135,"end_region_id":318,"start_point":[253,991],"end_point":[65,79],"distance":931.1756010549245},{"start_region_id":131,"end_region_id":319,"start_point":[828,912],"end_point":[179,288],"distance":900.320498489288},{"start_region_id":89,"end_region_id":318,"start_point":[640,633],"end_point":[65,79],"distance":798.4616459166965}],"complexity_score":0.6591541815192778}
{"id":11919,"query_id":"Q02384","question":"A quadcopter drone starts from a paved surface and needs to reach another paved surface. The terrain includes areas of loose, dry soil and rock formations without vegetation, as well as flat, hard surfaces made of concrete or asphalt. The drone can fly over all these surfaces, but must avoid any tall vegetation or 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":"paved surface","task_description":"What is the shortest path to the destination?","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":"palu_43.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":159,"end_region_id":150,"start_point":[926,899],"end_point":[946,340],"distance":559.3576673292322},{"start_region_id":150,"end_region_id":159,"start_point":[946,340],"end_point":[926,899],"distance":559.3576673292322},{"start_region_id":147,"end_region_id":150,"start_point":[630,630],"end_point":[946,340],"distance":428.90092095960813},{"start_region_id":150,"end_region_id":147,"start_point":[946,340],"end_point":[630,630],"distance":428.90092095960813},{"start_region_id":147,"end_region_id":159,"start_point":[630,630],"end_point":[926,899],"distance":399.9712489667226}],"complexity_score":0.6591541815192778}
{"id":16436,"query_id":"Q03288","question":"A quadcopter drone starts from a cultivated field with rows of crops and needs to reach an open grassy area with scattered shrubs. The drone can fly over any solid or liquid surface, including paved lanes, water bodies, and vegetated areas, but must avoid dense tree canopies and vertical 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":"an open grassy area with scattered shrubs","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":"palu_43.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":318,"end_region_id":42,"start_point":[65,79],"end_point":[647,872],"distance":983.6528859308044},{"start_region_id":318,"end_region_id":33,"start_point":[65,79],"end_point":[853,615],"distance":953.0162642893353},{"start_region_id":318,"end_region_id":2,"start_point":[65,79],"end_point":[948,85],"distance":883.0203848156622},{"start_region_id":320,"end_region_id":2,"start_point":[244,561],"end_point":[948,85],"distance":849.8188042165224},{"start_region_id":319,"end_region_id":2,"start_point":[179,288],"end_point":[948,85],"distance":795.3426934347232}],"complexity_score":0.6591541815192778}
{"id":11636,"query_id":"Q02328","question":"A delivery drone is hovering above a cultivated field with loose soil and crop rows. It needs to fly to a paved parking lot with a smooth, hard surface while maximizing flight comfort. The drone can fly over most surfaces, including loose soil, grassy areas, paved areas, lanes, and crop fields, but it must avoid flying through dense tree canopies or close to solid structures like buildings, and flying over water bodies is less comfortable due to turbulence. What is the most comfortable path?","agent_category":"Drone","specific_agent":"a delivery drone","start_land_type":"a cultivated field with loose soil and crop rows","end_land_type":"a paved parking lot with a smooth, hard surface","task_description":"What is the most comfortable path from the cultivated field to the paved parking lot?","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_28.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":263,"end_region_id":130,"start_point":[168,309],"end_point":[684,790],"distance":705.4197332085345},{"start_region_id":263,"end_region_id":148,"start_point":[168,309],"end_point":[349,977],"distance":692.0874222235223},{"start_region_id":263,"end_region_id":143,"start_point":[168,309],"end_point":[185,921],"distance":612.2360655825496},{"start_region_id":265,"end_region_id":130,"start_point":[124,794],"end_point":[684,790],"distance":560.0142855320746},{"start_region_id":265,"end_region_id":92,"start_point":[124,794],"end_point":[402,347],"distance":526.396238588385}],"complexity_score":0.659287003546396}
{"id":1862,"query_id":"Q00373","question":"A hiker starts from a paved, hard surface area and needs to reach a cluster of tall, leafy vegetation. The hiker can traverse paved surfaces, vehicle lanes, cultivated fields with crops, and areas with dense trees, but must avoid liquid bodies and vertical structures. The cultivated fields are accessible because the crops are low and the ground is firm, and the tree areas are passable as the vegetation is sparse enough to walk through. What is the shortest path?","agent_category":"Pedestrian","specific_agent":"a hiker","start_land_type":"a paved, hard surface area","end_land_type":"a cluster of tall, leafy vegetation","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":"panama_city_45.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":167,"start_point":[201,969],"end_point":[919,100],"distance":1127.2466455927026},{"start_region_id":127,"end_region_id":167,"start_point":[54,784],"end_point":[919,100],"distance":1102.7606267907827},{"start_region_id":120,"end_region_id":167,"start_point":[112,803],"end_point":[919,100],"distance":1070.2607159005697},{"start_region_id":138,"end_region_id":163,"start_point":[201,969],"end_point":[635,44],"distance":1021.7538842598055},{"start_region_id":137,"end_region_id":167,"start_point":[386,948],"end_point":[919,100],"distance":1001.5952276244132}],"complexity_score":0.6592898269540397}
{"id":2511,"query_id":"Q00503","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, stable surfaces like asphalt or concrete, and it is also allowed to cross cultivated fields if necessary, but loose, sandy areas are strictly prohibited due to the risk of getting stuck. What is the fastest path?","agent_category":"Car","specific_agent":"a delivery van","start_land_type":"paved parking lot","end_land_type":"paved parking lot","task_description":"What is the fastest path for the delivery van to reach the destination?","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":"panama_city_45.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":81,"start_point":[201,969],"end_point":[882,32],"distance":1158.3306954406414},{"start_region_id":81,"end_region_id":138,"start_point":[882,32],"end_point":[201,969],"distance":1158.3306954406414},{"start_region_id":127,"end_region_id":81,"start_point":[54,784],"end_point":[882,32],"distance":1118.5204513105696},{"start_region_id":81,"end_region_id":127,"start_point":[882,32],"end_point":[54,784],"distance":1118.5204513105696},{"start_region_id":120,"end_region_id":81,"start_point":[112,803],"end_point":[882,32],"distance":1089.651779239588}],"complexity_score":0.6592898269540397}
{"id":5926,"query_id":"Q01186","question":"A passenger vehicle 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 driving, 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":"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 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":[0,0,1,2,0,0,0,0],"image_name":"panama_city_45.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":138,"end_region_id":81,"start_point":[201,969],"end_point":[882,32],"distance":1158.3306954406414},{"start_region_id":81,"end_region_id":138,"start_point":[882,32],"end_point":[201,969],"distance":1158.3306954406414},{"start_region_id":127,"end_region_id":81,"start_point":[54,784],"end_point":[882,32],"distance":1118.5204513105696},{"start_region_id":81,"end_region_id":127,"start_point":[882,32],"end_point":[54,784],"distance":1118.5204513105696},{"start_region_id":120,"end_region_id":81,"start_point":[112,803],"end_point":[882,32],"distance":1089.651779239588}],"complexity_score":0.6592898269540397}
{"id":12163,"query_id":"Q02433","question":"An aerial survey drone starts from a paved lane and needs to reach a grassy field as quickly as possible. The drone can fly over open grassy areas, paved surfaces, and water bodies, but must avoid tall vegetation and structures. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved lane","end_land_type":"grassy field","task_description":"What is the fastest path for the aerial survey drone to reach the grassy field from the paved lane?","task_type":"Fastest","input_classes":["Rangeland","Developed space","Road","Water"],"traverse_vector":[0,1,1,1,0,1,0,0],"cost_vector":[0,1,1,1,0,1,0,0],"image_name":"panama_city_45.tif","subfolder":"panama_city","coordinate_format":"xy","start_end_pairs":[{"start_region_id":150,"end_region_id":41,"start_point":[62,788],"end_point":[998,423],"distance":1004.6496901905659},{"start_region_id":150,"end_region_id":13,"start_point":[62,788],"end_point":[853,172],"distance":1002.5652098492147},{"start_region_id":150,"end_region_id":77,"start_point":[62,788],"end_point":[988,988],"distance":947.3520992746045},{"start_region_id":150,"end_region_id":7,"start_point":[62,788],"end_point":[669,116],"distance":905.5567348322246},{"start_region_id":150,"end_region_id":38,"start_point":[62,788],"end_point":[752,353],"distance":815.6745674593514}],"complexity_score":0.6592898269540397}
{"id":12073,"query_id":"Q02415","question":"A surveillance drone is deployed from a grassy, open field and must return to a different grassy, open field after completing its mission. The drone can fly over hard, flat surfaces like paved areas and vehicle lanes, as well as liquid surfaces, but must avoid areas with tall, dense vegetation or vertical structures due to collision risks. What is the safest path for the 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 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":"tonga_47.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":69,"start_point":[991,220],"end_point":[126,924],"distance":1115.2761989749445},{"start_region_id":69,"end_region_id":5,"start_point":[126,924],"end_point":[991,220],"distance":1115.2761989749445},{"start_region_id":1,"end_region_id":73,"start_point":[123,155],"end_point":[829,990],"distance":1093.4628480199956},{"start_region_id":73,"end_region_id":1,"start_point":[829,990],"end_point":[123,155],"distance":1093.4628480199956},{"start_region_id":16,"end_region_id":73,"start_point":[16,393],"end_point":[829,990],"distance":1008.6515751239374}],"complexity_score":0.6593711948637465}
{"id":16174,"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_47.tif","subfolder":"tonga","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":176,"start_point":[991,220],"end_point":[487,555],"distance":605.1784860683664},{"start_region_id":73,"end_region_id":176,"start_point":[829,990],"end_point":[487,555],"distance":553.3434738026644},{"start_region_id":1,"end_region_id":176,"start_point":[123,155],"end_point":[487,555],"distance":540.8289933056474},{"start_region_id":69,"end_region_id":176,"start_point":[126,924],"end_point":[487,555],"distance":516.2189457972266},{"start_region_id":16,"end_region_id":176,"start_point":[16,393],"end_point":[487,555],"distance":498.0813186619229}],"complexity_score":0.6593711948637465}
{"id":1434,"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_9.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":236,"start_point":[317,58],"end_point":[557,950],"distance":923.7229021735901},{"start_region_id":236,"end_region_id":224,"start_point":[557,950],"end_point":[317,58],"distance":923.7229021735901},{"start_region_id":225,"end_region_id":224,"start_point":[676,454],"end_point":[317,58],"distance":534.506314275145},{"start_region_id":224,"end_region_id":225,"start_point":[317,58],"end_point":[676,454],"distance":534.506314275145},{"start_region_id":225,"end_region_id":236,"start_point":[676,454],"end_point":[557,950],"distance":510.0754846098761}],"complexity_score":0.6594951878757008}
{"id":7755,"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":"koeln_9.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":236,"end_region_id":238,"start_point":[557,950],"end_point":[15,60],"distance":1042.0479835401054},{"start_region_id":236,"end_region_id":240,"start_point":[557,950],"end_point":[133,15],"distance":1026.6455084399872},{"start_region_id":236,"end_region_id":248,"start_point":[557,950],"end_point":[128,89],"distance":961.9573795132505},{"start_region_id":224,"end_region_id":330,"start_point":[317,58],"end_point":[952,689],"distance":895.2016532603143},{"start_region_id":236,"end_region_id":245,"start_point":[557,950],"end_point":[712,74],"distance":889.6072166973468}],"complexity_score":0.6594951878757008}
{"id":10439,"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":"koeln_9.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":236,"start_point":[317,58],"end_point":[557,950],"distance":923.7229021735901},{"start_region_id":236,"end_region_id":224,"start_point":[557,950],"end_point":[317,58],"distance":923.7229021735901},{"start_region_id":225,"end_region_id":224,"start_point":[676,454],"end_point":[317,58],"distance":534.506314275145},{"start_region_id":224,"end_region_id":225,"start_point":[317,58],"end_point":[676,454],"distance":534.506314275145},{"start_region_id":225,"end_region_id":236,"start_point":[676,454],"end_point":[557,950],"distance":510.0754846098761}],"complexity_score":0.6594951878757008}
{"id":15254,"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":"koeln_9.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":224,"end_region_id":236,"start_point":[317,58],"end_point":[557,950],"distance":923.7229021735901},{"start_region_id":236,"end_region_id":224,"start_point":[557,950],"end_point":[317,58],"distance":923.7229021735901},{"start_region_id":225,"end_region_id":224,"start_point":[676,454],"end_point":[317,58],"distance":534.506314275145},{"start_region_id":224,"end_region_id":225,"start_point":[317,58],"end_point":[676,454],"distance":534.506314275145},{"start_region_id":225,"end_region_id":236,"start_point":[676,454],"end_point":[557,950],"distance":510.0754846098761}],"complexity_score":0.6594951878757008}
{"id":1088,"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_49.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":5,"end_region_id":208,"start_point":[994,36],"end_point":[95,961],"distance":1289.8937940776364},{"start_region_id":5,"end_region_id":139,"start_point":[994,36],"end_point":[409,909],"distance":1050.8824862942574},{"start_region_id":5,"end_region_id":131,"start_point":[994,36],"end_point":[123,598],"distance":1036.5736828609918},{"start_region_id":3,"end_region_id":208,"start_point":[594,54],"end_point":[95,961],"distance":1035.2052936495254},{"start_region_id":13,"end_region_id":130,"start_point":[33,243],"end_point":[962,620],"distance":1002.5816674964689}],"complexity_score":0.659511511220763}
{"id":3793,"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_49.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":13,"end_region_id":5,"start_point":[33,243],"end_point":[994,36],"distance":983.0411995435389},{"start_region_id":5,"end_region_id":13,"start_point":[994,36],"end_point":[33,243],"distance":983.0411995435389},{"start_region_id":13,"end_region_id":32,"start_point":[33,243],"end_point":[914,670],"distance":979.025025216414},{"start_region_id":32,"end_region_id":13,"start_point":[914,670],"end_point":[33,243],"distance":979.025025216414},{"start_region_id":9,"end_region_id":13,"start_point":[727,224],"end_point":[33,243],"distance":694.2600377380222}],"complexity_score":0.659511511220763}
{"id":10096,"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_49.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":338,"end_region_id":13,"start_point":[922,940],"end_point":[33,243],"distance":1129.6592406562254},{"start_region_id":301,"end_region_id":5,"start_point":[101,520],"end_point":[994,36],"distance":1015.7288023877239},{"start_region_id":312,"end_region_id":5,"start_point":[205,663],"end_point":[994,36],"distance":1007.7946219344495},{"start_region_id":292,"end_region_id":5,"start_point":[92,374],"end_point":[994,36],"distance":963.2486698667173},{"start_region_id":283,"end_region_id":5,"start_point":[71,278],"end_point":[994,36],"distance":954.1975686407925}],"complexity_score":0.659511511220763}
{"id":12822,"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_49.tif","subfolder":"melbourne","coordinate_format":"xy","start_end_pairs":[{"start_region_id":216,"end_region_id":130,"start_point":[122,168],"end_point":[962,620],"distance":953.8888824176535},{"start_region_id":216,"end_region_id":182,"start_point":[122,168],"end_point":[698,913],"distance":941.7011203136587},{"start_region_id":216,"end_region_id":165,"start_point":[122,168],"end_point":[793,817],"distance":933.5105784081935},{"start_region_id":220,"end_region_id":208,"start_point":[401,101],"end_point":[95,961],"distance":912.8176159562215},{"start_region_id":216,"end_region_id":167,"start_point":[122,168],"end_point":[694,872],"distance":907.0832376358853}],"complexity_score":0.659511511220763}
{"id":8133,"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":"thousand_oaks_2.tif","subfolder":"thousand_oaks","coordinate_format":"xy","start_end_pairs":[{"start_region_id":375,"end_region_id":188,"start_point":[990,948],"end_point":[595,612],"distance":518.5759346518116},{"start_region_id":377,"end_region_id":188,"start_point":[749,926],"end_point":[595,612],"distance":349.7313254485506},{"start_region_id":365,"end_region_id":188,"start_point":[602,826],"end_point":[595,612],"distance":214.11445537375565}],"complexity_score":0.6595801565309293}
{"id":684,"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_32.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":292,"end_region_id":206,"start_point":[215,779],"end_point":[999,112],"distance":1029.3420228476052},{"start_region_id":258,"end_region_id":206,"start_point":[52,359],"end_point":[999,112],"distance":978.6817664593532},{"start_region_id":258,"end_region_id":212,"start_point":[52,359],"end_point":[986,585],"distance":960.9536929529955},{"start_region_id":280,"end_region_id":204,"start_point":[884,692],"end_point":[88,161],"distance":956.8578786841858},{"start_region_id":270,"end_region_id":204,"start_point":[959,508],"end_point":[88,161],"distance":937.5766635321082}],"complexity_score":0.6596585481438251}
{"id":4222,"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_32.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":165,"end_region_id":270,"start_point":[49,781],"end_point":[959,508],"distance":950.0678923108601},{"start_region_id":125,"end_region_id":280,"start_point":[124,247],"end_point":[884,692],"distance":880.6957476904269},{"start_region_id":125,"end_region_id":270,"start_point":[124,247],"end_point":[959,508],"distance":874.8405569016562},{"start_region_id":165,"end_region_id":280,"start_point":[49,781],"end_point":[884,692],"distance":839.7297184213502},{"start_region_id":153,"end_region_id":270,"start_point":[163,576],"end_point":[959,508],"distance":798.8992427083656}],"complexity_score":0.6596585481438251}
{"id":8794,"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":"buenos_aires_32.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":87,"end_region_id":206,"start_point":[294,995],"end_point":[999,112],"distance":1129.9176961177304},{"start_region_id":82,"end_region_id":206,"start_point":[719,976],"end_point":[999,112],"distance":908.2378543091012},{"start_region_id":82,"end_region_id":208,"start_point":[719,976],"end_point":[383,318],"distance":738.8233889096906},{"start_region_id":87,"end_region_id":208,"start_point":[294,995],"end_point":[383,318],"distance":682.8250141873832},{"start_region_id":16,"end_region_id":206,"start_point":[597,558],"end_point":[999,112],"distance":600.4331769647644}],"complexity_score":0.6596585481438251}
{"id":13256,"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":"buenos_aires_32.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":99,"end_region_id":87,"start_point":[809,148],"end_point":[294,995],"distance":991.2789718338627},{"start_region_id":97,"end_region_id":87,"start_point":[563,79],"end_point":[294,995],"distance":954.6816223223321},{"start_region_id":125,"end_region_id":82,"start_point":[124,247],"end_point":[719,976],"distance":940.992029721825},{"start_region_id":97,"end_region_id":82,"start_point":[563,79],"end_point":[719,976],"distance":910.4641673344427},{"start_region_id":99,"end_region_id":40,"start_point":[809,148],"end_point":[107,690],"distance":886.8866894930828}],"complexity_score":0.6596585481438251}
{"id":1247,"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_26.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":225,"end_region_id":392,"start_point":[652,167],"end_point":[479,876],"distance":729.8013428324176},{"start_region_id":229,"end_region_id":388,"start_point":[842,724],"end_point":[990,216],"distance":529.1200241911092},{"start_region_id":225,"end_region_id":390,"start_point":[652,167],"end_point":[423,619],"distance":506.7001085454788},{"start_region_id":229,"end_region_id":390,"start_point":[842,724],"end_point":[423,619],"distance":431.9560162794356},{"start_region_id":225,"end_region_id":391,"start_point":[652,167],"end_point":[626,590],"distance":423.79830108201236}],"complexity_score":0.6597764990894799}
{"id":5787,"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_26.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":108,"end_region_id":388,"start_point":[231,852],"end_point":[990,216],"distance":990.2408797863276},{"start_region_id":91,"end_region_id":388,"start_point":[153,713],"end_point":[990,216],"distance":973.4361817808089},{"start_region_id":6,"end_region_id":392,"start_point":[978,83],"end_point":[479,876],"distance":936.9364973145192},{"start_region_id":92,"end_region_id":388,"start_point":[338,860],"end_point":[990,216],"distance":916.4278476781465},{"start_region_id":33,"end_region_id":388,"start_point":[78,235],"end_point":[990,216],"distance":912.197895195993}],"complexity_score":0.6597764990894799}
{"id":6737,"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_26.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":141,"end_region_id":390,"start_point":[489,269],"end_point":[423,619],"distance":356.16849944934773},{"start_region_id":143,"end_region_id":388,"start_point":[751,99],"end_point":[990,216],"distance":266.101484400219}],"complexity_score":0.6597764990894799}
{"id":15248,"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_26.tif","subfolder":"monrovia","coordinate_format":"xy","start_end_pairs":[{"start_region_id":388,"end_region_id":188,"start_point":[990,216],"end_point":[136,734],"distance":998.8193029772702},{"start_region_id":388,"end_region_id":151,"start_point":[990,216],"end_point":[81,253],"distance":909.752713653551},{"start_region_id":392,"end_region_id":143,"start_point":[479,876],"end_point":[751,99],"distance":823.2332597751381},{"start_region_id":388,"end_region_id":167,"start_point":[990,216],"end_point":[248,456],"distance":779.848703275193},{"start_region_id":392,"end_region_id":151,"start_point":[479,876],"end_point":[81,253],"distance":739.2787025202335}],"complexity_score":0.6597764990894799}
{"id":1515,"query_id":"Q00303","question":"A hiker starts from a grassy, open field and needs to reach another grassy, open field as quickly as possible. You can traverse grassy areas, paved lanes used by vehicles, and cultivated crop fields. The grassy areas are dry and firm, allowing stable footing. The paved lanes are smooth and hard, ideal for rapid movement. The crop fields are recently harvested, leaving the soil compact and flat, permitting efficient travel. Avoid all other terrain types, such as loose sandy or rocky ground, dense wooded areas, water bodies, and structures, as they are either impassable or would slow you down significantly. What is the fastest 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 fastest path from the starting grassy, open field to the destination grassy, open field?","task_type":"Fastest","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"kagera_69.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":68,"end_region_id":5,"start_point":[961,690],"end_point":[143,40],"distance":1044.808116354386},{"start_region_id":5,"end_region_id":68,"start_point":[143,40],"end_point":[961,690],"distance":1044.808116354386},{"start_region_id":5,"end_region_id":66,"start_point":[143,40],"end_point":[980,632],"distance":1025.1990050716984},{"start_region_id":66,"end_region_id":5,"start_point":[980,632],"end_point":[143,40],"distance":1025.1990050716984},{"start_region_id":76,"end_region_id":5,"start_point":[862,741],"end_point":[143,40],"distance":1004.1722959731562}],"complexity_score":0.6597902009064276}
{"id":5669,"query_id":"Q01134","question":"A family sedan starts from a paved lane and needs to reach another paved lane while ensuring a smooth and comfortable ride. The vehicle requires surfaces that are firm, level, and free of loose material to minimize vibrations and provide stable handling. Avoid any terrain that is unpaved, uneven, or covered with vegetation.","agent_category":"Car","specific_agent":"A family sedan","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":[0,0,1,2,0,0,0,0],"image_name":"kagera_69.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":210,"start_point":[27,483],"end_point":[885,931],"distance":967.9194181335552}],"complexity_score":0.6597902009064276}
{"id":7510,"query_id":"Q01502","question":"An aerial surveillance drone starts from a paved, hard-surfaced lane and needs to reach a flat, artificial surface such as a parking lot or sidewalk. The drone can fly over loose, sandy or rocky ground without vegetation, liquid bodies, and cultivated fields with crops, but must avoid vertical structures like trees and buildings. What is the fastest path?","agent_category":"Drone","specific_agent":"Aerial surveillance drone","start_land_type":"A paved, hard-surfaced lane","end_land_type":"A flat, artificial surface such as a parking lot or sidewalk","task_description":"What is the fastest path for the drone to reach the destination?","task_type":"Fastest","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":"kagera_69.tif","subfolder":"kagera","coordinate_format":"xy","start_end_pairs":[{"start_region_id":210,"end_region_id":182,"start_point":[495,510],"end_point":[969,889],"distance":606.8912587935338},{"start_region_id":210,"end_region_id":175,"start_point":[495,510],"end_point":[62,914],"distance":592.2035123165009},{"start_region_id":210,"end_region_id":176,"start_point":[495,510],"end_point":[862,920],"distance":550.262664552121},{"start_region_id":210,"end_region_id":105,"start_point":[495,510],"end_point":[246,161],"distance":428.7213547282197},{"start_region_id":210,"end_region_id":194,"start_point":[495,510],"end_point":[227,987],"distance":547.1316112234789}],"complexity_score":0.6597902009064276}
{"id":3299,"query_id":"Q00660","question":"An aerial survey drone begins its mission perched on a dense cluster of tall, leafy vegetation and needs to reach a wide, open expanse of loose, sandy soil. The drone's flight path must prioritize smooth, stable travel to protect its sensitive imaging equipment from vibrations and jolts. The only surfaces available for traversal are areas covered by loose, sandy soil and tall, leafy vegetation, but the vegetation is considered passable only because the drone can fly above it at a safe altitude to avoid collisions. 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, leafy vegetation","end_land_type":"a wide, open expanse of loose, sandy soil","task_description":"What is the most comfortable path for the drone to take?","task_type":"Comfort","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":"palu_3.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":289,"end_region_id":2,"start_point":[452,556],"end_point":[387,119],"distance":441.80765045435777}],"complexity_score":0.6598156878792791}
{"id":14264,"query_id":"Q02853","question":"An aerial drone starts from a patch of loose, dry soil and scattered rocks and needs to reach another patch of loose, dry soil and scattered rocks. The drone can fly over any terrain except dense tree canopies and building interiors. For the fastest possible route, which path should the drone take?","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 provides the fastest route for the aerial drone?","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":"palu_3.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[214,61],"end_point":[808,512],"distance":745.8129792380929},{"start_region_id":3,"end_region_id":1,"start_point":[808,512],"end_point":[214,61],"distance":745.8129792380929},{"start_region_id":3,"end_region_id":2,"start_point":[808,512],"end_point":[387,119],"distance":575.9253423838892},{"start_region_id":2,"end_region_id":3,"start_point":[387,119],"end_point":[808,512],"distance":575.9253423838892}],"complexity_score":0.6598156878792791}
{"id":14479,"query_id":"Q02896","question":"A delivery drone begins on an uneven, rocky surface and must return to a similar uneven, rocky surface after completing its route. The drone can fly over hard paved surfaces and cultivated areas, but cannot pass through dense vegetation or man-made structures. To ensure stable flight and protect its payload, the drone should avoid areas that cause turbulence or sudden altitude changes.","agent_category":"Drone","specific_agent":"delivery drone","start_land_type":"uneven, rocky surface","end_land_type":"uneven, rocky surface","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":"palu_3.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[214,61],"end_point":[808,512],"distance":745.8129792380929},{"start_region_id":3,"end_region_id":1,"start_point":[808,512],"end_point":[214,61],"distance":745.8129792380929},{"start_region_id":3,"end_region_id":2,"start_point":[808,512],"end_point":[387,119],"distance":575.9253423838892},{"start_region_id":2,"end_region_id":3,"start_point":[387,119],"end_point":[808,512],"distance":575.9253423838892}],"complexity_score":0.6598156878792791}
{"id":5771,"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":"palu_27.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":34,"end_region_id":232,"start_point":[219,88],"end_point":[741,752],"distance":844.6182569658318},{"start_region_id":87,"end_region_id":230,"start_point":[798,352],"end_point":[31,559],"distance":794.4419424980028},{"start_region_id":73,"end_region_id":230,"start_point":[762,277],"end_point":[31,559],"distance":783.5081365244397},{"start_region_id":170,"end_region_id":232,"start_point":[27,896],"end_point":[741,752],"distance":728.3762763846719},{"start_region_id":103,"end_region_id":230,"start_point":[706,479],"end_point":[31,559],"distance":679.7242087788252}],"complexity_score":0.6598506228821088}
{"id":10690,"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_27.tif","subfolder":"palu","coordinate_format":"xy","start_end_pairs":[{"start_region_id":232,"end_region_id":34,"start_point":[741,752],"end_point":[219,88],"distance":844.6182569658318},{"start_region_id":230,"end_region_id":87,"start_point":[31,559],"end_point":[798,352],"distance":794.4419424980028},{"start_region_id":230,"end_region_id":73,"start_point":[31,559],"end_point":[762,277],"distance":783.5081365244397},{"start_region_id":232,"end_region_id":170,"start_point":[741,752],"end_point":[27,896],"distance":728.3762763846719},{"start_region_id":230,"end_region_id":103,"start_point":[31,559],"end_point":[706,479],"distance":679.7242087788252}],"complexity_score":0.6598506228821088}
{"id":3757,"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_52.tif","subfolder":"dortmund","coordinate_format":"xy","start_end_pairs":[{"start_region_id":133,"end_region_id":252,"start_point":[451,88],"end_point":[537,862],"distance":778.7631218798178},{"start_region_id":136,"end_region_id":251,"start_point":[799,473],"end_point":[41,485],"distance":758.0949808566206},{"start_region_id":136,"end_region_id":249,"start_point":[799,473],"end_point":[149,95],"distance":751.9202085327937},{"start_region_id":138,"end_region_id":250,"start_point":[442,701],"end_point":[640,47],"distance":683.315446920381},{"start_region_id":138,"end_region_id":249,"start_point":[442,701],"end_point":[149,95],"distance":673.1158889819791}],"complexity_score":0.659919559984778}
{"id":1502,"query_id":"Q00301","question":"A farm truck is parked in a cultivated field with loose, tilled soil. It needs to reach another cultivated field across the area. The truck can travel on the loose soil of the fields, but it can also use the adjacent hard, paved lane designed for vehicles and the adjacent open grassy area with firm, low vegetation. The truck must avoid any areas with tall, dense vegetation that could obstruct its path, any liquid surfaces, and any solid vertical structures. What is the fastest route for the farm truck to take?","agent_category":"Car","specific_agent":"a farm truck","start_land_type":"cultivated field","end_land_type":"cultivated field","task_description":"What is the fastest route for the farm truck to take?","task_type":"Fastest","input_classes":["Rangeland","Road","Agriculture land"],"traverse_vector":[0,1,0,1,0,0,1,0],"cost_vector":[0,1,0,3,0,0,2,0],"image_name":"santa_rosa_1.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":134,"end_region_id":133,"start_point":[662,738],"end_point":[136,363],"distance":645.9883899885508},{"start_region_id":133,"end_region_id":134,"start_point":[136,363],"end_point":[662,738],"distance":645.9883899885508}],"complexity_score":0.6599443448527175}
{"id":6599,"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":"santa_rosa_1.tif","subfolder":"santa_rosa","coordinate_format":"xy","start_end_pairs":[{"start_region_id":55,"end_region_id":133,"start_point":[642,999],"end_point":[136,363],"distance":812.7311978754107},{"start_region_id":47,"end_region_id":133,"start_point":[863,368],"end_point":[136,363],"distance":727.0171937444121},{"start_region_id":56,"end_region_id":133,"start_point":[455,991],"end_point":[136,363],"distance":704.3756100263552},{"start_region_id":45,"end_region_id":133,"start_point":[770,209],"end_point":[136,363],"distance":652.4354374189066},{"start_region_id":42,"end_region_id":133,"start_point":[736,164],"end_point":[136,363],"distance":632.140016135666}],"complexity_score":0.6599443448527175}
{"id":4806,"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_24.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":267,"end_region_id":272,"start_point":[804,995],"end_point":[750,123],"distance":873.6704184073077},{"start_region_id":263,"end_region_id":272,"start_point":[619,920],"end_point":[750,123],"distance":807.6942490819159},{"start_region_id":159,"end_region_id":272,"start_point":[59,93],"end_point":[750,123],"distance":691.6509235156127},{"start_region_id":257,"end_region_id":272,"start_point":[670,801],"end_point":[750,123],"distance":682.7034495298819},{"start_region_id":159,"end_region_id":277,"start_point":[59,93],"end_point":[385,466],"distance":495.3836896790204}],"complexity_score":0.6599810541765992}
{"id":9608,"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":"buenos_aires_24.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":272,"end_region_id":285,"start_point":[750,123],"end_point":[990,988],"distance":897.6775590377649},{"start_region_id":285,"end_region_id":272,"start_point":[990,988],"end_point":[750,123],"distance":897.6775590377649},{"start_region_id":277,"end_region_id":285,"start_point":[385,466],"end_point":[990,988],"distance":799.0675816224808},{"start_region_id":285,"end_region_id":277,"start_point":[990,988],"end_point":[385,466],"distance":799.0675816224808},{"start_region_id":277,"end_region_id":272,"start_point":[385,466],"end_point":[750,123],"distance":500.87323745634484}],"complexity_score":0.6599810541765992}
{"id":14133,"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":"buenos_aires_24.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":288,"end_region_id":285,"start_point":[204,53],"end_point":[990,988],"distance":1221.48311490581},{"start_region_id":308,"end_region_id":285,"start_point":[152,137],"end_point":[990,988],"distance":1194.3387291719214},{"start_region_id":305,"end_region_id":285,"start_point":[303,127],"end_point":[990,988],"distance":1101.4944393867816},{"start_region_id":339,"end_region_id":285,"start_point":[334,305],"end_point":[990,988],"distance":947.008447691994},{"start_region_id":294,"end_region_id":285,"start_point":[889,58],"end_point":[990,988],"distance":935.4683319065376}],"complexity_score":0.6599810541765992}
{"id":17492,"query_id":"Q03499","question":"A hiker starts from a patch of ground shaded by tall vegetation with visible trunks and branches and needs to reach a paved lane used by motor vehicles. The terrain includes areas of soft, grassy ground and cultivated fields with planted crops. The tall vegetation areas are passable as there are clear gaps between the trunks. You must avoid any built structures and any liquid surfaces. 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 branches","end_land_type":"a paved lane used by motor vehicles","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":"buenos_aires_24.tif","subfolder":"buenos_aires","coordinate_format":"xy","start_end_pairs":[{"start_region_id":288,"end_region_id":285,"start_point":[204,53],"end_point":[990,988],"distance":1221.48311490581},{"start_region_id":308,"end_region_id":285,"start_point":[152,137],"end_point":[990,988],"distance":1194.3387291719214},{"start_region_id":305,"end_region_id":285,"start_point":[303,127],"end_point":[990,988],"distance":1101.4944393867816},{"start_region_id":339,"end_region_id":285,"start_point":[334,305],"end_point":[990,988],"distance":947.008447691994},{"start_region_id":294,"end_region_id":285,"start_point":[889,58],"end_point":[990,988],"distance":935.4683319065376}],"complexity_score":0.6599810541765992}
{"id":3357,"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_64.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":238,"end_region_id":210,"start_point":[515,30],"end_point":[589,936],"distance":909.0170515452392},{"start_region_id":238,"end_region_id":209,"start_point":[515,30],"end_point":[653,897],"distance":877.9140049002522},{"start_region_id":239,"end_region_id":119,"start_point":[853,191],"end_point":[53,264],"distance":803.3237205510616},{"start_region_id":239,"end_region_id":210,"start_point":[853,191],"end_point":[589,936],"distance":790.3929402518725},{"start_region_id":238,"end_region_id":178,"start_point":[515,30],"end_point":[761,791],"distance":799.7730928207075}],"complexity_score":0.6599888459429207}
{"id":10404,"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_64.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":237,"end_region_id":239,"start_point":[468,533],"end_point":[853,191],"distance":514.9650473575853},{"start_region_id":239,"end_region_id":237,"start_point":[853,191],"end_point":[468,533],"distance":514.9650473575853},{"start_region_id":237,"end_region_id":238,"start_point":[468,533],"end_point":[515,30],"distance":505.1910529690723},{"start_region_id":238,"end_region_id":237,"start_point":[515,30],"end_point":[468,533],"distance":505.1910529690723},{"start_region_id":239,"end_region_id":238,"start_point":[853,191],"end_point":[515,30],"distance":374.3861642742691}],"complexity_score":0.6599888459429207}
{"id":16825,"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_64.tif","subfolder":"koeln","coordinate_format":"xy","start_end_pairs":[{"start_region_id":177,"end_region_id":92,"start_point":[955,633],"end_point":[83,103],"distance":1020.4332413244877},{"start_region_id":92,"end_region_id":177,"start_point":[83,103],"end_point":[955,633],"distance":1020.4332413244877},{"start_region_id":190,"end_region_id":92,"start_point":[913,716],"end_point":[83,103],"distance":1031.8279895408925},{"start_region_id":92,"end_region_id":190,"start_point":[83,103],"end_point":[913,716],"distance":1031.8279895408925},{"start_region_id":177,"end_region_id":119,"start_point":[955,633],"end_point":[53,264],"distance":974.5588745683865}],"complexity_score":0.6599888459429207}
{"id":517,"query_id":"Q00104","question":"A quadcopter drone is positioned on a hard, artificial surface and needs to fly to a dry, open ground of loose soil and rocks. The drone can fly over all types of terrain including hard surfaces, vehicle lanes, open ground, and areas with trees or structures, though flying through areas with dense vertical obstacles like trees is slower. It can also fly over liquid surfaces. What is the fastest flight path?","agent_category":"Drone","specific_agent":"A quadcopter drone","start_land_type":"a hard, artificial surface","end_land_type":"a dry, open ground of loose soil and rocks","task_description":"What is the fastest flight 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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":32,"end_region_id":3,"start_point":[888,133],"end_point":[110,779],"distance":1011.2368664165681},{"start_region_id":32,"end_region_id":2,"start_point":[888,133],"end_point":[294,782],"distance":879.7937258244117},{"start_region_id":39,"end_region_id":1,"start_point":[33,229],"end_point":[669,758],"distance":827.2466379502548},{"start_region_id":34,"end_region_id":3,"start_point":[448,50],"end_point":[110,779],"distance":803.5452694154823},{"start_region_id":40,"end_region_id":3,"start_point":[760,312],"end_point":[110,779],"distance":800.3680403414419}],"complexity_score":0.6600938935862822}
{"id":7313,"query_id":"Q01463","question":"An aerial survey drone starts from a patch of loose, sandy soil with scattered rocks and needs to complete a mapping mission and return to a similar area of dry, granular earth. The drone can fly over flat, open expanses of loose earth, hard paved surfaces like parking lots and tennis courts, calm liquid surfaces such as ponds or reservoirs, and cultivated fields with low, uniform vegetation. However, it must avoid areas with tall, dense vegetation or vertical structures that could interfere with flight stability. The drone's operator prioritizes a smooth, vibration-free flight path to ensure clear imagery and stable sensor readings.","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"Starting from a patch of loose, sandy soil with scattered rocks","end_land_type":"needing to return to a similar area of dry, granular earth","task_description":"What is the most comfortable route 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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[669,758],"end_point":[110,779],"distance":559.3943153089778},{"start_region_id":3,"end_region_id":1,"start_point":[110,779],"end_point":[669,758],"distance":559.3943153089778},{"start_region_id":1,"end_region_id":2,"start_point":[669,758],"end_point":[294,782],"distance":375.76721517450136},{"start_region_id":2,"end_region_id":1,"start_point":[294,782],"end_point":[669,758],"distance":375.76721517450136}],"complexity_score":0.6600938935862822}
{"id":8304,"query_id":"Q01661","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a tall, leafy canopy with dense branches. The drone can fly over open, dry terrain covered with loose soil and rocks, as well as over areas with low, natural grass and shrubs. However. The drone must avoid any liquid surfaces and man-made structures. The drone is permitted to fly through areas with tall, dense vegetation only if it maintains a safe altitude to avoid collisions with branches. The primary objective is to minimize the risk of damage or loss of control during the flight.","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 tall, leafy canopy with dense branches.","task_description":"What is the safest path for the drone to take?","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":63,"start_point":[669,758],"end_point":[335,867],"distance":351.3360214950924},{"start_region_id":3,"end_region_id":63,"start_point":[110,779],"end_point":[335,867],"distance":241.5967715016076}],"complexity_score":0.6600938935862822}
{"id":8319,"query_id":"Q01664","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to reach a tall, leafy canopy with dense branches. The drone can fly over open, dry terrain covered with sparse vegetation and low bushes, but must avoid any built structures or liquid surfaces. The tall canopy is accessible because the drone can navigate through gaps in the branches. What is the fastest path to the destination?","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 tall, leafy canopy with dense branches.","task_description":"What is the fastest path to the destination?","task_type":"Fastest","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":63,"start_point":[669,758],"end_point":[335,867],"distance":351.3360214950924},{"start_region_id":3,"end_region_id":63,"start_point":[110,779],"end_point":[335,867],"distance":241.5967715016076}],"complexity_score":0.6600938935862822}
{"id":9323,"query_id":"Q01865","question":"An aerial survey drone starts from a patch of loose, sandy ground with scattered rocks and needs to return to another similar area of exposed earth and gravel. The drone's flight must prioritize smooth, stable movement to protect its sensitive imaging equipment from vibrations. It can fly over liquid surfaces, but these may cause turbulence and should be avoided if possible. It can also traverse cultivated fields with low vegetation, but these may have uneven growth patterns. Hard, paved surfaces are not available for this mission. The drone must not attempt to pass through dense vertical obstacles or enter enclosed structures. What is the most comfortable path?","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 return to another similar area of exposed earth and gravel","task_description":"What is the most comfortable path?","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[669,758],"end_point":[110,779],"distance":559.3943153089778},{"start_region_id":3,"end_region_id":1,"start_point":[110,779],"end_point":[669,758],"distance":559.3943153089778},{"start_region_id":1,"end_region_id":2,"start_point":[669,758],"end_point":[294,782],"distance":375.76721517450136},{"start_region_id":2,"end_region_id":1,"start_point":[294,782],"end_point":[669,758],"distance":375.76721517450136}],"complexity_score":0.6600938935862822}
{"id":9346,"query_id":"Q01870","question":"A quadcopter starts from a sandy, open area and needs to fly to another sandy, open area. The drone can fly over various surfaces including loose soil, grassy patches, paved areas, roads, and farm fields, but must avoid dense tree canopies and building structures. What is the shortest path?","agent_category":"Drone","specific_agent":"quadcopter","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the shortest path for the quadcopter to fly from the starting sandy, open area to the destination sandy, open 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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[669,758],"end_point":[110,779],"distance":559.3943153089778},{"start_region_id":3,"end_region_id":1,"start_point":[110,779],"end_point":[669,758],"distance":559.3943153089778},{"start_region_id":1,"end_region_id":2,"start_point":[669,758],"end_point":[294,782],"distance":375.76721517450136},{"start_region_id":2,"end_region_id":1,"start_point":[294,782],"end_point":[669,758],"distance":375.76721517450136}],"complexity_score":0.6600938935862822}
{"id":10189,"query_id":"Q02038","question":"An aerial survey drone starts from a paved, hard surface and needs to reach an exposed area of loose soil and rocks. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and areas with tall vertical obstacles, but must maintain maximum speed. Which path allows the drone to reach the destination most quickly?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"exposed, loose soil and rock area","task_description":"Which path allows the drone to reach the destination most quickly?","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":46,"end_region_id":3,"start_point":[890,428],"end_point":[110,779],"distance":855.3367757789911},{"start_region_id":44,"end_region_id":3,"start_point":[466,25],"end_point":[110,779],"distance":833.8177258849802},{"start_region_id":46,"end_region_id":2,"start_point":[890,428],"end_point":[294,782],"distance":693.2041546326739},{"start_region_id":44,"end_region_id":2,"start_point":[466,25],"end_point":[294,782],"distance":776.2944029168316},{"start_region_id":44,"end_region_id":1,"start_point":[466,25],"end_point":[669,758],"distance":760.5905600255633}],"complexity_score":0.6600938935862822}
{"id":11659,"query_id":"Q02332","question":"An aerial surveillance drone starts from an area of loose, dry soil and scattered rocks and needs to reach another similar patch of exposed, vegetation-free ground. The drone can fly over flat, hard surfaces like parking lots or sports fields, and it can navigate around tall, vertical obstacles like groups of trees, but it must maintain a safe altitude to avoid collisions. The drone's priority is to complete its surveillance mission as quickly as possible. What is the fastest path for the drone?","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":"needs to reach another similar patch of exposed, vegetation-free ground","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":3,"start_point":[669,758],"end_point":[110,779],"distance":559.3943153089778},{"start_region_id":3,"end_region_id":1,"start_point":[110,779],"end_point":[669,758],"distance":559.3943153089778},{"start_region_id":1,"end_region_id":2,"start_point":[669,758],"end_point":[294,782],"distance":375.76721517450136},{"start_region_id":2,"end_region_id":1,"start_point":[294,782],"end_point":[669,758],"distance":375.76721517450136}],"complexity_score":0.6600938935862822}
{"id":12973,"query_id":"Q02595","question":"An aerial surveillance drone starts from a patch of loose, sandy ground with scattered rocks and no vegetation and needs to reach a cluster of tall, leafy structures with dense foliage and vertical trunks. The drone must avoid any areas with standing or flowing liquid, as moisture could interfere with its electronics. It can fly over flat, hard surfaces like paved areas and vehicle lanes, as well as cultivated fields with low, uniform crops, but it should minimize proximity to tall, rigid obstacles and liquid surfaces to reduce collision and moisture risks. 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 cluster of tall, leafy structures with dense foliage and vertical trunks.","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":"tyrolw_57.tif","subfolder":"tyrolw","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":63,"start_point":[669,758],"end_point":[335,867],"distance":351.3360214950924},{"start_region_id":3,"end_region_id":63,"start_point":[110,779],"end_point":[335,867],"distance":241.5967715016076}],"complexity_score":0.6600938935862822}
{"id":4072,"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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":31,"start_point":[128,144],"end_point":[467,588],"distance":558.6206226053599},{"start_region_id":3,"end_region_id":23,"start_point":[549,551],"end_point":[171,236],"distance":492.04572958211924},{"start_region_id":1,"end_region_id":30,"start_point":[128,144],"end_point":[415,519],"distance":472.2224052287227},{"start_region_id":3,"end_region_id":28,"start_point":[549,551],"end_point":[94,458],"distance":464.4071489544492},{"start_region_id":1,"end_region_id":29,"start_point":[128,144],"end_point":[148,553],"distance":409.4887055829501}],"complexity_score":0.6601977732275396}
{"id":4089,"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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":1,"start_point":[467,588],"end_point":[128,144],"distance":558.6206226053599},{"start_region_id":23,"end_region_id":3,"start_point":[171,236],"end_point":[549,551],"distance":492.04572958211924},{"start_region_id":30,"end_region_id":1,"start_point":[415,519],"end_point":[128,144],"distance":472.2224052287227},{"start_region_id":28,"end_region_id":3,"start_point":[94,458],"end_point":[549,551],"distance":464.4071489544492},{"start_region_id":29,"end_region_id":1,"start_point":[148,553],"end_point":[128,144],"distance":409.4887055829501}],"complexity_score":0.6601977732275396}
{"id":6413,"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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":1,"end_region_id":31,"start_point":[128,144],"end_point":[467,588],"distance":558.6206226053599},{"start_region_id":3,"end_region_id":23,"start_point":[549,551],"end_point":[171,236],"distance":492.04572958211924},{"start_region_id":1,"end_region_id":30,"start_point":[128,144],"end_point":[415,519],"distance":472.2224052287227},{"start_region_id":3,"end_region_id":28,"start_point":[549,551],"end_point":[94,458],"distance":464.4071489544492},{"start_region_id":1,"end_region_id":29,"start_point":[128,144],"end_point":[148,553],"distance":409.4887055829501}],"complexity_score":0.6601977732275396}
{"id":6449,"query_id":"Q01290","question":"An aerial surveillance drone starts from a grassy, open field with low vegetation and needs to reach exposed, dry ground with no plant cover. The drone can fly over hard, paved surfaces, vehicle lanes, cultivated crop areas, and water bodies. However, it must avoid flying through dense tree canopies or near vertical structures. The drone's priority is to minimize risk of collision, signal interference, or unpredictable environmental factors. 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":"exposed, dry ground with no plant cover","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":"khartoum_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":6,"end_region_id":3,"start_point":[589,41],"end_point":[549,551],"distance":511.5662224971465},{"start_region_id":6,"end_region_id":1,"start_point":[589,41],"end_point":[128,144],"distance":472.36638322387}],"complexity_score":0.6601977732275396}
{"id":7723,"query_id":"Q01545","question":"An aerial photography drone starts from a paved lane and needs to reach an exposed earth surface while maintaining stable flight. The drone can fly over liquid surfaces, cultivated fields with low vegetation, and flat artificial surfaces like parking lots and sports fields. However, it must avoid any vertical structures or dense vegetation that could disrupt its flight path. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial photography drone","start_land_type":"paved lane","end_land_type":"exposed earth surface","task_description":"What is the most comfortable route for the aerial photography drone to travel from the paved lane to the exposed earth 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":"khartoum_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":35,"end_region_id":1,"start_point":[366,373],"end_point":[128,144],"distance":330.28018408617856},{"start_region_id":35,"end_region_id":3,"start_point":[366,373],"end_point":[549,551],"distance":255.29003114105336}],"complexity_score":0.6601977732275396}
{"id":7749,"query_id":"Q01550","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, rocky ground. The drone can fly over open liquid surfaces, cultivated fields with low vegetation, and hard, flat paved surfaces including vehicle lanes. However, it must avoid flying through dense vertical obstacles like tall vegetation clusters. What is the shortest possible 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":"and needs to reach another patch of similar loose, rocky ground","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":"khartoum_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":1,"start_point":[549,551],"end_point":[128,144],"distance":585.5681002240474},{"start_region_id":1,"end_region_id":3,"start_point":[128,144],"end_point":[549,551],"distance":585.5681002240474}],"complexity_score":0.6601977732275396}
{"id":10892,"query_id":"Q02179","question":"An aerial drone starts from an exposed, vegetation-free ground of sand or rock and needs to reach a field covered with low vegetation like grass or bushes in the shortest time. The drone can fly over most surfaces but must avoid collisions with tall, solid vertical structures and dense tree canopies. What is the fastest path?","agent_category":"Drone","specific_agent":"An aerial drone","start_land_type":"Starting from an exposed, vegetation-free ground of sand or rock.","end_land_type":"The destination is a field covered with low vegetation like grass or bushes.","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":"khartoum_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":6,"start_point":[549,551],"end_point":[589,41],"distance":511.5662224971465},{"start_region_id":1,"end_region_id":6,"start_point":[128,144],"end_point":[589,41],"distance":472.36638322387}],"complexity_score":0.6601977732275396}
{"id":14005,"query_id":"Q02801","question":"An off-road vehicle starts from a paved, hard surface and needs to reach a patch of loose, sandy ground. The terrain includes cultivated fields with soft, tilled soil that your vehicle can drive over. You cannot travel over trees, water bodies, or buildings. What is the shortest path to your destination?","agent_category":"Car","specific_agent":"an off-road vehicle","start_land_type":"paved, hard surface","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","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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":1,"start_point":[467,588],"end_point":[128,144],"distance":558.6206226053599},{"start_region_id":23,"end_region_id":3,"start_point":[171,236],"end_point":[549,551],"distance":492.04572958211924},{"start_region_id":30,"end_region_id":1,"start_point":[415,519],"end_point":[128,144],"distance":472.2224052287227},{"start_region_id":28,"end_region_id":3,"start_point":[94,458],"end_point":[549,551],"distance":464.4071489544492},{"start_region_id":29,"end_region_id":1,"start_point":[148,553],"end_point":[128,144],"distance":409.4887055829501}],"complexity_score":0.6601977732275396}
{"id":14010,"query_id":"Q02802","question":"A quadcopter drone starts from a paved, hard surface and needs to reach a patch of loose, sandy ground. The terrain includes cultivated fields with soft, tilled soil. You can fly over all surfaces except trees and buildings, which must be avoided due to collision risk. What is the shortest path to your destination?","agent_category":"Drone","specific_agent":"a quadcopter drone","start_land_type":"paved, hard surface","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","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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":31,"end_region_id":1,"start_point":[467,588],"end_point":[128,144],"distance":558.6206226053599},{"start_region_id":23,"end_region_id":3,"start_point":[171,236],"end_point":[549,551],"distance":492.04572958211924},{"start_region_id":30,"end_region_id":1,"start_point":[415,519],"end_point":[128,144],"distance":472.2224052287227},{"start_region_id":28,"end_region_id":3,"start_point":[94,458],"end_point":[549,551],"distance":464.4071489544492},{"start_region_id":29,"end_region_id":1,"start_point":[148,553],"end_point":[128,144],"distance":409.4887055829501}],"complexity_score":0.6601977732275396}
{"id":14888,"query_id":"Q02978","question":"A delivery drone starts from an open area of loose, dusty ground and needs to reach another patch of similar barren terrain. The path must avoid flying over dense tree canopies or near tall structures. You can fly over grassy expanses, paved zones, cultivated fields, and liquid surfaces, but flying close to buildings or through thick foliage is prohibited unless absolutely necessary. What is the safest route?","agent_category":"Drone","specific_agent":"Delivery drone","start_land_type":"Bareland","end_land_type":"Bareland","task_description":"What is the safest route?","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_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":1,"start_point":[549,551],"end_point":[128,144],"distance":585.5681002240474},{"start_region_id":1,"end_region_id":3,"start_point":[128,144],"end_point":[549,551],"distance":585.5681002240474}],"complexity_score":0.6601977732275396}
{"id":16696,"query_id":"Q03340","question":"An off-road SUV starts on a patch of loose, sandy ground and needs to reach another patch of loose, sandy ground. The vehicle can traverse hard, paved surfaces like asphalt or concrete roads, which provide a smooth ride. It can also cross cultivated fields with relatively even soil, grassy or shrub-covered areas that may be bumpy but manageable, and additional patches of loose, sandy ground. However, the vehicle cannot drive through dense vegetation like trees, bodies of water, or man-made structures, as these are permanent obstacles. ","agent_category":"Car","specific_agent":"an off-road SUV","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 SUV 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":[1,2,4,5,0,0,3,0],"image_name":"khartoum_25.tif","subfolder":"khartoum","coordinate_format":"xy","start_end_pairs":[{"start_region_id":3,"end_region_id":1,"start_point":[549,551],"end_point":[128,144],"distance":585.5681002240474},{"start_region_id":1,"end_region_id":3,"start_point":[128,144],"end_point":[549,551],"distance":585.5681002240474}],"complexity_score":0.6601977732275396}
{"id":2788,"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_19.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":78,"start_point":[533,454],"end_point":[91,230],"distance":495.519928963508},{"start_region_id":78,"end_region_id":76,"start_point":[91,230],"end_point":[533,454],"distance":495.519928963508},{"start_region_id":79,"end_region_id":78,"start_point":[460,585],"end_point":[91,230],"distance":512.0410139822786},{"start_region_id":78,"end_region_id":79,"start_point":[91,230],"end_point":[460,585],"distance":512.0410139822786}],"complexity_score":0.6602154926875926}
{"id":5745,"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_19.tif","subfolder":"chicago","coordinate_format":"xy","start_end_pairs":[{"start_region_id":76,"end_region_id":78,"start_point":[533,454],"end_point":[91,230],"distance":495.519928963508},{"start_region_id":78,"end_region_id":76,"start_point":[91,230],"end_point":[533,454],"distance":495.519928963508},{"start_region_id":79,"end_region_id":78,"start_point":[460,585],"end_point":[91,230],"distance":512.0410139822786},{"start_region_id":78,"end_region_id":79,"start_point":[91,230],"end_point":[460,585],"distance":512.0410139822786}],"complexity_score":0.6602154926875926}
{"id":1776,"query_id":"Q00356","question":"An aerial survey drone starts from a paved, hard surface and needs to reach a grassy, uneven terrain while maintaining stable flight. The drone can fly over loose, sandy ground; grassy areas with shrubs; paved surfaces; liquid surfaces; and cultivated fields with crops. However. The drone must avoid areas with dense, tall vegetation that could interfere with sensors and maintain a smooth, vibration-free flight path. What is the most comfortable route?","agent_category":"Drone","specific_agent":"Aerial survey drone","start_land_type":"paved, hard surface","end_land_type":"grassy, uneven terrain","task_description":"What is 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":"wallace_45.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":101,"end_region_id":41,"start_point":[93,138],"end_point":[959,778],"distance":1076.8268198740222},{"start_region_id":101,"end_region_id":50,"start_point":[93,138],"end_point":[740,964],"distance":1049.2306705391336},{"start_region_id":101,"end_region_id":42,"start_point":[93,138],"end_point":[924,663],"distance":982.9476079629067},{"start_region_id":101,"end_region_id":34,"start_point":[93,138],"end_point":[986,557],"distance":986.4126925379661},{"start_region_id":101,"end_region_id":38,"start_point":[93,138],"end_point":[851,592],"distance":883.5609769563163}],"complexity_score":0.660316636991849}
{"id":5919,"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":"wallace_45.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":96,"start_point":[740,356],"end_point":[809,924],"distance":572.1756723245056},{"start_region_id":96,"end_region_id":65,"start_point":[809,924],"end_point":[740,356],"distance":572.1756723245056}],"complexity_score":0.660316636991849}
{"id":7017,"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":"wallace_45.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":96,"start_point":[740,356],"end_point":[809,924],"distance":572.1756723245056},{"start_region_id":96,"end_region_id":65,"start_point":[809,924],"end_point":[740,356],"distance":572.1756723245056}],"complexity_score":0.660316636991849}
{"id":12198,"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":"wallace_45.tif","subfolder":"wallace","coordinate_format":"xy","start_end_pairs":[{"start_region_id":65,"end_region_id":96,"start_point":[740,356],"end_point":[809,924],"distance":572.1756723245056},{"start_region_id":96,"end_region_id":65,"start_point":[809,924],"end_point":[740,356],"distance":572.1756723245056}],"complexity_score":0.660316636991849}
{"id":3703,"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_48.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":81,"start_point":[927,100],"end_point":[126,901],"distance":1132.7850634608492},{"start_region_id":115,"end_region_id":87,"start_point":[927,100],"end_point":[289,943],"distance":1057.2100075197927},{"start_region_id":129,"end_region_id":81,"start_point":[971,437],"end_point":[126,901],"distance":964.0129667177719},{"start_region_id":115,"end_region_id":85,"start_point":[927,100],"end_point":[583,965],"distance":930.8925824175419},{"start_region_id":115,"end_region_id":79,"start_point":[927,100],"end_point":[409,839],"distance":902.4660658440293}],"complexity_score":0.660608688371866}
{"id":15081,"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":"chisinau_48.tif","subfolder":"chisinau","coordinate_format":"xy","start_end_pairs":[{"start_region_id":115,"end_region_id":81,"start_point":[927,100],"end_point":[126,901],"distance":1132.7850634608492},{"start_region_id":115,"end_region_id":87,"start_point":[927,100],"end_point":[289,943],"distance":1057.2100075197927},{"start_region_id":121,"end_region_id":72,"start_point":[25,210],"end_point":[862,807],"distance":1028.0943536465902},{"start_region_id":116,"end_region_id":72,"start_point":[140,135],"end_point":[862,807],"distance":986.3407119246372},{"start_region_id":129,"end_region_id":81,"start_point":[971,437],"end_point":[126,901],"distance":964.0129667177719}],"complexity_score":0.660608688371866}
{"id":1630,"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":"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}