license: mit
pretty_name: MapFly-13K
task_categories:
- robotics
tags:
- uav
- aerial-navigation
- visual-navigation
- benchmark
size_categories:
- 10K<n<100K
MapFly-13K
13,300 validated UAV episodes over 15 Unreal Engine scenes for
MapFly: prior-map-guided aerial visual
navigation. Each episode is a start, a goal, an expert route, first-person RGB,
and north-up OSM maps. Code, evaluation and MapFly-Agent live in the GitHub
repository; Linux UE packages and scene bundles are
EzGuYan/MapFly_DataGen.
Download
Archives are split zip sets under original_data/<scene>.zip plus .z01, .z02, …
The Hugging Face dataset viewer cannot open multi-disk zips; unpack them locally:
# one scene, e.g. smallcity
7z x original_data/smallcity.zip -o data/mapfly13k
# or: zip -s 0 original_data/smallcity.zip --out /tmp/smallcity-joined.zip && unzip /tmp/smallcity-joined.zip -d data/mapfly13k
Point MapFly's configs/local.yaml at that directory (dataset_root).
Layout after unzip
<data/mapfly13k>/
<scene>/
run.json
derived/bev.npz
<scene>_000000/{episode.json, obs/, maps/osm/, maps/osm_start_goal/, ...}
The Train / Test Seen / Test Unseen split is seen12_v1: 12 seen scenes train on
a sorted prefix (9,660 episodes) and hold out the rest (2,140); industrialcity,
laketown and moderncity2 are Test Unseen in full (1,500). The same file is
splits/seen12_v1.json here and configs/splits/seen12_v1.json in the GitHub
repo.
Only OSM maps are in this dataset. Satellite and markers-only maps are rendered
from the scene bundles (MapFly_DataGen, bundles/).
License
MIT for this dataset. The UE scenes used to capture it keep their own Unreal
Engine / Marketplace licenses; the packages on MapFly_DataGen are for research
use with this benchmark.