---
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](https://github.com/GuYan66/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`](https://huggingface.co/datasets/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:

```bash
# 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

```text
<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.