---
license: mit
pretty_name: MapFly DataGen
task_categories:
  - robotics
tags:
  - uav
  - unreal-engine
  - airsim
  - maps
---

# MapFly DataGen

Linux Unreal Engine packages and MapGen scene bundles for
**[MapFly](https://github.com/GuYan66/MapFly)**. Episodes are
[`EzGuYan/MapFly`](https://huggingface.co/datasets/EzGuYan/MapFly); MapFly-Agent
weights are [`EzGuYan/MapFly-Agent`](https://huggingface.co/EzGuYan/MapFly-Agent).

## `ue/` — Linux scene packages

One zip per packaged level. Unzip into the MapFly checkout as `assets/ue/`:

```bash
# example: smallcity
unzip ue/smallcity.zip -d assets/ue
# Cosys packages land as assets/ue/smallcity/CitySample.sh
# Official AirSim packages land as assets/ue/<Package>/LinuxNoEditor/<Package>.sh
```

`configs/scenes/<scene>.yaml` in the GitHub repo names the executable of each
scene. Unreal Engine will not run as root.

| Zip | MapFly scene | AirSim |
|---|---|---|
| `smallcity.zip` | smallcity | Cosys |
| `bigcity.zip` | bigcity | Cosys |
| `LakeTown.zip` | laketown | Cosys |
| `ModernCity2.zip` | moderncity2 | Cosys |
| `AbandonedCity.zip` | abandonedcity | official |
| `BattlefieldDesert.zip` | battlefielddesert | official |
| `BrushifyUrban.zip` | brushifyurban | official |
| `CityDowntownPack.zip` | citydowntown | official |
| `IndustrialAreaEnv.zip` | industrialarea | official |
| `IndustrialCity.zip` | industrialcity | official |
| `ModernCityBundle.zip` | moderncity | official |
| `NYC1950.zip` | nyc1950 | official |
| `NordicHarbour.zip` | nordicharbour | official |
| `RealCitySF.zip` | realcitysf | official |
| `UrbanCity.zip` | urbancity | official |

## `bundles/` — MapGen scene bundles

One zip per scene, `bundles/<scene>.zip`. Unzip into `SceneBundles/` at the
MapFly repository root (the path `configs/local.example.yaml` calls
`scene_bundles_root`):

```bash
unzip bundles/smallcity.zip -d SceneBundles
# -> SceneBundles/smallcity/<bundle_id>/{bundle.json, maps/, geometry/, ...}
```

Closed-loop evaluation loads the bundle named by `bundle_id` in
`configs/scenes/<scene>.yaml`. The OSM / satellite mosaics and building geometry
are what MapFly uses to render maps and to plan.

## License

MIT for the MapGen products in `bundles/`. The UE packages in `ue/` are built
from third-party Unreal Engine content that keeps its own license; they are
provided for research use with this benchmark.