Verti-Bench: A general and scalable off-road mobility benchmark for vertically challenging terrain

Verti-Bench, a general and scalable off-road mobility benchmark that focuses on extremely rugged, vertically challenging terrain with a variety of unstructured off-road features. The main goal of Verti-Bench is to directly compare the performances of different off-road mobility systems. Based on a high-fidelity multi-physics dynamics simulator, Chrono, Verti-Bench encapsulates variations in four orthogonal dimensions: elevation, semantics, vehicle scalability and obstacles. This dataset is trajectories by a sinusoidal steering and speed command for each world without obstacles. All we have 100 worlds and each world has 10 tasks.