Flightmare Simulator Dataset

Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently from each other. Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment. Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.

Flightmare由两个主要组件构成：基于Unity的可配置渲染引擎和用于动力学模拟的灵活物理引擎。这两个组件完全解耦，可以独立运行。Flightmare具备多项令人向往的特性：(i) 一个包含对场景3D点云进行提取接口的大型多模态传感器套件；(ii) 一套用于强化学习的API，能够并行模拟数百架四旋翼飞行器；(iii) 与虚拟现实头盔的集成，以便与模拟环境进行交互。Flightmare可用于多种应用，包括路径规划、强化学习、视觉惯性里程计、深度学习、人机交互等。