Flightmare Simulator

Flightmare 由两个主要组件组成：基于 Unity 构建的可配置渲染引擎和用于动态模拟的灵活物理引擎。这两个组件完全解耦，可以彼此独立运行。 Flightmare 具有几个理想的功能：（i）大型多模式传感器套件，包括提取场景 3D 点云的界面； (ii) 用于强化学习的 API，可以并行模拟数百个四旋翼； (iii) 与虚拟现实耳机的集成，用于与模拟环境进行交互。 Flightmare 可用于各种应用，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。Flightmare consists of two core components: a configurable rendering engine built on Unity and a flexible physics engine for dynamic simulation. The two components are fully decoupled and can operate independently of each other. Flightmare boasts several desirable features: (i) a large-scale multimodal sensor suite, including interfaces for extracting 3D point clouds of the scene; (ii) an API for reinforcement learning that supports parallel simulation of hundreds of quadrotors; (iii) integration with virtual reality headsets to enable interaction with the simulated environment. Flightmare can be applied in a wide range of scenarios, including path planning, reinforcement learning, visual-inertial odometry, deep learning, human-computer interaction, and more.

搜集汇总

背景与挑战

背景概述

Flightmare Simulator是一个由苏黎世大学发布的四旋翼模拟器，包含基于Unity的渲染引擎和灵活的物理引擎，支持多模式传感器套件和强化学习API。该模拟器适用于路径规划、深度学习等多种应用，发布于2021年，相关论文可在arXiv上获取。