Environments
There are 65 environments in the dataset, covering a wide range of scenarios, including urban, rural, Domes, infrastructure, Them, and nature. Each environment is designed to provide a unique setting for training and testing autonomous systems. The environments vary in size, complexity, and type of content. Some environments are split into multiple sub-environments to provide more diverse scenarios, such as weather variations or different times of day.
You can find a general overview of the environments in the following table. Each environment is listed with its name, number of trajectories, type (Infra - Infrastructure, Domes - Domestic, Rural, Them - Thematic, Nature, Urban), whether it is indoor or outdoor, size, intersting features, and a preview image.
Environment |
Traj |
Type |
In/Out |
Size |
Feature |
Preview |
|---|---|---|---|---|---|---|
Abandoned
Cable
|
8 |
Infra |
Mix |
Large |
Weather |
|
Abandoned
Factory
|
9 |
Infra |
Outdoor |
Medium |
Dusty |
|
Abandoned
Factory2
|
6 |
Infra |
Indoor |
Small |
|
|
Abandoned
School
|
10 |
Infra |
Mix |
Large |
|
|
American
Diner
|
5 |
Domes |
Indoor |
Medium |
|
|
Amusement
Park
|
8 |
Rural |
Outdoor |
Medium |
|
|
Ancient
Towns
|
7 |
Rural |
Outdoor |
Medium |
|
|
Antiquity3D |
10 |
Them |
Outdoor |
Large |
Day/Night |
|
Apocalyptic |
5 |
Them |
Outdoor |
Medium |
|
|
ArchVizTiny
HouseDay
|
7 |
Domes |
Indoor |
Small |
Day/Night |
|
ArchVizTiny
HouseNight
|
7 |
Domes |
Indoor |
Small |
Day/Night |
|
Brushify
Moon
|
6 |
Nature |
Outdoor |
Large |
|
|
CarWelding |
9 |
Infra |
Indoor |
Medium |
Dynamic |
|
Castle
Fortress
|
12 |
Rural |
Mix |
Large |
|
|
CoalMine |
6 |
Infra |
Indoor |
Medium |
|
|
Construction
Site
|
10 |
Infra |
Outdoor |
Medium |
Lighting |
|
Country
House
|
6 |
Domes |
Indoor |
Small |
|
|
Cyberpunk |
8 |
Them |
Outdoor |
Medium |
|
|
CyberPunk
Downtown
|
7 |
Them |
Indoor |
Medium |
Dynamic |
|
Desert
GasStation
|
5 |
Rural |
Outdoor |
Small |
Lighting |
|
Downtown |
9 |
Urban |
Outdoor |
Medium |
|
|
EndofThe
World
|
6 |
Rural |
Outdoor |
Medium |
Dusty |
|
Factory
Weather
|
14 |
Infra |
Outdoor |
Large |
Weather |
|
Fantasy |
7 |
Rural |
Outdoor |
Medium |
|
|
ForestEnv |
9 |
Nature |
Outdoor |
Large |
|
|
Gascola |
10 |
Nature |
Outdoor |
Medium |
Day/Night |
|
GothicIsland |
11 |
Rural |
Mix |
Large |
|
|
GreatMarsh |
10 |
Rural |
Outdoor |
Medium |
Fog |
|
HongKong |
5 |
Urban |
Outdoor |
Small |
Night |
|
Hospital |
11 |
Infra |
Indoor |
Large |
|
|
House |
8 |
Domes |
Indoor |
Medium |
|
|
HQWestern
Saloon
|
8 |
Rural |
Mix |
Medium |
|
|
Industrial
Hangar
|
7 |
Infra |
Outdoor |
Medium |
|
|
Japanese
Alley
|
7 |
Urban |
Mix |
Small |
Rain
Night
|
|
JapaneseCity |
11 |
Urban |
Mix |
Medium |
|
|
MiddleEast |
12 |
Urban |
Outdoor |
Medium |
Weather |
|
ModernCity
Downtown
|
9 |
Urban |
Mix |
Medium |
|
|
Modular
Neighborhood
|
11 |
Urban |
Outdoor |
Large |
|
|
Modular
Neighborhood
IntExt
|
8 |
Urban |
Mix |
Large |
|
|
ModUrban
City
|
12 |
Urban |
Mix |
Medium |
|
|
Nordic
Harbor
|
8 |
Urban |
Outdoor |
Medium |
|
|
Ocean |
9 |
Nature |
Outdoor |
Medium |
Dynamic |
|
Office |
7 |
Domes |
Indoor |
Medium |
|
|
OldBrick
HouseDay
|
7 |
Domes |
Indoor |
Small |
Day/Night |
|
OldBrick
HouseNight
|
6 |
Domes |
Indoor |
Small |
Day/Night |
|
OldIndustrial
City
|
10 |
Infra |
Outdoor |
Medium |
|
|
Old
Scandinavia
|
8 |
Nature |
Outdoor |
Large |
Day/Night |
|
OldTown
Fall
|
3 |
Urban |
Outdoor |
Medium |
Season |
|
OldTown
Night
|
3 |
Urban |
Outdoor |
Medium |
Season |
|
OldTown
Summer
|
3 |
Urban |
Outdoor |
Medium |
Season |
|
OldTown
Winter
|
3 |
Urban |
Outdoor |
Medium |
Season |
|
PolarSciFi |
9 |
Them |
Mix |
Medium |
Snow |
|
Prison |
12 |
Infra |
Mix |
Large |
|
|
Restaurant |
9 |
Domes |
Indoor |
Medium |
|
|
RetroOffice |
6 |
Domes |
Indoor |
Small |
|
|
Rome |
7 |
Them |
Outdoor |
Medium |
|
|
Ruins |
9 |
Nature |
Outdoor |
Medium |
|
|
SeasideTown |
8 |
Rural |
Outdoor |
Medium |
|
|
Seasonal
Forest
Autumn
|
3 |
Nature |
Outdoor |
Large |
Season |
|
Seasonal
Forest
Spring
|
4 |
Nature |
Outdoor |
Large |
Season |
|
Seasonal
Forest
SummerNight
|
2 |
Nature |
Outdoor |
Large |
Season
Night
|
|
Seasonal
Forest
Winter
|
3 |
Nature |
Outdoor |
Large |
Season |
|
Seasonal
Forest
WinterNight
|
3 |
Nature |
Outdoor |
Large |
Season
Night
|
|
Sewerage |
12 |
Infra |
Indoor |
Large |
|
|
ShoreCaves |
8 |
Nature |
Outdoor |
Small |
|
|
Slaughter |
12 |
Them |
Mix |
Medium |
|
|
SoulCity |
9 |
Rural |
Mix |
Medium |
Dynamic |
|
Supermarket |
8 |
Domes |
Indoor |
Medium |
Rain |
|
Terrain
Blending
|
4 |
Nature |
Outdoor |
Small |
|
|
Urban
Construction
|
5 |
Urban |
Outdoor |
Medium |
|
|
Victorian
Street
|
8 |
Urban |
Outdoor |
Medium |
|
|
WaterMill
Day
|
6 |
Rural |
Outdoor |
Medium |
Day/Night |
|
WaterMill
Night
|
7 |
Rural |
Outdoor |
Medium |
Day/Night |
|
Western
Desert
Town
|
12 |
Rural |
Mix |
Large |
Day/Night |
|