# U2UData+: A Scalable Swarm UAVs Autonomous Flight Dataset for Embodied Long-horizon Tasks

## TL;DR

U2UData+ is a comprehensive, large-scale dataset and platform for autonomous swarm UAVs tackling long-horizon tasks, enabling better real-world deployment and algorithm verification.

## Contribution

It introduces the first scalable swarm UAV dataset for ELH tasks and a versatile online collection and verification platform.

## Key findings

- The dataset includes 720 trajectories and 4.32 million LiDAR frames.
- It covers diverse environmental conditions with additional sensor data.
- Benchmark results with 9 SOTA models demonstrate the dataset's utility.

## Abstract

Swarm UAV autonomous flight for Embodied Long-Horizon (ELH) tasks is crucial for advancing the low-altitude economy. However, existing methods focus only on specific basic tasks due to dataset limitations, failing in real-world deployment for ELH tasks. ELH tasks are not mere concatenations of basic tasks, requiring handling long-term dependencies, maintaining embodied persistent states, and adapting to dynamic goal shifts. This paper presents U2UData+, the first large-scale swarm UAV autonomous flight dataset for ELH tasks and the first scalable swarm UAV data online collection and algorithm closed-loop verification platform. The dataset is captured by 15 UAVs in autonomous collaborative flights for ELH tasks, comprising 12 scenes, 720 traces, 120 hours, 600 seconds per trajectory, 4.32M LiDAR frames, and 12.96M RGB frames. This dataset also includes brightness, temperature, humidity, smoke, and airflow values covering all flight routes. The platform supports the customization of simulators, UAVs, sensors, flight algorithms, formation modes, and ELH tasks. Through a visual control window, this platform allows users to collect customized datasets through one-click deployment online and to verify algorithms by closed-loop simulation. U2UData+ also introduces an ELH task for wildlife conservation and provides comprehensive benchmarks with 9 SOTA models. U2UData+ can be found at https://fengtt42.github.io/U2UData-2/.