CLARU
astralhf2026cc-by-nc-4.0

Yonder: A 6.1M-Frame Drone Navigation Dataset

The largest publicly available drone-perspective dataset for indoor navigation with 6.1 million frames from 251 3D environments, designed to expose the cross-simulator generalization gap in perception model transfer.

Downloads68
Episodes509,863

Why This Matters for Physical AI

Yonder reveals critical sim-to-sim generalization failures in drone perception models that standard offline metrics miss, making it essential for understanding transfer learning limitations in embodied AI systems.

Technical Profile

Modalities
rgbdepthinfraredlidarsemantic_segmentationimupose
Robot Embodiments
drone
Environment
simulationindoor
Task Types
navigationvision_language_navigationobject_detectiondepth_estimationsemantic_segmentation
Episodes
509,863
Data Format
NPZ
Annotation Types
semantic_segmentationlanguage_instructions
License
cc-by-nc-4.0
Part of the Yonder family

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