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DiTree-RHC: expert dataset
Expert quadrotor trajectories used to train the DiTree-RHC policy: 10,000 episodes in the
9x9x11 voxel maze large_3D_9x9x11_s4_80, flown by an acados NMPC along BFS routes between random
start and goal cells.
Code: https://github.com/YuvalDara/DiTree-RHC
drone_episodes_10000eps_9x9x11_s4_80.pkl is a pickled list of episodes; each is a dict with
observations (T x 12: position, velocity, 6D rotation), actions (T-1 x 4: thrust and body rates),
start and goal cells.
Download into the code repository:
hf download Yuval535/DiTree-RHC --repo-type dataset --include "*.pkl" --local-dir ditree/datasets
Built on DiTree (Hassidof, Jurgenson, Solovey, CoRL 2025).
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