| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - drone |
| - ballistics |
| - ball-drop |
| - simulation |
| - domain-randomization |
| pretty_name: HoverDrop Ballistic Drop Dataset |
| size_categories: |
| - 1K<n<10K |
| --- |
| |
| # HoverDrop Ballistic Drop Dataset |
|
|
| Simulated point-mass ball drops for the **ballistics** half of LeDrone Track B |
| ([hoverdrop](https://github.com/edgarmoreaualix/LeDrone)). Each record is one |
| drop: the conditions a release is solved from, the resulting landing, and a |
| **top-down camera frame** rendered at the release pose. |
|
|
| - **5,000 drops** total — Train: 4,000 |
| (16 shards) · Val: 500 |
| (2) · Test: 500 |
| (2) |
| - Frames: `128x128x3` uint8, one per drop. |
|
|
| ## How it was generated |
|
|
| A point mass with quadratic air drag in wind-relative air is integrated |
| (semi-implicit Euler, 200 Hz) from a release state down to a flat ground plane. |
| Conditions are randomized per drop: altitude AGL `U[5,40] m`; 40% exact hover and |
| the rest moving (`U[0.5,12] m/s` horizontal at a random heading + `U[-2,2] m/s` |
| vertical); wind `U[0,8] m/s` horizontal at a random heading + `U[-0.5,0.5]` |
| vertical. The ball's mass (±10%) and drag coefficient (±20%) are randomized but |
| **not recorded in the model inputs** — this unobserved variation sets the |
| irreducible landing-error floor. The top-down frame is a nadir pinhole render |
| over a procedural `trajplanner` terrain map (seed varies per drop). Sim only; no |
| real flight data. |
|
|
| ## Schema |
|
|
| Compressed `.npz` shards `{split}_{id}.npz`, one row per drop, deterministic |
| 80/10/10 split by shard id: |
|
|
| | array | shape | dtype | meaning | |
| |---------------|----------------|---------|---------| |
| | `inputs` | `(n, 7)` | float32 | `[altitude_agl, vx,vy,vz, wx,wy,wz]` (DropNet inputs) | |
| | `label` | `(n, 3)` | float32 | `[dx, dy, fall_time]` landing offset + fall time | |
| | `traj` | `(n, L, 3)` | float32 | 20 Hz ball trajectory (padded) | |
| | `traj_len` | `(n,)` | int32 | valid trajectory length | |
| | `ball` | `(n, 3)` | float32 | TRUE ball params `[mass, cd, radius]` (unobserved) | |
| | `drone_state` | `(n, 18)` | float32 | release pose the frame is rendered from | |
| | `target_xyz` | `(n, 3)` | float32 | true landing point (drawn disc) | |
| | `map_seed` | `(n,)` | int32 | synthetic terrain seed | |
| | `frames` | `(n, 128, 128, 3)` | uint8 | top-down render at release | |
|
|
| ## Usage |
|
|
| ```bash |
| pip install "hoverdrop[hf] @ git+https://github.com/edgarmoreaualix/LeDrone.git#subdirectory=hoverdrop" |
| python scripts/download_dataset_hf.py --repo-id Ethgar/hoverdrop-drops-5k --out-dir data/drops5k |
| ``` |
|
|
| ```python |
| from hoverdrop.drops import DropDataset |
| ds = DropDataset("data/drops5k", split="train", load_frames=False) # DropNet training |
| x, y = ds[0] # inputs (7,), label (3,) |
| rec = DropDataset("data/drops5k", "test", load_frames=True).record(0) # + frame |
| ``` |
|
|
| ## License |
|
|
| MIT. Independent clean-room simulation; not affiliated with any third party. |
|
|
