ZichenYan/AION-dataset-files

AION Dataset Files

Scenes, simulation assets, and data accompanying the paper "AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning".

• Paper: AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning
• Code: GitHub Repository

Dataset Usage

According to the official repository, you can download the dataset files using the Hugging Face CLI:

# Download and extract the main dataset files
huggingface-cli download ZichenYan/AION-dataset-files --repo-type dataset --include "data.zip" --local-dir ./
unzip data.zip
rm -f data.zip

# Download IsaacSim assets and scenes for evaluation
huggingface-cli download ZichenYan/AION-dataset-files --repo-type dataset --local-dir ./DroneSim --include "IsaacSimAssets/*" --include "Scenes/*"

Citation

@article{yan2026aion,
  title={AION: Aerial Indoor Object-Goal Navigation Using Dual-Policy Reinforcement Learning},
  author={Yan, Zichen and Hou, Yuchen and Wang, Shenao and Gao, Yichao and Huang, Rui and Zhao, Lin},
  journal={arXiv preprint arXiv:2601.15614},
  year={2026}
}