benchflow/crazyflie
Indoor flights for Crazyflie 2 quadrotors, alone and in a swarm.
bench eval run \
-d benchflow/crazyflie@0.1 \
--registry https://robouse.ai/hub/registry.json \
--agent oracleAbout this dataset
- Embodiment
- Bitcraze Crazyflie 2 quadrotor
- Simulator
- MuJoCo Menagerie models
- Requirements
- CPU only ·
bench>=0.7.4,<0.8 - Licence
- Task packages Apache-2.0
@misc{robouse_benchflow_crazyflie_0_1,
title = {Robo Use benchflow/crazyflie 0.1},
author = {{BenchFlow}},
year = {2026},
howpublished = {\url{https://robouse.ai/hub/benchflow/crazyflie/}},
note = {BenchFlow dataset, tag benchflow/crazyflie-v0.1, commit bcd0d002b9df}
}7 tasks
Task type
Size
Step budget
crazyflie-gatesYou fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in…You fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task.
Bitcraze Crazyflie 2 quadrotor1,600 stepsjudged on the final state
crazyflie-shelf-landingYou fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in…You fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task.
Bitcraze Crazyflie 2 quadrotor1,400 stepsjudged on the final state
crazyflie-swarm-formationYou fly three Bitcraze Crazyflie 2 nano-quadrotors (cf0, cf1, cf2) (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena.…You fly three Bitcraze Crazyflie 2 nano-quadrotors (cf0, cf1, cf2) (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task; so does a collision between drones.
Bitcraze Crazyflie 2 quadrotor1,200 stepsjudged on the final state
crazyflie-swarm-swapYou fly three Bitcraze Crazyflie 2 nano-quadrotors (cf0, cf1, cf2) (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena.…You fly three Bitcraze Crazyflie 2 nano-quadrotors (cf0, cf1, cf2) (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task; so does a collision between drones.
Bitcraze Crazyflie 2 quadrotor2,000 stepsjudged on the final state
crazyflie-waypointsYou fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in…You fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task.
Bitcraze Crazyflie 2 quadrotor1,400 stepsjudged on the final state
crazyflie-windowYou fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in…You fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task.
Bitcraze Crazyflie 2 quadrotor1,400 stepsjudged on the final state
crazyflie-window-manualYou fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in…You fly a Bitcraze Crazyflie 2 nano-quadrotor (MuJoCo Menagerie model; 27 g and 9 cm across each) in an indoor flight arena. World frame in metres: +x east, +y north, +z up, floor at z = 0. The arena is 8 m x 6 m (x from -4 to 4, y from -3 to 3) and 3 m high, closed by walls and a ceiling. A full-height partition wall at x = 1.5 separates the west hall from the east room; the only way through it is a 0.36 m x 0.36 m window centred at (1.5, 1.8, 1.0). The west hall has a home pad, a teal pad A, three square racing gates (orange frames, 0.5 m openings) and three swarm pads S0, S1, S2; the east room has a yellow pad B and a 0.9 m high shelf with a white landing platform (0.3 m square) on top. Pads are 0.3 m squares. Every position is listed under arena in robo observe. Touching anything other than the floor, a pad or the platform is a crash and fails the task.
Bitcraze Crazyflie 2 quadrotor1,400 stepsjudged on the final state
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Each task is a package in the task format, pinned to robohub commit bcd0d002b9df. The verifier and the reference solution are not published.