# U2UData: A Large-scale Cooperative Perception Dataset for Swarm UAVs Autonomous Flight

arXiv: https://arxiv.org/abs/2408.00606 · HTML: https://mlsanity.com/paper/2408.00606/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Aug 2024.

## Built on by (most cited first, 15 of 15)

- [Embodied AI: From LLMs to World Models](https://mlsanity.com/paper/2509.20021/) (2025)
- [DepMamba: Progressive Fusion Mamba for Multimodal Depression Detection](https://mlsanity.com/paper/2409.15936/) (2024)
- [AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration](https://mlsanity.com/paper/2506.19283/) (2025)
- [Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition](https://mlsanity.com/paper/2507.21610/) (2025)
- [ESARBench: A Benchmark for Agentic UAV Embodied Search and Rescue](https://mlsanity.com/paper/2605.01371/) (2026)
- [U2UData+: A Scalable Swarm UAVs Autonomous Flight Dataset for Embodied Long-horizon Tasks](https://mlsanity.com/paper/2509.00055/) (2025)
- [TCDformer-based Momentum Transfer Model for Long-term Sports Prediction](https://mlsanity.com/paper/2409.10176/) (2024)
- [Spectral Enhancement and Pseudo-Anchor Guidance for Infrared-Visible Person Re-Identification](https://mlsanity.com/paper/2412.19111/) (2024)
- [Self-evolving Embodied AI](https://mlsanity.com/paper/2602.04411/) (2026)
- [V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception](https://mlsanity.com/paper/2603.25275/) (2026)
- [Salient Object Detection in Complex Weather Conditions via Noise Indicators](https://mlsanity.com/paper/2512.10592/) (2025)
- [Leveraging Large Vision Model for Multi-UAV Co-perception in Low-Altitude Wireless Networks](https://mlsanity.com/paper/2603.16927/) (2026)
- [Edge-Aware Thermal Infrared UAV Swarm Tracking](https://mlsanity.com/paper/2607.12544/) (2026)
- [CERF: Communication-Efficient and Retraining-Free Collaborative Perception](https://mlsanity.com/paper/2609.00951/) (2026)
- [AerialDojo-200K: A Large-Scale Benchmark Suite for Open-World Aerial Object-Goal Search](https://mlsanity.com/paper/2609.36066/) (2026)

## Abstract (arXiv)

Modern perception systems for autonomous flight are sensitive to occlusion and have limited long-range capability, which is a key bottleneck in improving low-altitude economic task performance. Recent research has shown that the UAV-to-UAV (U2U) cooperative perception system has great potential to revolutionize the autonomous flight industry. However, the lack of a large-scale dataset is hindering progress in this area. This paper presents U2UData, the first large-scale cooperative perception dataset for swarm UAVs autonomous flight. The dataset was collected by three UAVs flying autonomously in the U2USim, covering a 9 km2 flight area. It comprises 315K LiDAR frames, 945K RGB and depth frames, and 2.41M annotated 3D bounding boxes for 3 classes. It also includes brightness, temperature, humidity, smoke, and airflow values covering all flight routes. U2USim is the first real-world mapping swarm UAVs simulation environment. It takes Yunnan Province as the prototype and includes 4 terrains, 7 weather conditions, and 8 sensor types. U2UData introduces two perception tasks: cooperative 3D object detection and cooperative 3D object tracking. This paper provides comprehensive benchmarks of recent cooperative perception algorithms on these tasks.