# U2UData+: A Scalable Swarm UAVs Autonomous Flight Dataset for Embodied Long-horizon Tasks

arXiv: https://arxiv.org/abs/2509.00055 · HTML: https://mlsanity.com/paper/2509.00055/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 30 references that are in the map.
- First posted on arXiv 25 Aug 2025.

## Builds on (most cited first, 16 of 16)

- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [When2com: Multi-Agent Perception via Communication Graph Grouping](https://mlsanity.com/paper/2006.00176/) (2020)
- [Collaboration Helps Camera Overtake LiDAR in 3D Detection](https://mlsanity.com/paper/2303.13560/) (2023)
- [M2IV: Towards Efficient and Fine-grained Multimodal In-Context Learning via Representation Engineering](https://mlsanity.com/paper/2504.04633/) (2025)
- [U2UData: A Large-scale Cooperative Perception Dataset for Swarm UAVs Autonomous Flight](https://mlsanity.com/paper/2408.00606/) (2024)
- [Joint Task Offloading and Resource Allocation in Aerial-Terrestrial UAV Networks with Edge and Fog Computing for Post-Disaster Rescue](https://mlsanity.com/paper/2309.16709/) (2023)
- [VAGU & GtS: LLM-Based Benchmark and Framework for Joint Video Anomaly Grounding and Understanding](https://mlsanity.com/paper/2507.21507/) (2025)
- [DETACH: Cross-domain Learning for Long-Horizon Tasks via Mixture of Disentangled Experts](https://mlsanity.com/paper/2508.07842/) (2025)
- [The Evolution of Video Anomaly Detection: A Unified Framework from DNN to MLLM](https://mlsanity.com/paper/2507.21649/) (2025)
- [TCDformer-based Momentum Transfer Model for Long-term Sports Prediction](https://mlsanity.com/paper/2409.10176/) (2024)

## Built on by (most cited first, 3 of 3)

- [Self-evolving Embodied AI](https://mlsanity.com/paper/2602.04411/) (2026)
- [Edge-Aware Thermal Infrared UAV Swarm Tracking](https://mlsanity.com/paper/2607.12544/) (2026)
- [AerialDojo-200K: A Large-Scale Benchmark Suite for Open-World Aerial Object-Goal Search](https://mlsanity.com/paper/2609.36066/) (2026)

## Abstract (arXiv)

Swarm UAV autonomous flight for Embodied Long-Horizon (ELH) tasks is crucial for advancing the low-altitude economy. However, existing methods focus only on specific basic tasks due to dataset limitations, failing in real-world deployment for ELH tasks. ELH tasks are not mere concatenations of basic tasks, requiring handling long-term dependencies, maintaining embodied persistent states, and adapting to dynamic goal shifts. This paper presents U2UData+, the first large-scale swarm UAV autonomous flight dataset for ELH tasks and the first scalable swarm UAV data online collection and algorithm closed-loop verification platform. The dataset is captured by 15 UAVs in autonomous collaborative flights for ELH tasks, comprising 12 scenes, 720 traces, 120 hours, 600 seconds per trajectory, 4.32M LiDAR frames, and 12.96M RGB frames. This dataset also includes brightness, temperature, humidity, smoke, and airflow values covering all flight routes. The platform supports the customization of simulators, UAVs, sensors, flight algorithms, formation modes, and ELH tasks. Through a visual control window, this platform allows users to collect customized datasets through one-click deployment online and to verify algorithms by closed-loop simulation. U2UData+ also introduces an ELH task for wildlife conservation and provides comprehensive benchmarks with 9 SOTA models. U2UData+ can be found at https://fengtt42.github.io/U2UData-2/.