DisasterWorld

DisasterWorld evaluates survivor-search systems in damaged simulated environments. The DisasterWorld codebase provides a local runtime, mission configuration, survivor-only task generation and saved-report evaluation. Isaac Sim loads downloaded scenes; AirStack supplies the provided aerial autonomy stack.

Start with installation, then configure and run an episode. You can use the provided policies or add your own ROS baseline.

Run an episode

After setup and installing the scenes, run this from the DisasterWorld code checkout to start a four-robot Frontier mission:

./dw run --robots 4 --baseline frontier

run validates configuration, prepares search areas and robot settings, starts the simulator and policies, and saves episode artifacts for evaluation.

Reference

Use the navigation sidebar for dataset structure, survivor generation, baseline integration and troubleshooting. Mission configuration describes fleet sizes, partitioned or shared bounds, and local inference and optional VLM APIs.

Coming soon

The DisasterWorld code and dataset are not public yet. Repository and download links in this documentation will work once they are released.

For detailed RayFronts documentation, see the original RayFronts repository. For AirStack setup and interfaces, see the AirStack documentation.