Claire Radar

MineXplore

原始来源英文简介

MineXplore is an open-source MuJoCo-based benchmark for robot navigation in GNSS-denied underground mine environments, derived from the Leung et al. 2017 Chilean copper mine dataset. It reconstructs a 104,423 sq.m tunnel network with octagonal wall cross-sections, LiDAR-sourced jagged wall geometry, three terrain friction zones, a global 5 degree incline, and periodic spot lighting. The benchmark includes an evaluation protocol based on coverage percentage, with a 90% target for single-agent PPO policies.