This page is part of Nathan Sturtevant's Moving AI Lab. This page is focused on benchmark maps and problems for 2D grids.

There is a wide body of researchers who use gridworld domains as benchmarks. The goal of this page is to collect benchmark problems and maps that can be broadly used and referenced. A technical report describing the maps is currently in preparation. But, the data is being made available to help improve the consistency of experiments when it comes to gridworlds.

BioWare deserves strong recognition for giving permission for their maps to be distributed for research purposes. We encourage other game companies to follow BioWare's lead and make map test sets available for research and testing purposes.

Other maps sets are available, but explicit permission for redistribution has not been acquired. These will be removed upon request.

If you are using these benchmark problems, please cite the following paper to reference the benchmark sets:

@article{sturtevant2012benchmarks,
  title={Benchmarks for Grid-Based Pathfinding},
  author={Sturtevant, N.},
  journal={Transactions on Computational Intelligence and AI in Games},
  volume={4},
  number={2},
  pages={144 -- 148},
  year={2012},
  url = {http://web.cs.du.edu/~sturtevant/papers/benchmarks.pdf},
}

Research papers using/citing these sets.

Information on file formats

Version Information

• Version 1: Initial grid benchmarks (2012).
• Version 2: Updated (2018).
  • New benchmark sets (Dragon Age 2, Street maps)
  • New problem sets: no repeated start/goal locations
  • Higher resolution data: optimal path length stored at higher resolution
  • Image formats: Now with png, svg and pdf images for each map
  • Simplified meta-data provided on each benchmark web page

Benchmark sets

Commercial Game Benchmarks
Box	Source	Browse	Map	Benchmarks	Legacy data
	Dragon Age: Origins (published November, 2009)	Browse data	Download all maps	Download all benchmark problems	Legacy data
	Dragon Age 2 (published March, 2011)	Browse data	Download all maps	Download all benchmark problems
	Warcraft III (published July, 2002) Scaled to 512x512	Browse data	Download all maps	Download all benchmark problems	Legacy data
	Baldurs Gate II (published September, 2000) Scaled to 512x512	Browse data	Download all maps	Download all benchmark problems	Legacy data
	Baldurs Gate II (published September, 2000) Original maps	Browse data	Download all maps	Download all benchmark problems	Legacy data
	Starcraft (published March, 1998)	Browse data	Download all maps	Download all benchmark problems	Legacy data
Real-World Benchmarks
Thumbnail	Source	Browse	Map	Benchmarks	Legacy Data
	City/street maps Provided by Konstantin Yakovlev and Anton Andreychuk Discretized from building/road maps Click on images on detail page to see where in each city the map was sampled	Browse data	Download all maps	Download all benchmark problems
Artificial Benchmarks
Thumbnail	Source	Browse	Map	Benchmarks	Legacy Data
	Mazes with variable cooridor width Nathan Sturtevant / HOG2	Browse data	Download all maps	Download all benchmark problems	Legacy mazes (corridor 1) Legacy mazes (corridor 2) Legacy mazes (corridor 4) Legacy mazes (corridor 8) Legacy mazes (corridor 16) Legacy mazes (corridor 32)
	Random maps Nathan Sturtevant / HOG2	Browse data	Download all maps	Download all benchmark problems	Legacy random (10% obstacles) Legacy random (15% obstacles) Legacy random (20% obstacles) Legacy random (25% obstacles) Legacy random (30% obstacles) Legacy random (35% obstacles) Legacy random (40% obstacles)
	Room maps - square rooms with random openings between them Nathan Sturtevant / HOG2	Browse data	Download all maps	Download all benchmark problems	Legacy rooms (8x8) Legacy rooms (16x16) Legacy rooms (32x32) Legacy rooms (64x64)
	Terrain maps - maps generated with Red Blob Games / Amit Patel's terrain generator and then converted to discrete terrain types. Note that these maps use a different encoding of terrain than other maps in the repo due to their wide range of costs. Nathan Sturtevant / HOG2	Browse data	Download all maps	Download all benchmark problems

All data is made available under the Open Data Commons Attribution License