Available Benchmark Sets

2D Pathfinding Benchmarks

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 these sets (prior to official publication - the current citation list can be found here)

Information on file formats

Version Information

Benchmark sets

Commercial Game Benchmarks
BoxSourceBrowseMapBenchmarksLegacy 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
ThumbnailSourceBrowseMapBenchmarksLegacy 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
ThumbnailSourceBrowseMapBenchmarksLegacy 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)