Existing aerial-robotics benchmarks target vehicles from hundreds of grams to several kilograms and typically expose only high-level state data. They omit the actuator-level signals required to study nano-scale quadrotors, where low-Reynolds number aerodynamics, coreless DC motor nonlinearities, and severe computational constraints invalidate models and controllers developed for larger vehicles. We introduce NanoBench, an open-source multi-task benchmark collected on the commercially available Crazyflie 2.1 nano-quadrotor (takeoff weight 27 g) in a Vicon motion capture arena. The dataset contains over 170 flight trajectories spanning hover, multi-frequency excitation, standard tracking, and aggressive maneuvers across multiple speed regimes. Each trajectory provides synchronized Vicon ground truth, raw IMU data, onboard extended Kalman filter estimates, PID controller internals, and motor PWM commands at 100 Hz, alongside battery telemetry at 10 Hz, aligned with sub-0.5 ms consistency. NanoBench defines standardized evaluation protocols, train/test splits, and open-source baselines for three tasks: nonlinear system identification, closed-loop controller benchmarking, and onboard state estimation assessment. To our knowledge, it is the first public dataset to jointly provide actuator commands, controller internals, and estimator outputs with millimeter-accurate ground truth on a commercially available nano-scale aerial platform.

翻译：现有空中机器人基准数据集主要针对重量从数百克到数千克的飞行器，且通常仅提供高层状态数据。这些数据集缺乏研究纳米级四旋翼所需的执行器层级信号——在纳米尺度下，低雷诺数空气动力学、空心杯直流电机的非线性特性以及严苛的计算约束使得针对大型飞行器开发的模型与控制器不再适用。本文推出NanoBench，这是一个在商用Crazyflie 2.1纳米四旋翼飞行器（起飞重量27克）上于Vicon运动捕捉场内采集的开源多任务基准数据集。该数据集包含超过170条飞行轨迹，涵盖悬停、多频激励、标准轨迹跟踪及多种速度区间内的激进机动动作。每条轨迹以100Hz频率提供同步的Vicon地面真值、原始IMU数据、机载扩展卡尔曼滤波估计值、PID控制器内部状态及电机PWM指令，同时以10Hz频率提供电池遥测数据，所有数据均以低于0.5毫秒的同步精度对齐。NanoBench为三项任务定义了标准化评估协议、训练/测试划分及开源基线：非线性系统辨识、闭环控制器性能评估及机载状态估计算法验证。据我们所知，这是首个在商用纳米级空中平台上同时提供执行器指令、控制器内部状态、估计器输出及毫米级精度地面真值的公开数据集。