Swarm

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  <img src="https://raw.githubusercontent.com/swarm-subnet/swarm/main/swarm/assets/Swarm_2.png" alt="Swarm" width="62%" />
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<h1 align="center">Swarm</h1>

<p align="center">
  <b>The open arena where AI learns to fly.</b><br/>
  <i>Train a drone pilot, prove it against the world, and watch it fly.</i>
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  <a href="https://github.com/swarm-subnet/swarm/releases"><img alt="Version" src="https://img.shields.io/badge/version-v5.1.5.0-F5D400?style=flat-square&labelColor=111111" /></a>
  <a href="https://discord.gg/8dPqPDw7GC"><img alt="Discord" src="https://img.shields.io/badge/Discord-Join-5865F2?style=flat-square&logo=discord&logoColor=white" /></a>
  <a href="https://x.com/SwarmSubnet"><img alt="X" src="https://img.shields.io/badge/X-Follow-111111?style=flat-square&logo=x&logoColor=white" /></a>
  <a href="https://swarm124.com"><img alt="Website" src="https://img.shields.io/badge/swarm124.com-visit-F5D400?style=flat-square&labelColor=111111" /></a>
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  <a href="miner/docs/miner.md"><img alt="Start Training" src="https://img.shields.io/badge/Start%20Training-Miner%20Guide-F5D400?style=for-the-badge" /></a>
  &nbsp;
  <a href="https://swarm124.com/benchmark"><img alt="Leaderboard" src="https://img.shields.io/badge/Leaderboard-Live-111111?style=for-the-badge" /></a>
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<!-- ABOUT -->
## What Is Swarm

Drones are moving into everyday life: delivering packages, inspecting bridges and power lines, searching for survivors after a disaster. The hardware is ready. The hard part is the **AI that flies them**, and today that AI is built behind closed doors, where no one can compare it or prove whose is best.

**Swarm is the open arena that settles it.** Anyone can train a drone pilot, submit it, and watch it compete on a public [leaderboard](https://swarm124.com/benchmark) across thousands of fresh worlds it has never seen. No private test sets, no memorizing, no shortcuts. The best pilot wins, out in the open, and its rewards are paid automatically by the [Bittensor](https://bittensor.com) network (Subnet 124).

<https://github.com/user-attachments/assets/ee579a55-5eb2-4f6c-83db-4b1a223b9bb2>

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  <sub><b>Search and Rescue.</b> The mission Swarm is built around: teaching a drone to find people.</sub>
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  <sub><b>5</b> missions &nbsp;·&nbsp; <b>1,100</b> fresh worlds every 14-day epoch &nbsp;·&nbsp; <b>60-second</b> flights &nbsp;·&nbsp; one live leaderboard</sub>
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<!-- CHALLENGE FAMILIES -->
## Five Missions

Swarm is five separate competitions, each with its own champion and its own share of the rewards. Master one, or take on all five.

| Mission | What your drone has to do | Reward share |
|---------|---------------------------|:------------:|
| **[Office Interceptor](docs/families/office_interceptor.md)** | Hunt a target drone inside a fixed office and catch it before time runs out | <img src="https://img.shields.io/badge/30%25-F5D400?style=flat-square" alt="30%" /> |
| **[Swarm Autopilot](docs/families/swarm_autopilot.md)** | Land a whole team of drones, fast and without collisions | <img src="https://img.shields.io/badge/20%25-F5D400?style=flat-square" alt="20%" /> |
| **[Swarm Search and Rescue](docs/families/swarm_sar.md)** | Send a team of drones to sweep the area and find the victim together | <img src="https://img.shields.io/badge/20%25-F5D400?style=flat-square" alt="20%" /> |
| **[Autopilot](docs/families/autopilot.md)** | Cross the world, find the landing pad, and touch down clean | <img src="https://img.shields.io/badge/15%25-F5D400?style=flat-square" alt="15%" /> |
| **[Search and Rescue](docs/families/search_and_rescue.md)** | Find a lost person and hold a steady hover above them | <img src="https://img.shields.io/badge/15%25-F5D400?style=flat-square" alt="15%" /> |

<p align="center"><sub>Every mission has a full guide with everything a builder needs to start.</sub></p>

<p align="center"><sub><b>Solved:</b> <a href="docs/families/interceptor.md">Interceptor</a> — open-terrain pursuit, cleared by its champion and closed. The crown is final and the winning solution is preserved as open source.</sub></p>

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<!-- WATCH: INTERCEPTOR -->
## Watch: Interceptor

<https://github.com/user-attachments/assets/a16e9453-663c-4483-a3b8-160c412fd3e7>

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  <sub><b>Air-to-air pursuit,</b> from a real benchmark run: close the gap and catch a fleeing drone before the clock runs out.</sub>
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<!-- HOW IT WORKS -->
## How It Works

Every mission runs the same simple loop:

<table align="center">
<tr>
<td align="center"><b>Depth Camera</b><br><sub>what's in front of it</sub></td>
<td align="center" rowspan="2"><b>&nbsp;→&nbsp; Your Model &nbsp;→&nbsp;</b></td>
<td align="center" rowspan="2"><b>Flight Commands</b><br><sub>where to fly next</sub></td>
<td align="center" rowspan="2"><b>&nbsp;→&nbsp; Drone</b></td>
</tr>
<tr>
<td align="center"><b>Flight State</b><br><sub>position and speed</sub></td>
</tr>
</table>

<table>
<tr>
<td align="center" width="50%">
<img src="https://raw.githubusercontent.com/swarm-subnet/swarm/main/swarm/assets/Drone_flying.gif" alt="Drone navigating a procedural city" width="100%">
<br><sub>Third-person view</sub>
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<td align="center" width="50%">
<img src="https://raw.githubusercontent.com/swarm-subnet/swarm/main/swarm/assets/Drone_flying_FPV.gif" alt="What the drone sees" width="100%">
<br><sub>What the drone sees</sub>
</td>
</tr>
</table>

The drone sees the world through a single depth camera and knows its own position and speed. Fifty times a second, your model looks at that and decides where to fly next: a direction, a speed, a turn. No map, no GPS, no list of obstacles. Just like a real pilot, it has to re