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The DARPA Subterranean (SubT) Challenge aims to develop innovative technologies that would augment operations underground. The SubT Challenge explores new approaches to rapidly map, navigate, and search complex underground environments, including human-made tunnel systems, urban underground, and natural cave networks. The SubT Challenge is organized into two competitions (Systems and Virtual), each with two tracks (DARPA-funded and self-funded). Teams in the Systems Competition develop and demonstrate physical systems to compete in live competitions on physical, representative subterranean courses, and focus on advancing and evaluating novel physical solutions in realistic field environments. Teams in the Virtual Competition develop software and algorithms using virtual models of systems, environments, and terrain to compete in simulation-based events, and explore larger-scale runs in simulated environments that explore significantly expanded scenario sizes and duration. This video explains the ins and outs of the SubT Challenge Virtual Competition.