Abstract: We present HeliCoach,an adaptive O&M(orientation and mobility)training system to help visually impaired people to gain auditory orientation ability efficiently.HeliCoach is a mastery-based adaptive learning system consists of three components:a drone-based physically simulated 3 D audio space,a UWB(ultra wide band)-supported assessment system,an intelligent belt with haptic feedback as training scaffolds.HeliCoach dynamically increases the levels of task difficulty when the participants pass the mastery threshold of the current level.In addition,we designed a multi-level haptic scaffolds system deployed in the intelligent belt,and each level of the scaffold has different vibration patterns with different amount of help information.We evaluated the acceptability and efficiency of HeliCoach on blindfolded sighted participants(to simulate people who recently lost their sights).The results showed that HeliCoach was efficient and interesting and the adaptive scaffolds of HeliCoach can significantly increase efficiency compared to the random scaffolds.Thus,HeliCoach can be applied to many simulated 3 D audio space related task to train people more efficiently.