theairlabcmu2025cc-by-4.0

TartanGround

Name: TartanGround
Creator: theairlabcmu
Published: 2025-01-01
License: cc-by-4.0
Keywords: rgb, depth, semantic_segmentation, optical_flow, stereo_disparity, lidar, imu, proprioception, point_cloud, navigation, semantic_occupancy_prediction, visual_slam, scene_representation, bird's_eye_view_prediction, simulation

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

Downloads42K
Episodes878
Likes3

Why This Matters for Physical AI

TartanGround provides large-scale multi-modal sensor data across diverse simulated environments and robot morphologies to advance ground robot perception, SLAM, and autonomous navigation capabilities.

Technical Profile

Modalities: rgbdepthsemantic_segmentationoptical_flowstereo_disparitylidarimuproprioceptionpoint_cloud
Robot Embodiments: omnidirectional_ground_robotdifferential_drivequadruped
Environment: simulation
Task Types: navigationsemantic_occupancy_predictionvisual_slamscene_representationbird's_eye_view_prediction
Episodes: 878
Annotation Types: semantic_segmentationground_truth_posessemantic_occupancy_maps
License: cc-by-4.0

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