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TartanGround dataset by theairlabcmu
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Dataset

TartanGround

by theairlabcmu hf-dataset--theairlabcmu--tartanground
Nexus Index
22.0 Top 3%
S / A / P / R / Q Breakdown Calibration Pending

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Tech Context
Vital Performance
0 DL / 30D
0.0%

!TartanGround Overview **TartanGround** is a large-scale, multi-modal dataset designed to advance the perception and autonomy of ground robots operating in diverse environments. Collected across 63 photorealistic simulation environments, it provides comprehensive data streams f...

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Dataset Information Summary
Entity Passport
Registry ID hf-dataset--theairlabcmu--tartanground
Provider huggingface
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Cite this dataset

Academic & Research Attribution

BibTeX 
@misc{hf_dataset__theairlabcmu__tartanground,
  author = {theairlabcmu},
  title = {TartanGround Dataset},
  year = {2026},
  howpublished = {\url{https://huggingface.co/datasets/theairlabcmu/TartanGround}},
  note = {Accessed via Free2AITools Knowledge Fortress}
}
APA Style
theairlabcmu. (2026). TartanGround [Dataset]. Free2AITools. https://huggingface.co/datasets/theairlabcmu/TartanGround

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Full Specifications [+]

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Methodology Index Protocol
22.0
ESTIMATED IMPACT TIER
Semantic (S) 50
Authority (A) 0
Popularity (P) 0
Recency (R) 0
Quality (Q) 0

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FNI V2.0 for TartanGround: Semantic (S:50), Authority (A:0), Popularity (P:0), Recency (R:0), Quality (Q:0).

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Dataset Specification

language: en
license: cc-by-4.0
tags:

  • robotics
  • perception
  • navigation
  • SLAM
  • semantic-segmentation
  • occupancy-mapping
  • synthetic-data
  • multimodal
  • ground-robot
  • dataset
    size_categories:
  • 10M<n<100M

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation

TartanGround Overview

Dataset Description

TartanGround is a large-scale, multi-modal dataset designed to advance the perception and autonomy of ground robots operating in diverse environments. Collected across 63 photorealistic simulation environments, it provides comprehensive data streams for various robotic tasks.

Key Features

  • Environments: 63 diverse simulation environments categorized into:

    • Indoor
    • Nature
    • Rural
    • Urban
    • Industrial/Infrastructure
    • Historical/Thematic

  • Trajectories: 878 trajectories captured across the environments.

  • Samples: Over 1.44 million samples.

  • Robot Platforms:

    • Omnidirectional (P0000, P0001, ...)
    • Differential Drive (P1000, P1001, ...)
    • Quadrupedal (P2000, P2001, ...)

  • Sensor Modalities:

    • RGB Stereo Camera Pairs (front, back, left, right, top, bottom)
    • Depth Maps
    • Semantic Segmentation
    • Optical Flow
    • Stereo Disparity
    • LiDAR Point Clouds
    • IMU Data
    • Ground Truth Poses (6-DOF)
    • Semantic Occupancy Maps (3D voxel grids)
    • Proprioceptive Data (for quadruped trajectories)

Applications

TartanGround supports a wide range of robotic perception and navigation tasks, including:

  • Semantic Occupancy Prediction
  • Open-Vocabulary Occupancy Prediction
  • Visual SLAM
  • Neural Scene Representation
  • Bird's-eye-view Prediction
  • Navigation and more

License

The dataset is licensed under the Creative Commons Attribution 4.0 International License.

Citation

If you use TartanGround in your research, please cite the following paper:

@article{patel2025tartanground,
title={TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation},
author={Patel, Manthan and Yang, Fan and Qiu, Yuheng and Cadena, Cesar and Scherer, Sebastian and Hutter, Marco and Wang, Wenshan},
journal={arXiv preprint arXiv:2505.10696},
year={2025}
}

Links

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Social Proof

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2Likes
25.7KDownloads
Hub Discussions
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🆔 Identity & Source

id
hf-dataset--theairlabcmu--tartanground
source
huggingface
author
theairlabcmu
tags
language:enlicense:cc-by-4.0size_categories:10marxiv:2505.10696region:usroboticsperceptionnavigationslamsemantic-segmentationoccupancy-mappingsynthetic-datamultimodalground-robotdataset

⚙ī¸ Technical Specs

architecture
null
params billions
null
context length
null

📊 Engagement & Metrics

likes
2
downloads
25,660

Free2AITools Constitutional Data Pipeline: Curated disclosure mode active. (V15.x Standard)