nuScenes

Tutorials

• nuImages devkit tutorial by Motional
  
  
• nuScenes CAN bus tutorial by Motional
  
  
• nuScenes devkit tutorial by Motional
  
  
• nuScenes lidarseg and panoptic tutorial by Motional
  
  
• nuScenes Map Expansion Tutorial by Motional
  
  
• nuScenes prediction tutorial by Motional
  
  

Tools & Applications

• nuScenes devkit by Motional
  

Publications

• nuScenes: A multimodal dataset for autonomous driving by Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, Oscar Beijbom
  
• Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking by Whye Kit Fong, Rohit Mohan, Juana Valeria Hurtado, Lubing Zhou, Holger Caesar, Oscar Beijbom, Abhinav Valada
  

Boreas Autonomous Driving Dataset

Tutorials

• Introduction to Visualizing Sensor Types (Jupyter notebook) by Keenan Burnett
  Amazon SageMaker
• Project Lidar onto Camera Frames (Jupyter notebook) by Keenan Burnett
  Amazon SageMaker

Publications

• Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization? by K Burnett, Y Wu, D J Yoon, A P Schoellig, T D Barfoot
  
• Boreas: A multi-season autonomous driving dataset by K Burnett, D J Yoon, Y Wu, A Z Li, H Zhang, S Lu, J Qian, W Tseng, A Lambert, K YK Leung, A P Schoellig, Timothy D Barfoot
  
• Do we need to compensate for motion distortion and doppler effects in spinning radar navigation? by K Burnett, A P Schoellig, T D Barfoot
  
• Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity by D J Yoon, K Burnett, J Laconte, Y Chen, H Vhavle, S Kammel, J Reuther, T D Barfoot
  
• Picking up speed: Continuous-time Lidar-only odometry using doppler velocity measurements by Y Wu, D J Yoon, K Burnett, S Kammel, Y Chen, H Vhavle, T D Barfoot
  
• Radar odometry combining probabilistic estimation and unsupervised feature learning by K Burnett, D J Yoon, A P Schoellig, T D Barfoot
  

nuPlan

Tutorials

• nuPlan Advacned Model Training by Motional
  
  
• nuPlan Framework by Motional
  
  
• nuPlan Planner Tutorial by Motional
  
  
• nuPlan Scenario Visualization by Motional
  
  
• nuPlan Sensor Data Tutorial by Motional
  
  

Tools & Applications

• nuPlan devkit by Motional
  

Publications

• NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles by Holger Caesar, Juraj Kabzan, Kok Seang Tan, Whye Kit Fong, Eric Wolff, Alex Lang, Luke Fletcher, Oscar Beijbom, Sammy Omari
  

Argoverse

Tutorials

• Argoverse 2 API by Argoverse Authors
  

Tools & Applications

• conda-forge package for `av2` by Argoverse Authors
  
• PyPi package for `av2` by Argoverse Authors
  

Publications

• Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting by Benjamin Wilson, William Qi, Tanmay Agarwal, John Lambert, Jagjeet Singh, Siddhesh Khandelwal, Bowen Pan, Ratnesh Kumar, Andrew Hartnett, Jhony Kaesemodel Pontes, Deva Ramanan, Peter Carr, James Hays
  
• Argoverse: 3D Tracking and Forecasting With Rich Maps by Ming-Fang Chang, John Lambert, Patsorn Sangkloy, Jagjeet Singh, Slawomir Bak, Andrew Hartnett, De Wang, Peter Carr, Simon Lucey, Deva Ramanan, James Hays
  
• Trust, but Verify: Cross-Modality Fusion for HD Map Change Detection by John Lambert, James Hays
  

RACECAR Dataset

Tutorials

• RACECAR Tutorials - nuScenes by John Chrosniak
  
  
• RACECAR Tutorials - ROS2 Localization by Amar Kulkarni
  
• RACECAR Tutorials - ROS2 Visualization by Amar Kulkarni, Utkarsh Chirimar
  

Tools & Applications

• rosbag2nuscenes conversion library by John Chrosniak, Emory Ducote, John Link, Madhur Behl
  

Publications

• RACECAR--The Dataset for High-Speed Autonomous Racing by Amar Kulkarni, John Chrosniak, Emory Ducote, Florian Sauerbeck, Andrew Saba, Utkarsh Chirimar, John Link, Marcello Cellina, and Madhur Behl
  

FoMo - A Multi-Season Dataset for Robot Navigation in Forêt Montmorency

Tutorials

• Get To Know A Dataset - FoMo by Norlab, Université Laval
  
  

Tools & Applications

• FoMo Dataset Website by Norlab, Université Laval
  
• FoMo SDK (Rust & Python) by Norlab, Université Laval
  

Publications

• Toward teach and repeat across seasonal deep snow accumulation (FoMo introduction paper) by Boxan et al.
  

Yale-CMU-Berkeley (YCB) Object and Model Set

Publications

• Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set by Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, Aaron M Dollar
  
• Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes by Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake
  
• Pre-touch sensing for sequential manipulation by Boling Yang, Patrick Lancaster, Joshua R. Smith
  
• The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands by Maria Pozzi, Gionata Salvietti, João Bimbo, Monica Malvezzi, Domenico Prattichizzo
  

AG-LOAM Dataset

Tools & Applications

• Source code of the LiDAR-only odometry and mapping system by Hanzhe Teng et al.
  

Publications

• Adaptive LiDAR Odometry and Mapping for Autonomous Agricultural Mobile Robots in Unmanned Farms by Hanzhe Teng, Yipeng Wang, Dimitrios Chatziparaschis, Konstantinos Karydis
  
• Adaptive LiDAR Odometry and Mapping for Autonomous Agricultural Mobile Robots in Unmanned Farms by Hanzhe Teng, Yipeng Wang, Dimitrios Chatziparaschis, Konstantinos Karydis
  

CitrusFarm Dataset

Tools & Applications

• Python script to download this dataset by Hanzhe Teng et al.
  
• Python scripts used in the data collection and post-processing by Hanzhe Teng et al.
  

Publications

• Multimodal Dataset for Localization, Mapping and Crop Monitoring in Citrus Tree Farms by Hanzhe Teng, Yipeng Wang, Xiaoao Song and Konstantinos Karydis
  

OpenRoboCare Multi-Modal Expert Demonstration Dataset for Robot-Assisted Caregiving

Tutorials

• Get To Know A Dataset: OpenRoboCare by Cornell University EmPRISE Lab
  
• OpenRoboCare Dataset Viewer by Cornell University EmPRISE Lab
  

Publications

• OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving by Liang X, Liu Z, Lin K, et al.
  

Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters

Tools & Applications

• Ros Message Player for Pohang Dataset by Dongha Chung
  
• ROS package for LiDAR to image of Pohang Canal Dataset by Dongha Chung
  

Publications

• Pohang Canal Dataset: A Multimodal Maritime Dataset for Autonomous Navigation in Restricted Waters by Dongha Chung, Jonghwi Kim, Changyu Lee, Jinwhan Kim
  

Aurora Multi-Sensor Dataset

Tutorials

• Introduction to Visualizing Sensor Types (Jupyter notebook) by Andrei Bârsan (note: Aurora makes no representations as to the accuracy or functionality of the tutorial)
  Amazon SageMaker Studio Lab

Publications

• "Pit30M: A benchmark for global localization in the age of self-driving cars", in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4477-4484) by Martinez, J., Doubov, S., Fan, J., Bârsan, I. A., Wang, S., Máttyus, G., Urtasun, R.
  

Ford Multi-AV Seasonal Dataset

Tutorials

• Autonomous Driving Data Service (ADDS) by Ajay Vohra, Amazon
  Amazon EKSAmazon RedshiftAmazon S3Amazon FSx
• Ford AV Dataset Tutorial by Ford Motor Company
  

A2D2: Audi Autonomous Driving Dataset

Tutorials

• Autonomous Driving Data Service (ADDS) by Ajay Vohra, Amazon
  Amazon EKSAmazon RedshiftAmazon S3Amazon FSx

CANOE (Canadian Aquatic Navigation for Observation of the Environment) Dataset

Tutorials

• Get to Know a Dataset: Canoe by Mia Thomas
  
  

MAN TruckScenes

Tutorials

• TruckScenes devkit tutorial by Felix Fent, Fabian Kuttenreich, Florian Ruch, Farija Rizwin
  
  

Tools & Applications

• PyPi package by Felix Fent, Fabian Kuttenreich, Florian Ruch, Farija Rizwin
  
• TruckScenes devkit by Felix Fent, Fabian Kuttenreich, Florian Ruch, Farija Rizwin
  

Publications

• MANTruckScenes: A multimodal dataset for autonomous trucking in diverse conditions by Felix Fent, Fabian Kuttenreich, Florian Ruch, Farija Rizwin, et al
  

Multi-robot, Multi-Sensor, Multi-Environment Event Dataset (M3ED)

Publications

• M3ED: Multi-Robot, Multi-Sensor, Multi-Environment Event Dataset by Chaney K, Cladera F, et al.