mlsanityData to 14 Oct 2026

TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models

arXiv 2205.01791 ↗First posted 3 May 2022cs.ROcited by 49

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Abstract (arXiv)

We present TartanDrive, a large scale dataset for learning dynamics models for off-road driving. We collected a dataset of roughly 200,000 off-road driving interactions on a modified Yamaha Viking ATV with seven unique sensing modalities in diverse terrains. To the authors' knowledge, this is the largest real-world multi-modal off-road driving dataset, both in terms of number of interactions and sensing modalities. We also benchmark several state-of-the-art methods for model-based reinforcement learning from high-dimensional observations on this dataset. We find that extending these models to multi-modality leads to significant performance on off-road dynamics prediction, especially in more challenging terrains. We also identify some shortcomings with current neural network architectures for the off-road driving task. Our dataset is available at https://github.com/castacks/tartan_drive.

Key facts. Cited by 49 papers in the map (data through 14 Oct 2026). First posted on arXiv 3 May 2022.

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Citing papers per year: 2022: 2; 2023: 10; 2024: 11; 2025: 12; 2026: 14.

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  1. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  2. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 657
  3. 2024Navigation World Modelscited by 272
  4. 2023ViNT: A Foundation Model for Visual Navigationcited by 222
  5. 2022GNM: A General Navigation Model to Drive Any Robotcited by 171
  6. 2023QUAR-VLA: Vision-Language-Action Model for Quadruped Robotscited by 56
  7. 2025OmniVLA: An Omni-Modal Vision-Language-Action Model for Robot Navigationcited by 38
  8. 2023The GOOSE Dataset for Perception in Unstructured Environmentscited by 37
  9. 2025TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigationcited by 36
  10. 2022How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversabilitycited by 27
  11. 2025A Survey of Interactive Generative Videocited by 23
  12. 2023WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Large-scale Natural Environmentscited by 17
37 more
  1. 2023Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigationcited by 15
  2. 2025Towards Unified World Models for Visual Navigation via Memory-Augmented Planning and Foresightcited by 14
  3. 2026Walk through Paintings: Egocentric World Models from Internet Priorscited by 14
  4. 2024Excavating in the Wild: The GOOSE-Ex Dataset for Semantic Segmentationcited by 13
  5. 2025Learning to Drive Anywhere with Model-Based Reannotationcited by 13
  6. 2024FlowNav: Combining Flow Matching and Depth Priors for Efficient Navigationcited by 12
  7. 2023PlaceNav: Topological Navigation through Place Recognitioncited by 11
  8. 2026AsyncVLA: An Asynchronous VLA for Fast and Robust Navigation on the Edgecited by 10
  9. 2026Language-Conditioned World Modeling for Visual Navigationcited by 10
  10. 2023Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Controlcited by 8
  11. 2023CoverNav: Cover Following Navigation Planning in Unstructured Outdoor Environment with Deep Reinforcement Learningcited by 7
  12. 2024PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Drivingcited by 7
  13. 2024Autonomous Driving in Unstructured Environments: How Far Have We Come?cited by 7
  14. 2026World-Action Models for Robot Learning and Control: A Surveycited by 6
  15. 2026NavWM: A Unified Navigation World Model for Foresight-Driven Planningcited by 5
  16. 2024BEVLoc: Cross-View Localization and Matching via Birds-Eye-View Synthesiscited by 4
  17. 2024ROVER: A Multi-Season Dataset for Visual SLAMcited by 4
  18. 2024Deep Bayesian Future Fusion for Self-Supervised, High-Resolution, Off-Road Mappingcited by 3
  19. 2025MetricNet: Recovering Metric Scale in Generative Navigation Policiescited by 3
  20. 2026Pondering the Way: Spatial-perceiving World Action Model for Embodied Navigationcited by 3
  21. 2026Drift-Resistant Navigation World Model with Anchored Epipolar Guidancecited by 2
  22. 2023Sense, Imagine, Act: Multimodal Perception Improves Model-Based Reinforcement Learning for Head-to-Head Autonomous Racingcited by 1
  23. 2024NPC: Neural Predictive Control for Fuel-Efficient Autonomous Truckscited by 1
  24. 2025Reproducible Evaluation of Camera Auto-Exposure Methods in the Field: Platform, Benchmark and Lessons Learnedcited by 1
  25. 2025Synthetic vs. Real Training Data for Visual Navigationcited by 1
  26. 20243DTTNet: Multimodal Fusion-Based 3D Traversable Terrain Modeling for Off-Road Environmentscited by 0
  27. 2025DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertaintycited by 0
  28. 2025PIG-Nav: Key Insights for Pretrained Image Goal Navigation Modelscited by 0
  29. 2025Mars Traversability Prediction: A Multi-modal Self-supervised Approach for Costmap Generationcited by 0
  30. 2025FORWARD: Dataset of a forwarder operating in rough terraincited by 0
  31. 2026MA-VLCM: A Vision Language Critic Model for Value Estimation of Policies in Multi-Agent Team Settingscited by 0
  32. 2026A Cross-Scale Decoder with Token Refinement for Off-Road Semantic Segmentationcited by 0
  33. 2026OctoSense: Self-Supervised Learning for Multimodal Robot Perceptioncited by 0
  34. 2026EA-Nav: Learning Safe Visual Navigation Policies with Embodiment Awarenesscited by 0
  35. 2026Belief-Space Perception Routing under Coupled Sensor Faults and Compute Contentioncited by 0
  36. 2026Feeling Terrain Before Crossing: World Models for Off-Road Navigationcited by 0
  37. 2026G2WAM: World Action Models for Efficient and Geometry Grounded Image-Goal Navigationcited by 0