{"id":"https://openalex.org/W4401414569","doi":"https://doi.org/10.1109/icra57147.2024.10611265","title":"TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks","display_name":"TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414569","doi":"https://doi.org/10.1109/icra57147.2024.10611265"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042449030","display_name":"Matthew Sivaprakasam","orcid":"https://orcid.org/0009-0001-9188-4555"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Matthew Sivaprakasam","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058078301","display_name":"Parv Maheshwari","orcid":null},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Parv Maheshwari","raw_affiliation_strings":["Indian Institute of Technology Kharagpur,Department of Mathematics"],"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Kharagpur,Department of Mathematics","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020415873","display_name":"Mateo Guaman Castro","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mateo Guaman Castro","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026102921","display_name":"Samuel Triest","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Triest","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093713025","display_name":"Micah Nye","orcid":"https://orcid.org/0009-0001-7263-7401"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Micah Nye","raw_affiliation_strings":["University of Pittsburgh,Department of Mechanical Engineering"],"affiliations":[{"raw_affiliation_string":"University of Pittsburgh,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093876197","display_name":"Steve Willits","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve Willits","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032272532","display_name":"Andrew Saba","orcid":"https://orcid.org/0000-0003-2462-2050"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Saba","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072816908","display_name":"Wenshan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenshan Wang","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5042449030"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.2329,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.96238689,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"12606","last_page":"12606"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9571999907493591,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.787864089012146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6994990110397339},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.468546986579895},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.44587022066116333},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.35016441345214844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33757901191711426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19318217039108276}],"concepts":[{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.787864089012146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6994990110397339},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.468546986579895},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.44587022066116333},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.35016441345214844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33757901191711426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19318217039108276},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611265","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611265","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1583837637","https://openalex.org/W2115579991","https://openalex.org/W2765757095","https://openalex.org/W3003922739","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3048942692","https://openalex.org/W3096411729","https://openalex.org/W3156216502","https://openalex.org/W3159400523","https://openalex.org/W3198790326","https://openalex.org/W3205004989","https://openalex.org/W3206164009","https://openalex.org/W3206485410","https://openalex.org/W4212774754","https://openalex.org/W4214586682","https://openalex.org/W4281555123","https://openalex.org/W4285102400","https://openalex.org/W4312302744","https://openalex.org/W4366208220","https://openalex.org/W4382491416","https://openalex.org/W4383108448","https://openalex.org/W4383109373","https://openalex.org/W4383171997","https://openalex.org/W4385416313","https://openalex.org/W4385430679","https://openalex.org/W4386472944","https://openalex.org/W4389665504","https://openalex.org/W4401415990","https://openalex.org/W6774314701","https://openalex.org/W6779326418","https://openalex.org/W6785114638","https://openalex.org/W6791353385","https://openalex.org/W6801810553","https://openalex.org/W6839459284","https://openalex.org/W6842961353","https://openalex.org/W6851800889","https://openalex.org/W6852638332","https://openalex.org/W6853225586","https://openalex.org/W6853468020","https://openalex.org/W6854555012"],"related_works":["https://openalex.org/W2185469136","https://openalex.org/W3047375952","https://openalex.org/W4288634015","https://openalex.org/W3138110502","https://openalex.org/W2011264131","https://openalex.org/W2909676666","https://openalex.org/W127837312","https://openalex.org/W2922283411","https://openalex.org/W4384789578","https://openalex.org/W4387421317"],"abstract_inverted_index":{"We":[0,65],"present":[1],"TartanDrive":[2,17],"2.0,":[3],"a":[4,30,116],"large-scale":[5,144],"off-road":[6,27,124],"driving":[7],"dataset":[8,112,168],"for":[9,26,72,115],"self-supervised":[10,157],"learning":[11],"tasks.":[12],"In":[13],"2021":[14],"we":[15,36,70,130],"released":[16],"1.0,":[18],"which":[19],"is":[20,169],"one":[21],"of":[22,40,44,51,88,118,123,151],"the":[23,49,57,68,77,86,98,111,121,138,149],"largest":[24],"datasets":[25],"terrain.":[28],"As":[29],"follow-up":[31],"to":[32,46,84,96,100,102,140,142],"our":[33,80,89],"original":[34,58],"dataset,":[35],"collected":[37],"seven":[38],"hours":[39],"data":[41,99,133],"at":[42,171],"speeds":[43],"up":[45],"15m/s":[47],"with":[48],"addition":[50],"three":[52],"new":[53],"LiDAR":[54],"sensors":[55],"alongside":[56,110],"camera,":[59],"inertial,":[60],"GPS,":[61],"and":[62,75,108,164],"proprioceptive":[63],"sensors.":[64],"also":[66],"release":[67],"tools":[69,107],"use":[71],"collecting,":[73],"processing,":[74],"querying":[76],"data,":[78],"including":[79],"metadata":[81],"system":[82],"designed":[83],"further":[85],"utility":[87],"data.":[90],"Custom":[91],"infrastructure":[92,109],"allows":[93],"end":[94],"users":[95],"reconfigure":[97],"cater":[101],"their":[103],"own":[104],"platforms.":[105],"These":[106,135],"are":[113],"useful":[114],"variety":[117],"tasks":[119],"in":[120,153],"field":[122],"autonomy":[125],"and,":[126],"by":[127],"releasing":[128],"them,":[129],"encourage":[131],"collaborative":[132],"aggregation.":[134],"resources":[136],"lower":[137],"barrier":[139],"entry":[141],"utilizing":[143],"datasets,":[145],"thereby":[146],"helping":[147],"facilitate":[148],"advancement":[150],"robotics":[152],"areas":[154],"such":[155],"as":[156],"learning,":[158,163],"multi-modal":[159],"perception,":[160],"inverse":[161],"reinforcement":[162],"representation":[165],"learning.":[166],"The":[167],"available":[170],"https://theairlab.org/TartanDrive2.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":5}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}
