{"id":"https://openalex.org/W7131065284","doi":"https://doi.org/10.48550/arxiv.2602.18164","title":"GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation","display_name":"GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation","publication_year":2026,"publication_date":"2026-02-20","ids":{"openalex":"https://openalex.org/W7131065284","doi":"https://doi.org/10.48550/arxiv.2602.18164"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.18164","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016683949","display_name":"Jonas Frey","orcid":"https://orcid.org/0000-0002-7401-2173"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Frey, Jonas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089103837","display_name":"Turcan Tuna","orcid":"https://orcid.org/0000-0001-8662-4890"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tuna, Turcan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126628327","display_name":"Frank Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Frank","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126605550","display_name":"Katharine Patterson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patterson, Katharine","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034206345","display_name":"Tian\u2019ao Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Tianao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126610725","display_name":"Maurice Fallon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fallon, Maurice","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126615707","display_name":"Cesar Cadena","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cadena, Cesar","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5126636056","display_name":"Marco Hutter","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hutter, Marco","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5016683949"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.7936999797821045,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.7936999797821045,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.05900000035762787,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12740","display_name":"Gait Recognition and Analysis","score":0.03999999910593033,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"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/benchmark","display_name":"Benchmark (surveying)","score":0.6668999791145325},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5856000185012817},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4754999876022339},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4683000147342682},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4489000141620636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44110000133514404},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.436599999666214},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.43549999594688416}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6668999791145325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6535999774932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6010000109672546},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5856000185012817},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4683000147342682},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44110000133514404},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.436599999666214},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.43549999594688416},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4275999963283539},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3801000118255615},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.3352999985218048},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.3197000026702881},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.2928999960422516},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2904999852180481},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.2800999879837036},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.26019999384880066}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.18164","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.18164","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.18164","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.18164","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8078285455703735}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"state":[1,35,152],"estimation":[2],"and":[3,30,38,56,78,89,94,97,106,126,139,154,160,194,201],"multi-modal":[4,49,68,155],"perception":[5],"are":[6],"prerequisites":[7],"for":[8,33],"autonomous":[9],"legged":[10,169],"robots":[11],"in":[12,102,149,168,195],"complex,":[13],"large-scale":[14,19],"environments.":[15],"To":[16,40],"date,":[17],"no":[18],"public":[20],"legged-robot":[21,34],"dataset":[22,51,110,146,182,186],"captures":[23],"the":[24,45,66,178],"real-world":[25],"conditions":[26],"needed":[27],"to":[28,91,165,183],"develop":[29],"benchmark":[31],"algorithms":[32],"estimation,":[36,153],"perception,":[37],"navigation.":[39],"address":[41],"this,":[42],"we":[43],"introduce":[44],"GrandTour":[46,71,176],"dataset,":[47],"a":[48,73,99,140],"legged-robotics":[50,181],"collected":[52],"across":[53,81],"challenging":[54],"outdoor":[55],"indoor":[57],"environments,":[58],"featuring":[59],"an":[60],"ANYbotics":[61],"ANYmal-D":[62],"quadruped":[63],"equipped":[64],"with":[65,121,199],"Boxi":[67],"sensor":[69,113,166],"payload.":[70],"spans":[72],"broad":[74],"range":[75],"of":[76,162],"environments":[77],"operational":[79],"scenarios":[80],"distinct":[82],"test":[83],"sites,":[84],"ranging":[85],"from":[86,115,136],"alpine":[87],"scenery":[88],"forests":[90],"demolished":[92],"buildings":[93],"urban":[95],"areas,":[96],"covers":[98],"wide":[100],"variation":[101],"scale,":[103],"complexity,":[104],"illumination,":[105],"weather":[107],"conditions.":[108],"The":[109,185],"provides":[111],"time-synchronized":[112],"data":[114],"spinning":[116],"LiDARs,":[117],"multiple":[118],"RGB":[119],"cameras":[120],"complementary":[122],"characteristics,":[123],"proprioceptive":[124],"sensors,":[125],"stereo":[127],"depth":[128],"cameras.":[129],"Moreover,":[130],"it":[131],"includes":[132],"high-precision":[133,151],"ground-truth":[134],"trajectories":[135],"satellite-based":[137],"RTK-GNSS":[138],"Leica":[141],"Geosystems":[142],"total":[143],"station.":[144],"This":[145],"supports":[147],"research":[148],"SLAM,":[150],"learning,":[156],"enabling":[157],"rigorous":[158],"evaluation":[159],"development":[161],"new":[163],"approaches":[164],"fusion":[167],"robotic":[170],"systems.":[171],"With":[172],"its":[173],"extensive":[174],"scope,":[175],"represents":[177],"largest":[179],"open-access":[180],"date.":[184],"is":[187],"available":[188],"at":[189],"https://grand-tour.leggedrobotics.com":[190],"on":[191],"HuggingFace":[192],"(ROS-independent),":[193],"ROS":[196],"formats,":[197],"along":[198],"tools":[200],"demo":[202],"resources.":[203]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-24T00:00:00"}
