GrandTour Dataset
The GrandTour Dataset provides the largest legged robotic dataset collected using an ANYbotics ANYmal D quadruped robot equipped with Boxi, a state-of-the-art, fully open-source sensor payload.
- Environments
- 49+
- Steps Walked
- 50.000
- Captured Images
- 150 k
- LiDAR Point Clouds
- 40 k
Key Features
Multi-Modal
3 LiDAR, 6 RGB-Cameras, 2 B&W Cameras, 1 RGB-D Camera, 5 Depth Cameras, 7 IMUs, 12 Proprioception (Position, Velocity, Force), Dual RTK-GPS.
Diversity and Scale
49(+) Environments: Indoor / Outdoor, Day / Night, Varied Weather, Smoke, Water, Sand, Urban, Alps, Forest, Train Stations, University Campus, Industrial Sites.
Gold Standard Ground Truth & Calibration
Leica Geosystem MS60 Totalstation, 12kUSD IMU, RTK-GPS with Intertial Explorer Postprocessing, Highly Accurate Intrinsic and Extrinsics Calibration for all Sensors, 1ms Time-Synchronization Accuracy.
Open Source - MIT & CC
The GrandTour Dataset is licensed under Creative Commons Attribution-ShareAlike 4.0 (CC BY-SA 4.0), allowing use in both academic and commercial projects. All software is fully open-source under the MIT License.
Announcements
- The GrandTour Dataset is now available to all access requested users.
- The internal data sharing has been streamlined to allow public access.
- The access request has been made publicly available.
- The systems paper "Boxi" presented at RSS 2025.
While this dataset is fully open-source, we strongly encourage its responsible use for the benefit of humanity and strictly oppose any weaponization of legged robots!
All software is licensed under the MIT License, ensuring broad accessibility and reuse. All data is licensed under the Creative Commons Attribution-ShareAlike 4.0 International (CC BY-SA 4.0). - Share — copy and redistribute the material in any medium or format for any purpose, even commercially. - Adapt — remix, transform, and build upon the material for any purpose, even commercially. - Attribution-ShareAlike — You must provide appropriate credit and distribute any derivative works under the same license. By accessing and using this dataset, you agree to comply with these terms.
When using the dataset in your research, please cite the following papers:
System Paper
@INPROCEEDINGS{Frey-Tuna-Fu-RSS-25,
AUTHOR = {Jonas Frey AND Turcan Tuna AND Lanke Frank Tarimo Fu AND Cedric Weibel AND Katharine Patterson AND Benjamin Krummenacher AND Matthias Müller AND Julian Nubert AND Maurice Fallon AND Cesar Cadena AND Marco Hutter},
TITLE = {{Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics}},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2025},
ADDRESS = {Los Angeles, United States},
MONTH = {July}
}