The GrandTour Dataset

A project brought to you by RSL - ETH Zurich.

References • Contributing • Citation

References

• Official dataset webpage: grand-tour.leggedrobotics.com
• Getting started & examples: github.com/leggedrobotics/grand_tour_dataset
• Boxi used to collect the data: github.com/leggedrobotics/grand_tour_box

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Contributing

We warmly welcome contributions to improve and expand this project. Whether it's new examples, enhancements, or feedback — we’d love to hear from you! 💬 Simply open a new issue here: GitHub Issues We’re organizing a workshop at ICRA 2026 in Vienna and are currently looking for co-organizers and collaborators. A community paper is also in the works — your input is valuable, and we’d love to build this together.

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Citation

@INPROCEEDINGS{Tuna-Frey-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     = {June}
}