Datasets

Datasets, benchmarks, and simulators released by APRL

MarsLab Simulator

iSpaRo 2026Simulator for synthetic planetary data generation

Website

MarsLab overview of navigation, RGB, depth, LiDAR, SLAM, and visual place recognition capabilities

MarsLab Main Crater, Mars Base, crater interior, and base assets environments

MarsLab crater rendered from two azimuth viewpoints

LT-Mem Dataset

IROS 2026Dataset for lifelong scene understanding and LT-VQA

Website

LT-Mem paper overview contrasting state-only memory with volatility-aware Tri-Memory

LT-VQA dataset environments with aligned 3D maps and multi-session trajectories

LT-Mem Tri-Memory example tracking robot-dog movement across sessions

Mag4D-SLAM Dataset

IROS 2026Repeated-traversal multimodal geomagnetic dataset

Website

Mag4D-SLAM Dataset overview 1

Mag4D-SLAM Dataset overview 2

Mag4D-SLAM Dataset overview 3

ScaleMaster Dataset

ICRA 2026Dataset and benchmark for scale-consistent monocular visual SLAM

Website

ScaleMaster Dataset trajectory visualization

ScaleMaster Dataset pose graph optimization result 1

ScaleMaster Dataset pose graph optimization result 2