[2511.17318] FORWARD: Dataset of a forwarder operating in rough terrain

Computer Science > Robotics arXiv:2511.17318 (cs) [Submitted on 21 Nov 2025 (v1), last revised 20 Mar 2026 (this version, v3)] Title:FORWARD: Dataset of a forwarder operating in rough terrain Authors:Mikael Lundbäck, Erik Wallin, Carola Häggström, Mattias Nyström, Andreas Grönlund, Mats Richardson, Petrus Jönsson, William Arnvik, Lucas Hedström, Arvid Fälldin, Martin Servin View a PDF of the paper titled FORWARD: Dataset of a forwarder operating in rough terrain, by Mikael Lundb\"ack and 10 other authors View PDF HTML (experimental) Abstract:We present FORWARD, a high-resolution multimodal dataset of a cut-to-length forwarder operating in rough terrain on two harvest sites in the middle part of Sweden. The forwarder is a large Komatsu model equipped with vehicle telematics sensors, including global positioning via satellite navigation, movement sensors, accelerometers, and engine sensors. The forwarder was additionally equipped with cameras, operator vibration sensors, and multiple IMUs. The data includes event time logs recorded at 5 Hz of driving speed, fuel consumption, machine position with centimeter accuracy, and crane use while the forwarder operates in forest areas, aerially laser-scanned with a resolution of around 1500 points per square meter. Production log files (Stanford standard) with time-stamped machine events, extensive video material, and terrain data in various formats are included as well. About 18 hours of regular wood extraction work during three days...