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cpp
cropfollowpp_2026-01-21-09-16-22_ep0
cropfollowpp_2026-01-21-09-16-22.bag
38.403917
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cpp
cropfollowpp_2026-01-21-09-16-22_ep1
cropfollowpp_2026-01-21-09-16-22.bag
9.508118
2,150
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null
null
null
null
null
null
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cpp
cropfollowpp_2026-01-21-09-16-22_ep2
cropfollowpp_2026-01-21-09-16-22.bag
94.823915
21,438
[1.23e-7,0.364373356,0.669414007,1.021219759,1.367813375,1.720849183,2.082521624,2.439916486,2.79987(...TRUNCATED)
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null
null
null
null
null
null
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cpp
cropfollowpp_2026-01-21-09-16-22_ep3
cropfollowpp_2026-01-21-09-16-22.bag
13.208717
2,976
[9.8e-8,0.12406198,0.202383018,0.3079627,0.419939166,0.5319372,0.601916687,0.720188045,0.832066972,0(...TRUNCATED)
[0.9999996423721313,1.0,1.0,1.0,0.9999997615814209,0.9999998211860657,0.9999998807907104,0.999999940(...TRUNCATED)
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[0.00025188131257891655,0.00003058868969674222,0.0001352323597529903,-0.00002575773214630317,-8.1160(...TRUNCATED)
[-0.006476761773228645,-0.00640267925336957,-0.005259164609014988,-0.0053408280946314335,-0.00442146(...TRUNCATED)
[0.012052603997290134,0.006384999491274357,0.000556517974473536,-0.001723170862533152,-0.00461148191(...TRUNCATED)
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null
null
null
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null
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cpp
cropfollowpp_2026-01-21-09-16-22_ep4
cropfollowpp_2026-01-21-09-16-22.bag
29.072752
6,549
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null
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null
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null
null
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cpp
cropfollowpp_2026-01-21-10-02-53_ep0
cropfollowpp_2026-01-21-10-02-53.bag
5.74804
1,385
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null
null
null
null
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null
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cpp
cropfollowpp_2026-01-21-10-03-37_ep0
cropfollowpp_2026-01-21-10-03-37.bag
92.581003
21,789
[1.21e-7,0.349024503,0.698976756,1.048595749,1.398648101,1.748600258,2.099081167,2.44930338,2.798581(...TRUNCATED)
[0.9971809387207031,0.9972755312919617,0.9971526265144348,0.997154951095581,0.9972550868988037,0.997(...TRUNCATED)
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null
null
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null
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null
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cpp
cropfollowpp_2026-01-21-10-40-33_ep0
cropfollowpp_2026-01-21-10-40-33.bag
392.900484
51,068
null
null
null
null
null
null
null
null
null
null
null
null
null
null
[15.814611319,17.307782943,19.02392177,20.531971828,22.00427055,23.504944273,24.99685432,26.50855150(...TRUNCATED)
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null
null
null
null
null
null
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cpp
cropfollowpp_2026-01-21-10-58-13_ep0
cropfollowpp_2026-01-21-10-58-13.bag
109.815262
19,864
null
null
null
null
null
null
null
null
null
null
null
null
null
null
[17.947962022,18.244840648,18.543745772,18.854160133,19.149663515,19.44657315,19.778237769,20.133022(...TRUNCATED)
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[-7.081396987996958e-23,-7.081396987996958e-23,-7.081396987996958e-23,-7.081396987996958e-23,-7.0813(...TRUNCATED)
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cpp
cropfollowpp_2026-01-21-11-12-45_ep0
cropfollowpp_2026-01-21-11-12-45.bag
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End of preview. Expand in Data Studio

LeCropFollow

Latent Space Planning for Navigation in Unstructured Crop Fields

Felipe Tommaselli1 · Francisco Affonso2 · Arthur Pompeu1 · Gianluca Capezzuto1
Arun Narenthiran Sivakumar2 · Girish Chowdhary2 · Marcelo Becker1

1 University of Sao Paulo    2 University of Illinois Urbana-Champaign

IEEE Robotics and Automation Letters, 2026

Paper   arXiv   Project Page   Video   Data   Models


Models

Please check the Files and versions for our most up-to-date models. For more information, check: https://github.com/Felipe-Tommaselli/lecropfollow

Data

Navigation datasets from a TerraSentia agricultural robot driving under the canopy, extracted from ROS1 bags. Three sources/controllers:

Config Episodes Description
CropFollow++ (cpp) 143 Crop-follow / pure-pursuit (logs path)
CROW (crow) 31 iLQR controller (logs crop_lines, goal, ilqr_time)
LeCropFollow (lecrop) 137 MPPI/RL + vision (logs dist_err, head_err, mppi_*, keypoint)
from datasets import load_dataset
ds = load_dataset("arthurpompeu/lecrop-data", "cpp", split="train")
ep = ds[0]
# ep["rgb"]            -> per-episode video (camera)
# ep["odom_pos_x"], ep["odom_vel_x"], ep["cmd_lin_x"], ...  -> time series

Structure

  • Each row = one episode: a stretch where the robot drove through the field until it stopped for a while. Episodes were segmented from the (smoothed) odom speed: "moving" when v > 0.05 m/s; a new episode is cut when it stays stopped for >= 5 s. A single bag can yield several episodes; episodes shorter than 2 s or with < 20 messages were dropped. Bags without odometry become a single episode (the whole bag).
  • Each column = one signal (a ROS topic), stored as a list (the time series for that episode). Topics have different rates, so each one has its own time vector *_t (seconds, relative to the episode start) and its own length.
  • Videos (rgb, lidar_plot, keypoint_vis_*) are the Video type (MP4/H.264): one video per episode at ~10 fps, with per-frame times in *_t. The HF viewer renders a player.
  • Removed: rosbag-level fields (header, seq, stamp, frame_id, covariance, layout), heavy raw sensors (depth and LiDAR/PointCloud) and plumbing (tf, camera_info).

Note — browsable version. This published version is downscaled for the dataset viewer: videos are re-encoded to 320×180 and each numeric signal is sub-sampled to <= 250 samples per episode. This keeps trends/shapes intact and makes the viewer fast, but it is not full resolution. For training, request the full-rate / 640×360 variant.

Columns

Metadata (scalars): source, episode, bag, duration_s, n_msgs.

Signals (lists; <g>_t = relative time in s for group <g>):

Group Columns Source
odom_* odom_t, odom_pos_{x,y,z}, odom_quat_{x,y,z,w}, odom_vel_{x,y,z}, odom_angvel_{x,y,z} /…/dlio/odom_node/odom
imu_* imu_t, imu_acc_{x,y,z}, imu_gyro_{x,y,z}, imu_quat_{x,y,z,w} /…/imu
cmd_* cmd_t, cmd_lin_{x,y,z}, cmd_ang_{x,y,z} /…/cmd_vel
motion_* motion_t, motion_lin_{x,y,z}, motion_ang_{x,y,z} /…/motion_command
path_* path_t, path_pos_{x,y,z}, path_quat_{x,y,z,w} (list of lists: a polyline per step) /…/path
goal_* goal_t, goal_pos_{x,y,z}, goal_quat_{x,y,z,w} /…/goal (crow)
crop_lines_* crop_lines_t, crop_lines_{m1,b1,m2,b2} (crop-row lines) /…/crop_lines (crow)
ilqr_* ilqr_t, ilqr_time /…/ilqr_time (crow)
dist_err, head_err predicted lateral / heading error /…/*_error_predicted (lecrop)
mppi_dist, elite_scores, value_info MPPI/RL debug (lists of lists) /…/rl_debug/* (lecrop)
keypoint vision keypoints (list of lists) /…/vision/keypoint (lecrop)

Videos (Video, MP4/H.264, ~10 fps; <g>_t = per-frame time):

Column Content Source
rgb RGB camera video /…/rgb/image_rect_color/compressed (all)
lidar_plot LiDAR plot with crop rows /lidar_plot (crow)
keypoint_vis_argmax, keypoint_vis_heatmap keypoint-visualization videos /…/vision/keypoint_vis_*/compressed (lecrop)

Source-specific columns are null when an episode does not have them (e.g. some cropfollowpp_lecropfollow bags inside cpp carry lecrop columns).

License

Code is released under the MIT License. The paper is published under CC BY.

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