Published March 2, 2026
| Version 1.2
Dataset
Open
OneOcean Environment Dataset
Authors/Creators
Description
The OneOcean Environment Dataset is built for underwater robotics simulation and benchmarking. It provides a unified, time-aligned spatiotemporal field combining bathymetry/terrain with 3D ocean physics (temperature, salinity, currents) and optional tidal currents, enabling reproducible scenario construction and task generation (navigation, cleanup, search, etc.), as well as learning-based control/planning evaluation. The online demo link: https://anonymous-2026.github.io/OneOcean-demo-IROS
| Variable | Description | Units | Dimensions |
|---|---|---|---|
| elevation | Terrain/bathymetry elevation (negative = below sea level) | m | latitude, longitude |
| land_mask | Invalid/no-data mask for terrain pixels | - | latitude, longitude |
| so | Sea water salinity | 1e-3 | time, depth, latitude, longitude |
| thetao | Sea water potential temperature | degrees_C | time, depth, latitude, longitude |
| uo | Eastward sea water velocity | m s-1 | time, depth, latitude, longitude |
| vo | Northward sea water velocity | m s-1 | time, depth, latitude, longitude |
| zos | Sea surface height above geoid | m | time, latitude, longitude |
| utide | Eastward tidal velocity | - | time, depth, latitude, longitude |
| vtide | Northward tidal velocity | - | time, depth, latitude, longitude |
| utotal | Total eastward velocity | - | time, depth, latitude, longitude |
| vtotal | Total northward velocity | - | time, depth, latitude, longitude |
Files
README.md
Files
(1.7 GB)
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md5:69fc746df9668fc7fd3bd6f8ff905373
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135.1 MB | Download |
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129.1 MB | Download |
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149.0 MB | Download |
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149.5 MB | Download |
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md5:5d9c169ab6f04a7b22ab21a7a6bc96c2
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159.1 MB | Download |
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157.4 MB | Download |
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162.4 MB | Download |
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158.8 MB | Download |
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md5:0aa580250f85d0e5e0dc3c903a32d73d
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153.9 MB | Download |
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md5:8736cd5e2a6ab0c0b21441b4a97de41a
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145.2 MB | Download |
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md5:58ccf1077ffa616bcdc5d2c3fe017670
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134.9 MB | Download |
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md5:4b0a1451b1f2b7e09345b381d0687f73
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102.0 MB | Download |
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md5:fc3195aeb312505579630d07ded193ad
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1.9 kB | Preview Download |
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md5:a225b8030c122d4196a824be5a8a077f
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5.5 kB | Preview Download |
Additional details
Software
- Repository URL
- https://anonymous-2026.github.io/OneOcean-IROS