Datasets and tools
Data and software from my projects, free to use. Most of it is on the ETH Research Collection.
Limmat River WasteZurich Street Parade 2023
Time-resolved counts and types of floating waste in the Limmat during the one-day festival, recorded with the ARC camera system.
ARC Synthetic Riverine WasteSynthetic training images
Synthetic images of floating river waste for training detectors when real labelled data is scarce.
Lunar Boulder ConstructionData for Walther et al., 2024
Data for the paper on building lunar infrastructure autonomously from boulders found on site.
VITRUVIOLeg design optimisation
Open-source toolbox for choosing leg geometry, actuators and gear ratios for walking robots.
STINKSewer Terrain Inspection Dataset
355 labelled samples from ANYmal in the Zurich sewers, with 18 IMU and force/torque channels each. A professional sewer inspector provided the labels, and a training script is included.
PALPATEPlanetary Soil Impact Dataset
2,600 foot impacts on Martian soil simulants plus 240 recorded with ANYmal, for classifying fine granular soils by touch.