FORWARD: Dataset of a forwarder operating in rough terrain
The FORWARD dataset comprises detailed sensor and log data from a Komatsu cut-to-length forwarder, collected during operations in challenging terrain as well as on gravel roads at two Swedish harvest sites. Sensor instrumentation includes RTK-GNSS for precise positioning, a 360-degree camera for visual documentation, operator seat vibration sensors, CAN-bus signal logging, and multiple IMUs mounted on the machine. The dataset provides time-stamped vehicle positions with centimeter-level accuracy, and machine event logs sampled at 5 Hz, covering variables such as driving speed, fuel consumption, and crane activity. Additionally, high resolution terrain data from helicopter-borne laser scanning (1500 points/m²) is included, along with StanForD production log files containing detailed event records for each work session.
Lundbäck, M., Wallin, E., Häggström, C., Nyström, M., Grönlund, A., Richardson, M., ... & Servin, M. (2025). FORWARD: Dataset of a forwarder operating in rough terrain. arXiv preprint arXiv:2511.17318.
Swedish University of Agricultural Sciences
Mistra Digital Forest, a research program funded by the Swedish Foundation for Strategic Environmental Research (Mistra) and the Swedish forestry industry
Explainable, Safe, Contact-Aware Planning and Control for Heavy Machinery Manipulation and Navigation (XSCAVE)
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-25/MRV_20231025_102417_terrain_test_circuits.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_085807_terrain_test_circuit.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_094210_terrain_test_circuit.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_101927_crane_mounted_camera.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_101938_crane_mounted_camera.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_102636_crane_mounted_camera.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_111728_details_machine.jpg
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Photos/2023-10-26/MRV_20231026_111949_details_machine.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/d58f2c49-cbdc-493b-b4b9-39c91bdeda20.mp4
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/dae/poly.dae
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly_0_occl_r8bVDVn1.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly_0_r8bVDVn1.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/8c5b96d7-f5fe-45fe-87f3-54faa7295c27.mp4
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data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_norm_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_occl_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly_0_OLjGkbdX.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/poly.zip
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Flat_terrain_striproad_2023-10-25/rocks only/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/6ede3483-a136-4935-844f-a09a00e91636.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_norm_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly_0_occl_bzy9AnaD.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpile_obstacle_2023-10-24/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/46519ba3-2531-4f95-b808-5416a7dcaebf.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_norm_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_occl_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly_0_xU6ha5g7.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.00/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/d0a83adc-d0f9-4f52-b226-e0e9a4a6e052.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_norm_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly_0_occl_kVIYQXSH.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.01/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/bae04217-9fda-4085-a59a-fc65e685b59b.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_norm_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_occl_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly_0_OdnXF9yq.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.04/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/80d6e2a2-9c29-4b04-b634-233407eff9f9.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/dae/poly.dae
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_norm_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_occl_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly_0_peizVrNs.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly.mtl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/obj/poly.obj
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/point_cloud.laz
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/poly.fbx
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/poly.stl
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.06/raw.glb
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/42777ab3-f576-4e63-8cc7-d6dba7f1b01b.mp4
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly_texture_0001.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly_texture_0002.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly_texture_0003.jpg
data/Digital Physics - FORWARD_dataset/2023_Marrviken/Polycam_3d_scanned_objects/Logpiles_along_striproad/2023-10-26_10.08/dae/poly.dae
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