Scaling Datasets for Multi-Sensor, Multi-Agent, and Multi-Domain Learning in Autonomous Systems
R. Spencer Hallyburton, David Hunt, Miroslav Pajic
Abstract
Existing datasets cannot support large-scale learning in multi-agent, multi-sensor, or multi-domain autonomy, where diversity and coordination are essential. We present a modular dataset generation pipeline that creates terabyte-scale, ground-truth-labeled data for ground, aerial, and infrastructure-based systems using the AVstack framework and CARLA simulator. Supporting single- and multi-agent configurations with flexible sensor suites, the pipeline enables controllable experimentation across challenging conditions. Representative perception and fusion studies show how generated data can support application-specific training and collaborative autonomy.
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Classified with taxonomy v2 on Wed, 2 Sept 2026.