OneOcean Environment Dataset

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