| --- |
| license: other |
| license_name: worldrover-research |
| pretty_name: WorldRover (preview) |
| task_categories: |
| - depth-estimation |
| - robotics |
| tags: |
| - video |
| - panoramic |
| - equirectangular |
| - depth |
| - camera-pose |
| - embodied-ai |
| - world-model |
| - synthetic |
| size_categories: |
| - 100B<n<1T |
| --- |
| |
| # WorldRover-preview |
|
|
| Long, continuous camera paths through photoreal 3D environments, rendered with **per-frame |
| metric depth, camera pose and action labels** — and, where it matters, rendered **more than |
| once along the same path**, so you can hold geometry and motion fixed while the projection or |
| the lighting changes. |
|
|
| This repository is the **original preview release**, as a lite subset: RGB, camera pose, |
| actions and metadata for four scenes, **without depth** (depth is 87% of the bytes). The |
| rest of the data lives in the repositories below — see the [collection](https://huggingface.co/collections/AlayaLab/worldrover-6ab4ee625ea9252fbae26a66) for all |
| parts in one place. |
|
|
| ## Parts |
|
|
| | Repository | What it is | Scenes | Clips | Video | Size | |
| |---|---|---|---|---|---| |
| | **this repo** (`WorldRover-preview`) | lite: paired panoramic + first-person, RGB + pose + actions, **no depth** | 4 | 129 per view | 4.1 h per view | 103 GB | |
| | [**WorldRover-6scenes**](https://huggingface.co/datasets/AlayaLab/WorldRover-6scenes) | paired 360° panoramic + first-person, **with lossless depth** | 6 | 600 per view | 18.9 h per view | 7.6 TB | |
| | [**WorldRover-styles**](https://huggingface.co/datasets/AlayaLab/WorldRover-styles) | one trajectory set re-rendered under 6 lighting/style treatments | 4 | 1000 | 48 h | 818 GB | |
| | [med_village](https://huggingface.co/datasets/AlayaLab/WorldRover-med_village) · [paris](https://huggingface.co/datasets/AlayaLab/WorldRover-paris) · [venice](https://huggingface.co/datasets/AlayaLab/WorldRover-venice) · [art_nouveau](https://huggingface.co/datasets/AlayaLab/WorldRover-art_nouveau) | the original release, full depth, one repo per scene | 1 each | 13–47 per view | ~30 min per view | 169–334 GB | |
|
|
| **Start with `WorldRover-6scenes`** unless you specifically want the original four-scene |
| release or the style variants — it is the largest, newest and most complete part. |
|
|
| ## The two kinds of pairing |
|
|
| **Same path, two projections** (`WorldRover-6scenes`, and this preview repo). `pano/<clip_id>` and |
| `fp/<clip_id>` are the same camera path: the first-person clip is rendered from the panoramic |
| clip's per-frame trajectory, so the two `camera_trajectory.csv` files agree row for row and only |
| the intrinsics differ (360°/0 mm equirect vs 65.5°/28 mm pinhole). No interpolated alignment is |
| involved. |
|
|
| **Same path, six appearances** (`WorldRover-styles`). Each trajectory is rendered as a reference |
| first-person clip plus up to five variants — untextured white model, golden hour, night, snow, |
| storm — frame-aligned, so the depth, pose and action labels of the reference clip apply to every |
| variant of it unchanged. |
|
|
| ## What a clip contains |
|
|
| ``` |
| rgb.mp4 H.264, 30 fps |
| depth/depth.mkv FFV1 16-bit, lossless, log-quantized radial depth |
| depth/depth.meta.json near/far, authoritative frame count, decode formula |
| camera_trajectory.csv per-frame world pose + intrinsics |
| description.json scene, asset pack, licence, trajectory summary, render settings |
| gamepad_format/ action labels (axis events + timeline) |
| trajectory.png top-down path plot |
| ``` |
|
|
| Clips are 11 s to 8.5 min of continuous motion — no cuts, no teleports. |
|
|
| ## Conventions that are easy to get wrong |
|
|
| * **Depth is log-quantized and radial**: `depth_m = exp(code/65535 * (log 200 − log 0.1) + log 0.1)`, |
| and the value is distance along the ray, not along the optical axis. Convert before unprojecting. |
| The pixel format is **not the same everywhere**: `WorldRover-6scenes` is uniformly |
| `gray16le`, while `WorldRover-styles` is mostly `gbrp16le` with the code in the **R** channel |
| (three art_nouveau clips excepted). Each clip's `depth/depth.meta.json` names its own format |
| — read it instead of assuming. |
| * **Frame counts**: `camera_trajectory.csv` has one row more than the video has frames (the last |
| row is the closing keyframe). The authoritative count is `depth/depth.meta.json`. |
| * **Poses are Unreal-style**: left-handed, centimetres, X-forward / Y-right / Z-up, camera looking |
| down its own +X. |
| * **Panoramic frames are equirectangular**: a rectangular crop is *not* a perspective view. |
| Reproject before comparing one against a first-person clip. |
|
|
| ## Tools |
|
|
| ```bash |
| git clone https://github.com/AlayaLab/WorldRover |
| pip install -r WorldRover/tools/requirements.txt # numpy, opencv-python; ffmpeg/ffprobe on PATH |
| cd WorldRover/tools # the package is not pip-installable yet |
| ``` |
|
|
| ```python |
| from worldrover import Clip |
| |
| clip = Clip("/data/WorldRover-6scenes/venice/fp/venice_000000") |
| rgb = clip.rgb_frame(100) # uint8 (H, W, 3), sRGB |
| depth_m = clip.depth_frame(100) # planar depth in metres |
| pts = clip.points_world(100) # world points, centimetres |
| poses = clip.poses # per-frame pose + intrinsics |
| ``` |
|
|
| `Clip` takes a filesystem path to a clip directory. The reader takes the depth pixel format |
| from that clip's own `depth/depth.meta.json`, so it handles both encodings used across these |
| repositories, and it converts radial depth and the off-by-one trajectory row for you. |
|
|
| ## License |
|
|
| Rendered video, depth, camera pose and action labels are released for research use. The |
| underlying 3D environments are third-party commercial assets, are **not** redistributed here, |
| and each clip's `description.json` records its asset pack and licence. Tools are MIT. |
|
|
