| --- |
| license: other |
| license_name: worldrover-research |
| pretty_name: WorldRover style variants |
| task_categories: |
| - depth-estimation |
| - robotics |
| tags: |
| - video |
| - depth |
| - camera-pose |
| - embodied-ai |
| - world-model |
| - synthetic |
| - relighting |
| - domain-randomization |
| size_categories: |
| - 100B<n<1T |
| --- |
| |
| # WorldRover-styles |
|
|
| **The same camera path rendered under six different treatments.** 200 first-person |
| trajectories across four scenes, each re-rendered as up to six variants — so the geometry, |
| motion and action labels are held fixed while lighting, weather and material appearance |
| change. 1000 clips, ~48 h of video at 30 fps, ~818 GB. |
|
|
| | Variant | Scenes | Clips | What changes | Per clip | |
| |---|---|---|---|---| |
| | `first_person` | all 4 | 200 | the reference render | rgb + depth + pose + actions | |
| | `white_model` | all 4 | 200 | untextured white shading — pure geometry | rgb only | |
| | `goldenhour` | 3 | 150 | low warm sun | rgb only | |
| | `night` | 3 | 150 | night lighting | rgb only | |
| | `snow` | 3 | 150 | snow cover + overcast | rgb only | |
| | `storm` | 3 | 150 | storm sky + wet surfaces | rgb only | |
|
|
| `goldenhour` / `night` / `snow` / `storm` cover med_village, paris and venice; art_nouveau is |
| an interior set and ships `first_person` + `white_model` only. |
|
|
| | Scene | Base trajectories | Median clip | Range | Video per variant | |
| |---|---|---|---|---| |
| | med_village | 50 | 3 min 29 s | 41 s – 6 min 45 s | 3.01 h | |
| | venice | 50 | 2 min 54 s | 1 min 07 s – 6 min 43 s | 2.66 h | |
| | paris | 50 | 1 min 54 s | 49 s – 5 min 15 s | 1.80 h | |
| | art_nouveau | 50 | 1 min 32 s | 14 s – 5 min 00 s | 1.39 h | |
|
|
| ## Layout |
|
|
| ``` |
| <scene>/first_person/<clip_id>/ pinhole 1280x720, 30 fps |
| rgb.mp4 depth/depth.mkv depth/depth.meta.json |
| camera_trajectory.csv description.json gamepad_format/ trajectory.png |
| <scene>/<variant>/<clip_id>/rgb.mp4 same path, same frame count, different look |
| style_grids/batch_grid_<scene>_<variant>.mp4 contact-sheet previews (64 videos) |
| ``` |
|
|
| A variant clip shares its `<clip_id>` with the `first_person` clip, so the pose, depth and |
| action labels from `first_person/<clip_id>` apply to every variant of it unchanged. |
|
|
| ## Conventions |
|
|
| * **Read the depth pixel format from each clip's `depth/depth.meta.json` — this batch is not |
| uniform.** 197 of the 200 clips are `FFV1 / gbrp16le` with the code in the **R** channel |
| (G = B = 0); three art_nouveau clips — `an725_navmesh_000005`, `an_react_000022`, |
| `an_react_000037` — are single-plane `FFV1 / gray16le` instead. Every clip's |
| `depth.meta.json` states its own format correctly (verified against the files), so read it |
| rather than assuming. [WorldRover-6scenes](https://huggingface.co/datasets/AlayaLab/WorldRover-6scenes) |
| is uniformly `gray16le`. The quantization is identical either way: |
| `depth_m = exp(code/65535 * (log 200 − log 0.1) + log 0.1)`, radial distance. |
| * `camera_trajectory.csv` has one row more than the video has frames; the authoritative count |
| is `depth/depth.meta.json`. |
| * Poses are Unreal-style: left-handed, centimetres, X-forward / Y-right / Z-up. |
|
|
| ## 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-styles/venice/first_person/fix_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. |
|
|
| The style variants hold only `rgb.mp4`; point `Clip` at the matching `first_person` |
| clip for that trajectory's depth, pose and action labels. |
|
|
| ## Related |
|
|
| * [WorldRover-preview](https://huggingface.co/datasets/AlayaLab/WorldRover-preview) — the original release as a lite subset (no depth) |
| * [Collection](https://huggingface.co/collections/AlayaLab/worldrover-6ab4ee625ea9252fbae26a66) — every part in one place |
| * [WorldRover-6scenes](https://huggingface.co/datasets/AlayaLab/WorldRover-6scenes) — paired |
| 360° panoramic + first-person, six scenes, 7.6 TB |
|
|
| ## 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. |
|
|
