DATASET_SOURCES.md

Dataset Sources and Attribution

Worldscape-MoE is a curated multi-control training collection. Files are renamed with stable hashes and metadata paths are rewritten relative to the dataset root.

Camera control

The released camera subset contains 5,000 RealEstate10K (RE10K) samples paired with processed 81-frame camera trajectories.

• Project: https://google.github.io/realestate10k/
• Paper: https://arxiv.org/abs/1810.00444

Please cite RealEstate10K when using the camera subset and follow the upstream dataset's source and usage terms.

Dual-arm control

The dual-arm subset contains robot videos and aligned 14-dimensional joint actions curated for Worldscape-MoE.

Hand/action-map control

The action-map subset contains target videos paired with dense interaction control videos curated for Worldscape-MoE.

LIBERO single-arm control

The LIBERO subset contains deterministic training windows derived from LIBERO robot-manipulation trajectories.

• Project: https://github.com/Lifelong-Robot-Learning/LIBERO
• Paper: https://arxiv.org/abs/2306.03310

LIBERO project attribution is retained for this derived subset.

Worldscape-MoE release

The released selection, metadata normalization, path rewriting, deduplication, and action-window construction were produced for Worldscape-MoE by EmbodiedCity. Cite the Worldscape-MoE repository when using this packaged collection:

https://github.com/EmbodiedCity/Worldscape-MoE.code