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pretty_name: TriWorldBench Dataset
tags:
- benchmark
- embodied-ai
- world-model
- robotics
- evaluation
---
# TriWorldBench Dataset
Welcome to TriWorldBench, a benchmark for evaluating triple-view embodied world models.
- Benchmark homepage: [https://www.triworldbench.com](https://www.triworldbench.com)
- Benchmark code repository: [TriWorldBench/TriWorldBench](https://github.com/TriWorldBench/TriWorldBench)
## Overview
TriWorldBench evaluates world models from three synchronized robot views: head,
left wrist, and right wrist. The benchmark focuses on whether a model can generate
one coherent robot world across all three cameras while preserving task alignment,
physical and 3D coherence, motion quality, temporal consistency, and visual quality.
## Released Files
This Hugging Face dataset provides two compressed dataset bundles:
- `test_dataset`: the official 500-episode test set for leaderboard submission.
- `val_dataset`: a 100-episode validation bundle for local development and quick evaluation.
## `test_dataset` Structure
After extraction, the official test dataset is organized as:
```text
test_dataset/
+-- data/
| +-- episode1.hdf5
| +-- episode2.hdf5
| +-- ...
| +-- episode500.hdf5
+-- first_frame/
| +-- episode1_head.jpg
| +-- episode1_left.jpg
| +-- episode1_right.jpg
| +-- ...
| +-- episode500_right.jpg
+-- instructions/
+-- episode1.json
+-- episode2.json
+-- ...
+-- episode500.json
```
The test set contains 500 episodes indexed from `episode1` to `episode500`.
For each episode, `data/episodeN.hdf5` contains the trajectory/action sequence,
`first_frame/` provides the initial 320x240 observations for the head, left wrist,
and right wrist cameras, and `instructions/episodeN.json` contains the task instruction.
Participants should run their models on this test set and submit generated videos
for all three views: `head.mp4`, `left.mp4`, and `right.mp4`.
## `val_dataset` Structure
The validation bundle contains 100 episodes derived from RoboTwin2.0, together
with the corresponding ground-truth data and processed state annotations.
After extraction, it is organized as:
```text
val_dataset/
+-- test_dataset/
| +-- data/
| +-- first_frame/
| +-- instructions/
+-- STATE/
| +-- episode*.json
+-- gt_dataset/
+-- episode*/
```
The `val_dataset/test_dataset` folder provides the same type of model inputs as
the official test set. The bundled `gt_dataset` and `STATE` folders are already
formatted for the TriWorldBench evaluation code. Matching VQA question annotations
for this validation set are included in the benchmark code repository under
`metrics/VQA/qa_val/`.
## Evaluation and Submission
Please refer to the benchmark homepage and code repository for environment setup,
inference, evaluation, and leaderboard submission instructions.
|