WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions
Paper • 2610.18826 • Published • 2
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: CastError
Message: Couldn't cast
schema_version: string
generated_at: timestamp[s]
repository: string
contains_ground_truth: bool
visibility: string
datasets: struct<agibot: struct<episode_count: int64, tasks: struct<hangtowel: struct<count: int64, episodes: (... 2278 chars omitted)
child 0, agibot: struct<episode_count: int64, tasks: struct<hangtowel: struct<count: int64, episodes: list<item: stri (... 560 chars omitted)
child 0, episode_count: int64
child 1, tasks: struct<hangtowel: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<epi (... 523 chars omitted)
child 0, hangtowel: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
child 1, pickfruit: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
...
omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
child 2, pourwater: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
storage_format: struct<type: string, compression: string, layout: string, archive_count: int64>
child 0, type: string
child 1, compression: string
child 2, layout: string
child 3, archive_count: int64
episode_count: int64
contains_ground_truth_target_video: bool
remote_path: string
to
{'schema_version': Value('string'), 'generated_at': Value('timestamp[s]'), 'repository': Value('string'), 'remote_path': Value('string'), 'contains_ground_truth_target_video': Value('bool'), 'episode_count': Value('int64'), 'datasets': {'agibot': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'yam': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'human_hand': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'policy': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}}}}}
because column names don't match
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
schema_version: string
generated_at: timestamp[s]
repository: string
contains_ground_truth: bool
visibility: string
datasets: struct<agibot: struct<episode_count: int64, tasks: struct<hangtowel: struct<count: int64, episodes: (... 2278 chars omitted)
child 0, agibot: struct<episode_count: int64, tasks: struct<hangtowel: struct<count: int64, episodes: list<item: stri (... 560 chars omitted)
child 0, episode_count: int64
child 1, tasks: struct<hangtowel: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<epi (... 523 chars omitted)
child 0, hangtowel: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
child 1, pickfruit: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
...
omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
child 2, pourwater: struct<count: int64, episodes: list<item: string>, archives: list<item: struct<episode: string, path (... 41 chars omitted)
child 0, count: int64
child 1, episodes: list<item: string>
child 0, item: string
child 2, archives: list<item: struct<episode: string, path: string, bytes: int64, sha256: string>>
child 0, item: struct<episode: string, path: string, bytes: int64, sha256: string>
child 0, episode: string
child 1, path: string
child 2, bytes: int64
child 3, sha256: string
storage_format: struct<type: string, compression: string, layout: string, archive_count: int64>
child 0, type: string
child 1, compression: string
child 2, layout: string
child 3, archive_count: int64
episode_count: int64
contains_ground_truth_target_video: bool
remote_path: string
to
{'schema_version': Value('string'), 'generated_at': Value('timestamp[s]'), 'repository': Value('string'), 'remote_path': Value('string'), 'contains_ground_truth_target_video': Value('bool'), 'episode_count': Value('int64'), 'datasets': {'agibot': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'yam': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'human_hand': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pulldrawer': {'count': Value('int64'), 'episodes': List(Value('string'))}}}, 'policy': {'episode_count': Value('int64'), 'tasks': {'hangtowel': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pickfruit': {'count': Value('int64'), 'episodes': List(Value('string'))}, 'pourwater': {'count': Value('int64'), 'episodes': List(Value('string'))}}}}}
because column names don't matchNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
WorldOracle Validation Ground Truth
This private dataset contains the frozen validation split and its ground-truth data for WorldOracle. It must remain private until the benchmark release and data-access policy have been approved.
The data is stored as one uncompressed tar archive per episode. This keeps the
repository resumable and avoids hundreds of thousands of individual Hub files.
Extract an episode with tar -xf <episode>.tar -C <destination>.
Platforms
| Platform | Episodes |
|---|---|
| AgiBot | 20 |
| YAM | 15 |
| Human Hand | 20 |
| Policy | 12 |
| Total | 67 |
validation_manifest.json is the canonical inventory. It records the path,
size and SHA-256 of every episode archive. SHA256SUMS covers all repository
files except itself.
License and Citation
All data in this repository are licensed under CC BY-NC-SA 4.0. If you find our benchmark useful in your research, please consider citing our work.
@article{duan2026worldoracle,
title={WorldOracle: Benchmarking Action-Conditioned World Models against Real-World Executions},
author={Duan, Haoyi and Chen, Liliang and Wang, Nan and Zhang, Yang and Lu, Yuhang and Chen, Xiaotong and Tseng, Wei-Cheng and Gao, Shenyuan and Li, Zhaoshuo and Jin, Jingyi and others},
journal={arXiv preprint arXiv:2610.18826},
year={2026}
}
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