---
license: mit
language:
- en
task_categories:
- robotics
tags:
- robotics
- embodied-ai
- world-models
- action-conditioned-video-generation
- robotwin
- libero
pretty_name: WorldSimProbe Public Evaluation Inputs
size_categories:
- 10K<n<100K
configs:
- config_name: robotwin
  data_files:
  - split: test
    path: robotwin/public_samples.jsonl
- config_name: libero
  data_files:
  - split: test
    path: libero/public_samples.jsonl
---

# WorldSimProbe Public Evaluation Inputs

This is the public input release for WorldSimProbe, an action-conditioned video
generation benchmark for embodied world models. It contains separate,
self-contained evaluation packages for RoboTwin and LIBERO.

Ground-truth videos, evaluator annotations, simulator outcomes, private ID maps,
and task-specific hidden labels are intentionally excluded. The official
evaluator holds those materials separately.

Project page: https://evophys.com/WorldSimProbe/

## Choose a backend

| Backend | Directory | Samples | Context resolution | Action space | Action rate | Output video |
| --- | --- | ---: | --- | --- | ---: | --- |
| RoboTwin | [`robotwin/`](robotwin/) | 5,498 | 320 x 240 | 14D dual-arm joint targets | 10 Hz | 10 FPS |
| LIBERO | [`libero/`](libero/) | 6,300 | 256 x 256; Task 3 is 224 x 224 | 7D OSC pose | 20 Hz | 10 FPS |

Each backend directory includes its own:

- `README.md` with the complete generation contract;
- `public_samples.jsonl` manifest;
- strict `public_samples.schema.json`;
- release audit in `public_samples.validation.json`;
- initial-context PNGs under `assets/context/`; and
- action trajectories under `actions/`.

Use the backend README as the authoritative data contract. Do not mix action
spaces, cameras, resolutions, or action rates across backends.

## Common public row contract

Both manifests use the same compact public shape:

```json
{
  "schema_version": "worldsimprobe.public_sample.v1",
  "sample_id": "wsp_<opaque id>",
  "task_id": "task1|task2|task3|task4|task5",
  "model_input": {
    "instruction": "...",
    "camera": "...",
    "context_frames": [{"path": "...", "role": "initial", "frame_index": 0, "timestamp_sec": 0.0}],
    "eval_timestamps_sec": [0.0, 0.1, 0.2],
    "timing": {"action_hz": 10.0, "video_fps": 10.0, "timebase": "seconds_from_initial_frame"},
    "action_trajectory": {"path": "...", "format": "npy", "dtype": "float32", "shape": [3, 14]}
  }
}
```

The example is illustrative. Backend schemas define the exact camera, action
dimension, timing, paths, and required fields. Task 1 additionally supplies the
three action roles `original`, `small`, and `large`.

## Generation and submission

For every public row:

1. Load the instruction, single initial-context image, and required action
   trajectory.
2. Generate the complete horizon at the row's requested output timestamps.
3. For Task 1, submit `original`, `small`, and `large` videos. For Tasks 2-5,
   submit one `candidate` video.
4. Produce one generation per required sample/role.
5. Preserve the opaque `sample_id` exactly in the submission manifest.

Use MP4/H.264 output for maximum compatibility. Validate submissions with the
public [WorldSimProbe toolkit](https://github.com/petersonco/WorldSimProbe)
before evaluation.

## Loading from Hugging Face

The repository exposes two dataset configurations:

```python
from datasets import load_dataset

robotwin = load_dataset(
    "petersonco/worldsimprobe",
    "robotwin",
    split="test",
)
libero = load_dataset(
    "petersonco/worldsimprobe",
    "libero",
    split="test",
)
```

For video generation, download the full selected backend directory so the
relative PNG and NPY paths resolve locally.

## Integrity and privacy

Both packages use opaque identifiers and strict schemas that reject unknown
fields. Their validation reports verify manifest hashes, action shapes and
dtypes, image decoding, asset closure, and the absence of internal paths and
private evaluator fields.

No raw episode IDs, reference videos, reference HDF5 files, primitive labels,
simulator success values, or provenance paths are included.

## License and attribution

WorldSimProbe release materials are provided under the MIT License. Each
backend directory documents applicable upstream attribution and third-party
notices. See [`LICENSE`](LICENSE) and the backend READMEs before redistribution.