| --- |
| license: other |
| license_name: worldrover-research |
| pretty_name: WorldRover (lite) |
| task_categories: |
| - depth-estimation |
| - robotics |
| tags: |
| - video |
| - panoramic |
| - equirectangular |
| - depth |
| - camera-pose |
| - embodied-ai |
| - world-model |
| - synthetic |
| size_categories: |
| - 100B<n<1T |
| --- |
| |
| # WorldRover |
|
|
| Paired **360-panoramic** and **first-person** video of photoreal 3D environments, with |
| per-frame depth, camera pose and action labels. Four scenes, ~30 min of each view per |
| scene — **129 clips per view, ~4.1 h of video** at 30 fps. |
|
|
| **This repository is the lite subset**: RGB + camera pose + actions + metadata, **no depth** |
| (~103 GB instead of ~800 GB). Lossless 16-bit depth is 87% of the bytes, so it lives in the |
| per-scene repositories — take it only for the scenes you need. |
|
|
| | Scene | Clips per view | Per view | Full repo (with depth) | |
| |---|---|---|---| |
| | med_village | 13 | 32.1 min | [WorldRover-med_village](https://huggingface.co/datasets/xjxu21/WorldRover-med_village) — 270 GB | |
| | paris | 23 | 30.7 min | [WorldRover-paris](https://huggingface.co/datasets/xjxu21/WorldRover-paris) — 152 GB | |
| | venice | 46 | 30.4 min | [WorldRover-venice](https://huggingface.co/datasets/xjxu21/WorldRover-venice) — 154 GB | |
| | art_nouveau | 47 | 30.2 min | [WorldRover-art_nouveau](https://huggingface.co/datasets/xjxu21/WorldRover-art_nouveau) — 164 GB | |
|
|
| ## What makes it paired |
|
|
| `pano/<clip_id>` and `fp/<clip_id>` share the same camera path frame for frame: the first-person |
| clip was rendered from the panoramic clip's per-frame trajectory, so the two |
| `camera_trajectory.csv` files match exactly. That gives the same world state under two very |
| different projections without relying on an interpolated alignment. |
|
|
| Clips are 35 s to 3.5 min of continuous motion — no cuts, no teleports. |
|
|
| ## Tools |
|
|
| ```bash |
| git clone https://github.com/AlayaLab/WorldRover |
| pip install -r WorldRover/requirements.txt |
| ``` |
|
|
| ```python |
| from worldrover import Clip |
| clip = Clip("venice/fp/venice_000003") |
| rgb, depth_m = clip.rgb_frame(100), clip.depth_frame(100) # sRGB uint8; planar metres |
| pts = clip.points_world(100) # world points, centimetres |
| ``` |
|
|
| Three conventions the tools handle for you, and that are easy to get wrong by hand: |
| depth codes are **log-quantized** and store **radial** distance (convert before |
| unprojecting); `camera_trajectory.csv` has `n_frames + 1` rows (the last is the closing |
| keyframe, the authoritative count is `depth/depth.meta.json`); poses are Unreal-style — |
| left-handed, centimetres, X-forward / Y-right / Z-up, camera looking down its own +X. |
|
|
| ## Related |
|
|
| * Collection (all parts in one place): https://huggingface.co/collections/xjxu21/worldrover-6a851193b19350ca6de9f424 |
| * Lite subset (no depth, ~103 GB): https://huggingface.co/datasets/xjxu21/WorldRover |
| * Full per-scene: [med_village](https://huggingface.co/datasets/xjxu21/WorldRover-med_village) · [paris](https://huggingface.co/datasets/xjxu21/WorldRover-paris) · [venice](https://huggingface.co/datasets/xjxu21/WorldRover-venice) · [art_nouveau](https://huggingface.co/datasets/xjxu21/WorldRover-art_nouveau) |
| * Tools: https://github.com/AlayaLab/WorldRover |
|
|
| ## 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 license. Tools are MIT. |
|
|
