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README.md

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+---
+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>` are the **same camera path**, frame for frame: the
+first-person clip was rendered from the panoramic clip's own per-frame trajectory, and the
+two `camera_trajectory.csv` files agree to **0.000000 cm / deg** — not merely to a
+tolerance. That gives the same world state under two very different projections without
+having to trust 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.