---
annotations_creators:
- machine-generated
language:
- en
language_creators:
- machine-generated
license: mit
task_categories:
- robotics
- reinforcement-learning
- video-to-video
task_ids:
- grasping
- task-planning
tags:
- world-model
- simulator
- friction
- contact-dynamics
- physics-simulation
- dynamics-prediction
pretty_name: DreamerBench
size_categories:
- n<1K
---

# Dataset Card for DreamerBench

## Table of Contents
- [Dataset Description](#dataset-description)
  - [Dataset Summary](#dataset-summary)
  - [Supported Tasks and Leaderboards](#supported-tasks-and-leaderboards)
  - [Languages](#languages)
- [Dataset Structure](#dataset-structure)
  - [Data Instances](#data-instances)
  - [Data Fields](#data-fields)
  - [Data Splits](#data-splits)
- [Dataset Creation](#dataset-creation)
  - [Curation Rationale](#curation-rationale)
  - [Source Data](#source-data)
  - [Personal and Sensitive Information](#personal-and-sensitive-information)
- [Considerations for Using the Data](#considerations-for-using-the-data)
  - [Social Impact of Dataset](#social-impact-of-dataset)
  - [Discussion of Biases](#discussion-of-biases)
  - [Other Known Limitations](#other-known-limitations)
- [Additional Information](#additional-information)
  - [Dataset Curators](#dataset-curators)
  - [Licensing Information](#licensing-information)
  - [Citation Information](#citation-information)

## Dataset Description

- **Homepage:** [TODO: Link to project website or repository]
- **Repository:** https://github.com/uwsbel/ChronoDreamer
- **Paper:** [TODO: Link to arXiv paper if available]
- **Point of Contact:** Json Zhou, zzhou292@wisc.edu

### Dataset Summary

**DreamerBench** is a large-scale dataset designed for training and evaluating **World Models** in robotics applications. Unlike standard visual-only datasets, DreamerBench explicitly focuses on physical interaction dynamics, specifically **friction** and **contact data**.

The dataset is generated using Project Chrono (https://projectchrono.org/), simulating diverse robotic interaction scenarios where precise modeling of physical forces is critical. It includes pre-computed **encodings** to facilitate efficient training of latent dynamics models.

Key features:
* **Physical Fidelity:** detailed ground-truth annotations for coefficient of friction, contact forces, and slip.
* **Multi-Modal:** Contains visual observations (RGB/Depth), proprioceptive states, and explicit physics parameters.
* **World Model Ready:** Structured to support next-step prediction and imaginary rollout training (Dreamer-style architectures).

### Supported Tasks and Leaderboards

* **World Modeling / Dynamics Learning:** Training models to predict future states ($s_{t+1}$) given current state ($s_t$) and action ($a_t$).
* **Offline Reinforcement Learning:** Learning policies from the provided simulator trajectories without active environmental interaction.
* **Sim-to-Real Adaptation:** Using the varied friction/contact parameters to train robust policies that generalize to real-world physics.

## Dataset Structure

### Data Instances

Each instance in the dataset represents a **trajectory** or **episode** of a robot interacting with the environment.

**Example structure (JSON/Parquet format):**

```json
{
  "episode_id": "traj_001",
  "steps": 1000,
  "observations": {
    "rgb": [Array of (1000, 64, 64, 3) images],
    "depth": [Array of (1000, 64, 64, 1) images],
    "proprioception": [Array of joint angles/velocities]
  },
  "actions": [Array of control inputs],
  "rewards": [Array of float scalars],
  "physics_data": {
    "contact_forces": [Array of 3D force vectors],
    "friction_coefficient": 0.8,
    "contact_detected": [Binary array]
  },
  "encoding": [Pre-computed latent vectors, e.g., VAE or RSSM states]
}
```

**Example scenarios:**
<h3>Visual Data Samples</h3>
<p>Examples of 3 scenarios across 4 different camera angles (256x256).</p>

<table>
  <thead>
    <tr>
      <th style="text-align: center">Scenario</th>
      <th style="text-align: center">Ego</th>
      <th style="text-align: center">Side 1</th>
      <th style="text-align: center">Side 2</th>
      <th style="text-align: center">Contact Splat</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <td style="vertical-align: middle; font-weight: bold;">flashlight-box</td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen1_cam1.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen1_cam2.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen1_cam3.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen1_cam4.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
    </tr>
    <tr>
      <td style="vertical-align: middle; font-weight: bold;">flashlight-coca</td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen2_cam1.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen2_cam2.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen2_cam3.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen2_cam4.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
    </tr>
    <tr>
      <td style="vertical-align: middle; font-weight: bold;">waterbottle-coca</td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen3_cam1.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen3_cam2.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen3_cam3.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
      <td>
        <video src="https://huggingface.co/datasets/YOUR_USERNAME/DreamerBench/resolve/main/videos/scen3_cam4.mp4" autoplay loop muted playsinline width="256px"></video>
      </td>
    </tr>
  </tbody>
</table>