| --- |
| license: other |
| license_name: worldrover-research |
| pretty_name: WorldRover 6-scene paired panoramic + first-person |
| task_categories: |
| - depth-estimation |
| - robotics |
| tags: |
| - video |
| - panoramic |
| - equirectangular |
| - depth |
| - camera-pose |
| - embodied-ai |
| - world-model |
| - synthetic |
| size_categories: |
| - n>1T |
| --- |
| |
| # WorldRover-6scenes |
|
|
| **600 camera paths through six photoreal 3D environments, each rendered twice** — once as a |
| 360° panorama, once as a first-person pinhole view — with per-frame metric depth, camera pose |
| and action labels. 1200 clips, **18.9 h of video per view** (37.9 h total) at 30 fps, 2.05 M |
| frames per view, ~7.6 TB. |
|
|
| | Scene | Clips per view | Median clip | Range | Video per view | |
| |---|---|---|---|---| |
| | med_village | 100 | 2 min 17 s | 30 s – 6 min 40 s | 4.54 h | |
| | venice | 100 | 1 min 42 s | 21 s – 8 min 32 s | 4.19 h | |
| | apartment | 100 | 1 min 39 s | 29 s – 3 min 00 s | 2.91 h | |
| | paris | 100 | 1 min 39 s | 37 s – 3 min 00 s | 2.86 h | |
| | office | 100 | 1 min 15 s | 16 s – 3 min 01 s | 2.25 h | |
| | art_nouveau | 100 | 1 min 01 s | 11 s – 4 min 07 s | 2.19 h | |
|
|
| ## Layout |
|
|
| ``` |
| <scene>/pano/<clip_id>/ equirectangular 4096x2048 |
| <scene>/fp/<clip_id>/ pinhole 1280x720, hfov 65.5 deg (28 mm on a 36 mm sensor) |
| rgb.mp4 H.264, 30 fps |
| depth/depth.mkv FFV1 gray16le, lossless, log-quantized radial depth |
| depth/depth.meta.json near/far, frame count, decode formula |
| camera_trajectory.csv per-frame world pose + intrinsics |
| description.json scene, asset pack, licence, trajectory summary, render settings |
| gamepad_format/ action labels (axis events + timeline) |
| trajectory.png top-down path plot (fp only) |
| ``` |
|
|
| ## Paired, frame for frame |
|
|
| `pano/<clip_id>` and `fp/<clip_id>` are the **same camera path**: the first-person clip is |
| rendered from the panoramic clip's per-frame trajectory, so the two `camera_trajectory.csv` |
| files agree row for row (only `hfov_deg`/`focal_length_mm` differ — 360°/0 mm for the |
| equirect camera, 65.47°/28 mm for the pinhole). You get the same world state under two very |
| different projections without an interpolated alignment. |
|
|
| Clips are 11 s to 8.5 min of continuous motion — no cuts, no teleports. |
|
|
| ## Conventions that are easy to get wrong |
|
|
| * **Depth is log-quantized and radial.** `depth_m = exp(gray/65535 * (log 200 − log 0.1) + log 0.1)`, |
| and the value is distance along the ray, not along the optical axis — convert before unprojecting. |
| * **Frame counts.** `camera_trajectory.csv` has one row more than the video has frames (the |
| last row 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. |
| * **Panoramic frames are equirectangular.** A rectangular crop is *not* a perspective view — |
| reproject before comparing against the first-person clip. |
|
|
| ## Render provenance |
|
|
| `description.json` records the exact render path per clip, and it is **not identical across |
| scenes**. Five scenes (med_village, venice, office, apartment, art_nouveau) were rendered in |
| two rounds — `MPPC_RGBOnly` then `MPPC_DepthPlus` — and stitched with a Lanczos kernel, so |
| `render.mppc` is an object with `rgb`/`depth` keys. **paris** was re-rendered later through a |
| corrected single-pass path (`MPPC_VelocityDepthPlus` with the extra pass dropped, linear-HDR |
| output, fixed exposure, linear stitch kernel), so its `render.mppc` is a plain string and its |
| `render.cube` additionally carries `fixed_ev` and `tm_comp`. |
|
|
| The reason for the paris re-render: a Lanczos resampling kernel has negative lobes, which on |
| high-contrast sky/architecture boundaries interpolate linear HDR below zero; clamping to zero |
| left a one-pixel pure-black rim along building silhouettes. Switching to a linear kernel took |
| sky edges with undershoot from 15.5% to 3.4% — below the 6.1% baseline of the cube faces |
| themselves. Per-frame auto-exposure was replaced with a fixed value at the same time, so |
| brightness no longer drifts with what happens to be in view. |
|
|
| ## Tools |
|
|
| ```bash |
| git clone https://github.com/AlayaLab/WorldRover |
| pip install -r WorldRover/tools/requirements.txt # numpy, opencv-python; ffmpeg/ffprobe on PATH |
| cd WorldRover/tools # the package is not pip-installable yet |
| ``` |
|
|
| ```python |
| from worldrover import Clip |
| |
| clip = Clip("/data/WorldRover-6scenes/venice/fp/venice_000000") |
| rgb = clip.rgb_frame(100) # uint8 (H, W, 3), sRGB |
| depth_m = clip.depth_frame(100) # planar depth in metres |
| pts = clip.points_world(100) # world points, centimetres |
| poses = clip.poses # per-frame pose + intrinsics |
| ``` |
|
|
| `Clip` takes a filesystem path to a clip directory. The reader takes the depth pixel format |
| from that clip's own `depth/depth.meta.json`, so it handles both encodings used across these |
| repositories, and it converts radial depth and the off-by-one trajectory row for you. |
|
|
| ## Related |
|
|
| * [WorldRover-preview](https://huggingface.co/datasets/AlayaLab/WorldRover-preview) — the original release as a lite subset (no depth) |
| * [Collection](https://huggingface.co/collections/AlayaLab/worldrover-6ab4ee625ea9252fbae26a66) — every part in one place |
| * [WorldRover-styles](https://huggingface.co/datasets/AlayaLab/WorldRover-styles) — the same |
| kind of trajectories re-rendered under six lighting/style treatments |
|
|
| ## 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 licence. Tools are MIT. |
|
|
