Datasets:

AlayaLab
/

WorldRover-paris

license: other
license_name: worldrover-research
pretty_name: WorldRover — paris
task_categories:
  - depth-estimation
  - robotics
tags:
  - video
  - panoramic
  - equirectangular
  - depth
  - camera-pose
  - embodied-ai
  - world-model
  - synthetic
size_categories:
  - 100B<n<1T

WorldRover — paris

Parisian city blocks, outdoor. 23 clips per view, 30.7 min each of panoramic and first-person video, 30 fps, with lossless per-frame depth, camera pose and action labels.

pano/<clip_id> and fp/<clip_id> share the same camera path: the first-person clip was rendered from the panoramic clip's per-frame trajectory, so frame k of one is frame k of the other and the two pose files match exactly.


Clips	23 per view (46 total)
Duration	30.7 min per view
Panoramic	4096x2048 equirectangular — 18 GB rgb + 134 GB depth
First person	1280x720 pinhole, hfov 65.5 deg — ~15 GB

paris/
  pano/<clip_id>/  rgb.mp4  depth/{depth.mkv,depth.meta.json}
                   camera_trajectory.csv  description.json
                   gamepad_format/  trajectory.png
  fp/<clip_id>/    (same structure)

Tools

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

from worldrover import Clip
clip = Clip("/data/WorldRover-paris/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.

Collection (all parts in one place): https://huggingface.co/collections/AlayaLab/worldrover-6ab4ee625ea9252fbae26a66
Preview release, lite subset (no depth, ~103 GB): https://huggingface.co/datasets/AlayaLab/WorldRover-preview
Full per-scene: med_village · paris · venice · art_nouveau
Newer releases: WorldRover-6scenes — six scenes, 600 paired clips per view, 7.6 TB · WorldRover-styles — the same trajectories under six lighting/style treatments
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.

WorldRover — paris

Tools

Related

License