| --- |
| 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 |
|
|
| ```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-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. |
|
|
| ## Related |
|
|
| * 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](https://huggingface.co/datasets/AlayaLab/WorldRover-med_village) · [paris](https://huggingface.co/datasets/AlayaLab/WorldRover-paris) · [venice](https://huggingface.co/datasets/AlayaLab/WorldRover-venice) · [art_nouveau](https://huggingface.co/datasets/AlayaLab/WorldRover-art_nouveau) |
| * Newer releases: [WorldRover-6scenes](https://huggingface.co/datasets/AlayaLab/WorldRover-6scenes) — six scenes, 600 paired clips per view, 7.6 TB · [WorldRover-styles](https://huggingface.co/datasets/AlayaLab/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. |
|
|
