README.md

metadata

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

WorldRover-preview

Long, continuous camera paths through photoreal 3D environments, rendered with per-frame metric depth, camera pose and action labels — and, where it matters, rendered more than once along the same path, so you can hold geometry and motion fixed while the projection or the lighting changes.

This repository is the original preview release, as a lite subset: RGB, camera pose, actions and metadata for four scenes, without depth (depth is 87% of the bytes). The rest of the data lives in the repositories below — see the collection for all parts in one place.

Parts

Repository	What it is	Scenes	Clips	Video	Size
this repo (WorldRover-preview)	lite: paired panoramic + first-person, RGB + pose + actions, no depth	4	129 per view	4.1 h per view	103 GB
WorldRover-6scenes	paired 360° panoramic + first-person, with lossless depth	6	600 per view	18.9 h per view	7.6 TB
WorldRover-styles	one trajectory set re-rendered under 6 lighting/style treatments	4	1000	48 h	818 GB
med_village · paris · venice · art_nouveau	the original release, full depth, one repo per scene	1 each	13–47 per view	~30 min per view	169–334 GB

Start with WorldRover-6scenes unless you specifically want the original four-scene release or the style variants — it is the largest, newest and most complete part.

The two kinds of pairing

Same path, two projections (WorldRover-6scenes, and this preview repo). 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 and only the intrinsics differ (360°/0 mm equirect vs 65.5°/28 mm pinhole). No interpolated alignment is involved.

Same path, six appearances (WorldRover-styles). Each trajectory is rendered as a reference first-person clip plus up to five variants — untextured white model, golden hour, night, snow, storm — frame-aligned, so the depth, pose and action labels of the reference clip apply to every variant of it unchanged.

What a clip contains

rgb.mp4                 H.264, 30 fps
depth/depth.mkv         FFV1 16-bit, lossless, log-quantized radial depth
depth/depth.meta.json   near/far, authoritative 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

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(code/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. The pixel format is not the same everywhere: WorldRover-6scenes is uniformly gray16le, while WorldRover-styles is mostly gbrp16le with the code in the R channel (three art_nouveau clips excepted). Each clip's depth/depth.meta.json names its own format — read it instead of assuming.
• 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 one against a first-person clip.

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-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.

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.