| --- |
| pretty_name: AVM-Pref |
| size_categories: |
| - 100K<n<1M |
| tags: |
| - robotics |
| - world-models |
| - preference-data |
| - reward-modeling |
| - arxiv:2610.32222 |
| --- |
| |
| # AVM-Pref |
|
|
| **AVM-Pref (Action and Video Mismatch Preference Dataset)** provides complementary preference supervision for training reward models that jointly assess **action-following fidelity** and **visual quality** in action-conditioned world models. It is introduced in [ACWM-RM: A Reference-Free Reward Model from Complementary Mismatch Preferences](https://arxiv.org/abs/2610.32222). |
|
|
| ## Dataset Overview |
|
|
| The dataset described in the paper contains approximately **506.3k preference pairs**, constructed from the AgiBotWorld training subset: |
|
|
| | Pair type | Size | Training supervision | |
| | --- | --- | --- | |
| | Action mismatch | 156.3k | Original versus numerically or semantically perturbed action sequences for the same real video, supervising action-following fidelity. | |
| | Video mismatch | 350k | Generated videos under the same initial frame and action sequence, ranked using global and local PSNR and LPIPS to supervise visual quality. Includes intra-model and cross-model pairs. | |
|
|
| Generated videos come from **DreamDojo-2B, DreamDojo-14B, GE-Sim-2B, and OSCAR-2B**. ACWM-RM learns from these preferences using the Bradley-Terry loss. For construction and training details, please refer to the paper. |
|
|
| ## Files |
|
|
| ```text |
| train/ |
| action_mismatch/ # Training action-mismatch pairs (Parquet) |
| video_mismatch/ # Training video-mismatch pairs (Parquet) |
| val/ |
| action_mismatch/ # Validation action-mismatch pairs (Parquet) |
| video_mismatch/ # Validation video-mismatch pairs (Parquet) |
| _media/ |
| agibotworld/observations/ # Real-video archives by task |
| wm/ # Generated-video archives by world model and split |
| ``` |
|
|
| For evaluation, see [AVM-Eval](https://huggingface.co/datasets/SPUH/AVM-Eval). |
|
|
| ## Citation |
|
|
| If you use AVM-Pref in your research, please cite: |
|
|
| ```bibtex |
| @misc{hong2026acwmrm, |
| title = {{ACWM-RM}: A Reference-Free Reward Model from Complementary Mismatch Preferences}, |
| author = {Shibo Hong and Siyu Ren and FengJiao Chen and Zhongyuan Peng and Wei Shi and Yixin Cao}, |
| year = {2026}, |
| eprint = {2610.32222}, |
| archivePrefix = {arXiv}, |
| primaryClass = {cs.CV}, |
| url = {https://arxiv.org/abs/2610.32222} |
| } |
| ``` |
|
|
