| --- |
| viewer: false |
| --- |
| |
| # ConfigWM Dataset |
|
|
| Data for [**World Models with Configurable Perception**](https://arxiv.org/abs/2610.27914), covering **Push-T**, **Two-Room**, and **OGBench-Cube** with distraction variants `d0` through `d8`. |
|
|
| The dataset supports query-conditioned visual representation learning, action-conditioned world modeling, and online control evaluation. |
|
|
| ## Environments |
|
|
| `d0` has no distractors; `d1` through `d8` add one through eight. Click the figure to view the original image. |
|
|
| [](assets/environments/noisy_world.png) |
|
|
| ## Data |
|
|
| Each environment uses the same three collections: |
|
|
| | Collection | Contents | Use | |
| | --- | --- | --- | |
| | `trajectories/` | RGB observations, actions, episode metadata, and queries | Training ConfigWM | |
| | `perception/` | Source images, text queries, and target images | Training Configurable Encoder | |
| | `control/` | Reset trajectories and references to shared trajectory data | Online evaluation | |
|
|
| ```text |
| dataset.json |
| assets/environments/ # README previews |
| pusht/ # also tworoom/ and ogbcube/ |
| trajectories/d0...d8/ |
| manifest.json |
| queries.jsonl |
| shard_*/frames.h5 |
| shard_*/episodes.jsonl |
| perception/ |
| manifest.json |
| shard_*/pairs.h5 |
| control/ |
| d0...d8/manifest.json |
| base.h5 # Push-T and Two-Room |
| ``` |
|
|
| ### Format |
|
|
| | Data | Format | |
| | --- | --- | |
| | RGB observations | HDF5, `uint8`, `[frame, height, width, channel]` | |
| | Actions | 2 dimensions for Push-T/Two-Room; 5 for OGBench-Cube | |
| | Perception pairs | HDF5 `source_pixels`, `target_pixels`, and `query` | |
| | Descriptions | JSONL episode metadata and training queries | |
|
|
| - `dataset.json`: entry manifests for each environment and task. |
| - `field_map`: HDF5 file role and array key for each field. |
| - `ep_offset`: starting frame index of each episode. |
| - `ep_len`: number of frames in each episode. |
|
|
| ## Download |
|
|
| The full dataset is approximately **1.64 TB**. To download one environment and variant, run this from the ConfigWM code repository: |
|
|
| ```bash |
| python tools/download_data.py \ |
| --repo YijunShen/ConfigWM \ |
| --local-dir ./configwm-data \ |
| --env pusht --task stage_b --variant d3 |
| ``` |
|
|
| - `--env`: `pusht`, `tworoom`, or `ogbcube`. |
| - `--task stage_b --variant d3`: data for training ConfigWM on one variant. |
| - `--task stage_a`: data for training Configurable Encoder in one environment. |
| - `--task control --variant d3`: evaluation resources and their dependencies. |
| - `--list-only`: fetch small manifests and list the selected files. |
|
|
| Reuse the same local directory across downloads to share common files. |
|
|
| To download everything: |
|
|
| ```python |
| from huggingface_hub import snapshot_download |
| |
| snapshot_download( |
| repo_id="YijunShen/ConfigWM", |
| repo_type="dataset", |
| local_dir="configwm-data", |
| ) |
| ``` |
|
|
| ## Real-world perception |
|
|
| The [real-world collection](https://huggingface.co/datasets/YijunShen/ConfigWM/tree/main/realworld) contains image pairs with task descriptions. |
|
|
| ```bash |
| hf download YijunShen/ConfigWM --repo-type dataset \ |
| --include "realworld/**" --local-dir ./configwm-data |
| ``` |
|
|
| Use `./configwm-data/realworld` as `--data-root` with `--env realworld`. See the [format and usage](https://huggingface.co/datasets/YijunShen/ConfigWM/blob/main/realworld/README.md). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{shen2026configwm, |
| title={World Models with Configurable Perception}, |
| author={Yijun Shen and Delong Chen and Xianming Hu and Kai Zhang and Pascale Fung}, |
| year={2026}, |
| eprint={2610.27914}, |
| archivePrefix={arXiv}, |
| primaryClass={cs.CV}, |
| url={https://arxiv.org/abs/2610.27914}, |
| } |
| ``` |
|
|
| ## Acknowledgments |
|
|
| We would like to thank Willy Chung, Quentin Garrido, Basile Terver for providing valuable feedback to this work. |
|
|
