| --- |
| pretty_name: Luanti navigation episodes |
| viewer: false |
| size_categories: |
| - 10K<n<100K |
| tags: |
| - luanti |
| - minetest |
| - craftium |
| - voxel |
| - video |
| - world-model |
| --- |
| |
| # Luanti navigation episodes |
|
|
| Agent-navigation episodes recorded in [Luanti](https://www.luanti.org/) (formerly Minetest) through the |
| [Craftium](https://github.com/mikelma/craftium) environment interface. Every episode pairs a first-person |
| RGB video with the voxel grid around the player, the camera pose and the actions, all aligned per step. |
|
|
| ## Files |
|
|
| | File | Environment | Episodes | Size | Unpacked | |
| |---|---|---|---|---| |
| | `motworld-s1nav-10k.tar.zst` | `OpenWorldCreative-v0` | 9,987 | 66.3 GB | 109 GiB | |
| | `motworld-hudnav-20k.tar.zst` | `OpenWorldCreativeHud-v0` (HUD rendered in the frame) | 19,977 | 114.6 GB | 211 GiB | |
| | `motworld-s1nav-10k.splits.json` | split labels for the archive above | 9,987 | 1.2 MB | - | |
| | `motworld-hudnav-20k.splits.json` | split labels for the archive above | 19,977 | 2.5 MB | - | |
|
|
| Both are plain `tar` archives compressed with zstd (level 10, no long-window mode, so no special flags are |
| needed to decompress). |
|
|
| ```bash |
| tar --zstd -xf motworld-s1nav-10k.tar.zst # -> OpenWorldCreative-v0/<seed>/... |
| tar --zstd -xf motworld-hudnav-20k.tar.zst # -> OpenWorldCreativeHud-v0/<seed>/... |
| |
| # or stream a few episodes without unpacking everything |
| zstd -dc motworld-s1nav-10k.tar.zst | tar -xf - --wildcards 'OpenWorldCreative-v0/10001*' |
| ``` |
|
|
| SHA-256 of the archives: |
|
|
| ``` |
| 5885f8410f33ed35cf7ae5f9a9558eea7dcfa1330e95f063f0242bb82e0f9e83 motworld-s1nav-10k.tar.zst |
| e8de6598189ac9d992f2360f6e406b229e82f63675afdc75292a7a9ebc01e0b7 motworld-hudnav-20k.tar.zst |
| ``` |
|
|
| ## Train / eval splits |
|
|
| The archives contain every recorded episode and no split information; the split lives in the two |
| `*.splits.json` files, one entry per episode directory: |
|
|
| ```json |
| {"name": "1000149598", "sha256": "8009d1a8f239...", "split": "train"} |
| ``` |
|
|
| `name` is the episode directory inside the archive, `sha256` is its unique id (also stored in the episode's |
| `sha256.txt`), and `split` is one of: |
|
|
| | Split | s1nav-10k | hudnav-20k | Meaning | |
| |---|---|---|---| |
| | `train` | 9,463 | 19,545 | training episodes | |
| | `eval` | 200 | 200 | held-out evaluation episodes (the ones that also ship a `voxel_t0.glb`) | |
| | `unused` | 324 | 232 | recorded but excluded from both splits | |
|
|
| ```python |
| import json |
| s = json.load(open("motworld-s1nav-10k.splits.json")) |
| eval_dirs = [f"{s['environment']}/{e['name']}" for e in s["episodes"] if e["split"] == "eval"] |
| ``` |
|
|
| The two archives are generated from overlapping world seeds, and each has its own split: 103 of the |
| s1nav-10k `eval` seeds are `train` seeds in hudnav-20k (same world, different trajectory). Filter on `name` |
| if you train on one archive and evaluate on the other. |
|
|
| ## Episode layout |
|
|
| Each archive holds one directory per episode, named by the world seed: |
|
|
| ``` |
| OpenWorldCreative-v0/ |
| 1000149598/ |
| rgb.mp4 # H.264, 640x360, 24 fps, 600 frames (25 s) |
| data.npz # per-step arrays, see below (numpy, compressed) |
| level_metadata.json # seed, fov_x, fov_y, spawn_pos, minetest_conf |
| sha256.txt # the episode's unique id (same value as `sha256` in the split files) |
| voxel_t0.glb # mesh export of the step-0 voxel grid (only in 200 episodes per archive) |
| ``` |
|
|
| Every episode has `T = 600` steps; frame `t` of `rgb.mp4` corresponds to index `t` of every array. |
|
|
| ### `data.npz` |
|
|
| | Key | dtype | Shape | Meaning | |
| |---|---|---|---| |
| | `obs_voxel_mt` | int16 | (T, 49, 49, 49, 2) | voxel grid around the player (radius 24 nodes per axis); last axis = node content id, `param2` | |
| | `obs_voxel_center` | int64 | (T, 3) | world coordinate of the grid centre | |
| | `action` | bool | (T, 23) | Craftium key/mouse action vector | |
| | `player_pos`, `player_vel` | float64 | (T, 3) | player position / velocity | |
| | `player_pitch`, `player_yaw` | float64 | (T,) | player orientation, degrees | |
| | `cam_pos`, `cam_dir` | float64 | (T, 3) | camera position (world) / view direction | |
| | `cam_pos_local` | float64 | (T, 3) | camera position in the grid-local frame (normalised units) | |
| | `fov_x`, `fov_y` | float64 | (T,) | field of view, degrees | |
| | `intrinsics` | float32 | (T, 3, 3) | pinhole camera matrix | |
| | `extrinsics_global`, `extrinsics_local` | float32 | (T, 4, 4) | camera pose in world / grid-local coordinates | |
| | `timestep_craftium` | int64 | (T,) | environment step counter | |
| | `dt_minetest` | float64 | (T,) | engine time delta per step | |
| | `termination_flag`, `truncation_flag` | bool | (T,) | episode-end flags | |
|
|
| Node content ids in `obs_voxel_mt` are assigned by the engine at runtime, so they are consistent within |
| this dataset but are not a fixed public enumeration. |
|
|
| ```python |
| import numpy as np |
| ep = np.load("OpenWorldCreative-v0/1000149598/data.npz") |
| voxels = ep["obs_voxel_mt"] # (600, 49, 49, 49, 2) |
| pose = ep["extrinsics_global"] # (600, 4, 4) |
| ``` |
|
|
