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Datasets:
rooty2020
/
VP-WorldBench

Tasks:
Image-to-Video
Depth Estimation
Robotics
Languages:
English
Size:
1K<n<10K
ArXiv:
Tags:
benchmark
multi-view
4d
world-model
video-generation
3d-point-tracking
License:
Dataset card Files
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  1. Simul-General/clip_00011/cameras.npz +3 -0
  2. Simul-General/clip_00011/depth/depth.zip +3 -0
  3. Simul-General/clip_00011/labels/target.npz +3 -0
  4. Simul-General/clip_00011/source/points_target.npz +3 -0
  5. Simul-General/clip_00011/tracks3d.npz +3 -0
  6. Simul-General/clip_00011/videos/view0.mp4 +3 -0
  7. Simul-General/clip_00011/videos/view1.mp4 +3 -0
  8. Simul-General/clip_00011/videos/view2.mp4 +3 -0
  9. Simul-General/clip_00011/videos/view3.mp4 +3 -0
  10. Simul-General/clip_00020/captions.json +29 -0
  11. Simul-General/clip_00020/labels/oos_segments.json +54 -0
  12. Simul-General/clip_00020/sample.json +268 -0
  13. Simul-General/clip_00020/source/cameras.json +0 -0
  14. Simul-General/clip_00020/source/caption.txt +1 -0
  15. Simul-General/clip_00020/source/capture_done.json +240 -0
  16. Simul-General/clip_00020/source/meta.json +630 -0
  17. Simul-General/clip_00020/source/visibility.json +7419 -0
  18. Simul-General/clip_00029/cameras.npz +3 -0
  19. Simul-General/clip_00029/depth/depth.zip +3 -0
  20. Simul-General/clip_00029/labels/target.npz +3 -0
  21. Simul-General/clip_00029/source/points_target.npz +3 -0
  22. Simul-General/clip_00029/tracks3d.npz +3 -0
  23. Simul-General/clip_00029/videos/view0.mp4 +3 -0
  24. Simul-General/clip_00029/videos/view1.mp4 +3 -0
  25. Simul-General/clip_00029/videos/view2.mp4 +3 -0
  26. Simul-General/clip_00029/videos/view3.mp4 +3 -0
  27. Simul-General/clip_00037/cameras.npz +3 -0
  28. Simul-General/clip_00037/depth/depth.zip +3 -0
  29. Simul-General/clip_00037/labels/target.npz +3 -0
  30. Simul-General/clip_00037/source/points_target.npz +3 -0
  31. Simul-General/clip_00037/tracks3d.npz +3 -0
  32. Simul-General/clip_00037/videos/view0.mp4 +3 -0
  33. Simul-General/clip_00037/videos/view1.mp4 +3 -0
  34. Simul-General/clip_00037/videos/view2.mp4 +3 -0
  35. Simul-General/clip_00037/videos/view3.mp4 +3 -0
  36. Simul-General/clip_00038/cameras.npz +3 -0
  37. Simul-General/clip_00038/depth/depth.zip +3 -0
  38. Simul-General/clip_00038/labels/target.npz +3 -0
  39. Simul-General/clip_00038/source/points_target.npz +3 -0
  40. Simul-General/clip_00038/tracks3d.npz +3 -0
  41. Simul-General/clip_00038/videos/view0.mp4 +3 -0
  42. Simul-General/clip_00038/videos/view1.mp4 +3 -0
  43. Simul-General/clip_00038/videos/view2.mp4 +3 -0
  44. Simul-General/clip_00038/videos/view3.mp4 +3 -0
  45. Simul-General/clip_00040/depth/depth.zip +3 -0
  46. Simul-General/clip_00040/labels/target.npz +3 -0
  47. Simul-General/clip_00040/source/points_target.npz +3 -0
  48. Simul-General/clip_00040/videos/view0.mp4 +3 -0
  49. Simul-General/clip_00040/videos/view2.mp4 +3 -0
  50. Simul-General/clip_00049/cameras.npz +3 -0
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+ {
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+ "caption": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky.",
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+ "structured": {
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+ "target_class": "vehicle",
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+ "semantic_tag": "car",
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+ "semantic_tag_id": 14,
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+ "blueprint": "vehicle.ue4.audi.tt",
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+ "motion_kinds": {
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+ "view0": "random_polyline",
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+ "view1": "static",
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+ "view2": "arc",
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+ "view3": "pan_tilt"
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+ },
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+ "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
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+ },
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+ "legacy_prompts": {
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+ "view0": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky. The camera travels about 33.9 m, panning right.",
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+ "view1": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky. The camera travels about 32.9 m.",
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+ "view2": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky. The camera travels about 37.8 m.",
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+ "view3": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky. The camera travels about 32.9 m."
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+ },
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+ "camera_phrases_corrected": {
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+ "view0": "The camera travels about 33.9 m, panning right.",
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+ "view1": "The camera travels about 32.9 m.",
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+ "view2": "The camera travels about 37.8 m, panning right.",
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+ "view3": "The camera travels about 32.9 m, panning left."
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+ },
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+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
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+ {
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+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
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+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
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+ "view": "view0",
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+ "cam": 0,
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+ "cam_name": "cam01",
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+ "oos_allowed": true,
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+ "oos_allowed": false,
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+ "uid": "Simul-General/clip_00020",
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+ "subset": "Simul-General",
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+ "id": "clip_00020",
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+ "source": {
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+ "dataset": "HyperWorld-Bench-General",
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+ "repo": "hf:rooty2020/HyperWorld-Bench-General",
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+ "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
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+ "id": "clip_00020",
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+ "path": "bench_people&car/clip_00020"
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+ }
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+ ],
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+ "world": {
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+ "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
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+ "units": "m",
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+ "handedness": "right",
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+ 0.0
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+ ],
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+ "to_source": {
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+ "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
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+ [
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+ 1.0,
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+ ],
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+ "source_units": "m"
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+ },
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+ "to_ue_cm": {
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+ "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
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+ "A": [
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+ [
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+ 100.0,
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+ 0.0,
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+ 0.0
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+ ],
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+ [
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+ 0.0,
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+ ],
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+ "b": [
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+ ],
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+ "source_units": "cm"
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+ }
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+ },
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+ "files": {
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+ "cameras": "cameras.npz",
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+ "tracks3d": "tracks3d.npz",
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+ "captions": "captions.json",
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+ "depth": "depth/depth.zip",
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+ "labels": {
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+ "target": "labels/target.npz",
141
+ "oos_segments": "labels/oos_segments.json"
142
+ }
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+ },
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+ "tracks": {
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+ "n_points": 256,
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+ "groups": [
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+ "target"
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+ ],
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+ "visible_outside_frustum_dropped": 0,
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+ "default_report_group": "target",
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+ "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
152
+ "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
153
+ "depth_test": {
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+ "pixel": "rint",
155
+ "K": "cameras.npz K (OpenCV pixel centres)",
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+ "tol_rel": 0.02,
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+ "tol_min_m": 0.05,
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+ "tol_max_m": 0.15,
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+ "grid": [
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+ 1280,
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+ ],
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+ "invalid_values": [
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+ 65535
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+ ]
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+ },
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+ "stats": {
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+ "n_in_frustum": 97275,
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+ "n_visible": 28063,
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+ "visible_frac_of_in_frustum": 0.2885,
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+ "in_frustum_sky_hits": 0,
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+ "n_visible_other_pixel_rule": {
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+ },
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+ "visible_abs_dz_m": {
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+ "median": 0.012812,
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+ "p90": 0.11302
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+ },
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+ "in_frustum_recomputed_agreement": 1.0,
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+ "in_frustum_recomputed_mismatches": 0
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+ },
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+ "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
183
+ "extras": {
184
+ "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
185
+ "component_names": "(C,) str component names",
186
+ "component_mesh_names": "(C,) str mesh file of each component",
187
+ "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
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+ }
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+ },
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+ "depth": {
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+ "file": "depth/depth.zip",
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+ "member": "{source_view}/frame_{t:04d}.png",
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+ "view_member_names": [
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+ "cam01",
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+ "cam02",
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+ "cam03",
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+ "cam04"
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+ ],
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+ "dtype": "uint16",
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+ "unit_scale": 0.01,
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+ "invalid_values": [
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+ 65535
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+ ],
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+ "valid_max_m": 655.34,
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+ "width": 1280,
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+ "height": 1280,
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+ "kind": "rendered (synthetic GT)",
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+ "planar_z": true,
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+ "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
210
+ },
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+ "caption": "A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky.",
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+ "attributes": {
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+ "category": "vehicle",
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+ "subcategory": "car",
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+ "semantic_tag": 14,
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+ "blueprint": "vehicle.ue4.audi.tt",
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+ "difficulty": "normal",
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+ "hard_relay_k": null,
219
+ "camera_motion_kinds": [
220
+ "random_polyline",
221
+ "static",
222
+ "arc",
223
+ "pan_tilt"
224
+ ],
225
+ "all_cameras_moving": true,
226
+ "map": "Town10HD_x6",
227
+ "tile": 5,
228
+ "rotation_only_views": [],
229
+ "oos_departed_views": [
230
+ "view0"
231
+ ],
232
+ "n_frames_target_invisible_all_views": 0,
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+ "n_default_queries_at_ref_frame": 145,
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+ "visible_frac_of_in_frustum": 0.2885,
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+ "quality_ok": true,
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+ "abort": null,
237
+ "source_frame_range": [
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+ 1628,
239
+ 1727
240
+ ],
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+ "flag_rules": {
242
+ "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
243
+ "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
244
+ "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
245
+ "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
246
+ "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
247
+ }
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+ },
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+ "flags": [],
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+ "files_sha256": {
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+ "cameras.npz": "90a2ef9db764e7344f298685d475b656c026ba82094a2862b417cd5e61ecf3cb",
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+ "captions.json": "e7b02bdb7f7b87563edb24d6996801aa4bdd9c038447198d2760c3d63339ce09",
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+ "depth/depth.zip": "b86a44e497e44904f7ba55780729a0653304c77ba1102a3e83663abb48c56b68",
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+ "labels/oos_segments.json": "d0bce9a3885cb45cacd5a9847beb35cadbf1620e26092ac3b7d01ba05bac566b",
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+ "labels/target.npz": "d946fd6279a0532318c9b8a40b872b7de68f3fc4c57623be2c6b3417db1cdc36",
256
+ "source/cameras.json": "aaca74cae7b003e909fd3c39f383c44a2defdda3940156f83fb4fcbafaaeee1d",
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+ "source/caption.txt": "a44294fc91c64ee8eb0b7fc9686dbde1845e8fda185c1aaded8da3aeac636142",
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+ "source/capture_done.json": "9597b9da5817b57e3a7698247c9e0c657d81a4dc13c68e53fc3baa77e730b849",
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+ "source/meta.json": "90712ce0e2fbd48c9802cc6395d1cefdf6f0b49f76507721bc2206fd02d9bbad",
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+ "source/points_target.npz": "add974e24fa955b4a99c6a8277464c5291c894e941d183a1c8dcf8c5bcb05e1e",
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+ "source/visibility.json": "83db1e17adcc4675a7d1aa67b11333e0c59946b0d3fd0e2f75b6d59e6cf52ae7",
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+ "tracks3d.npz": "928610606acc65a0c6c49cd603c571c691f87dd443bb758baf4a310df784aefd",
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+ "videos/view0.mp4": "be2e4b066c39a403898a0f82f192d817abe79f98ade00169b1a6f7ddef1d7270",
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+ "videos/view1.mp4": "51b55c89f48ada4e5b8025afbdfd1768b0942d14d98ebbc8ab4624e84deac51c",
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+ "videos/view2.mp4": "3c33953384848c17010867e32871396184f940ba9599f34952213e733c9b61be",
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+ "videos/view3.mp4": "d1a8f1ff81071e67011973bb0aeb91ca20d6aea7325eb17e5c86167e8547b93c"
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+ }
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+ }
Simul-General/clip_00020/source/cameras.json ADDED
The diff for this file is too large to render. See raw diff
 
Simul-General/clip_00020/source/caption.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ A black Audi coupe parked beside a beige taxi pulls away from the curb and drives straight down the double-yellow-lined city avenue, passing other parked sedans, streetlamps, and a mix of low storefronts and tall towers under a partly cloudy daytime sky.
Simul-General/clip_00020/source/capture_done.json ADDED
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1
+ {
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+ "clip": 20,
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+ "spec_gen": "carla1",
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+ "map": "Town10HD_x6",
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+ "target_bp_id": "vehicle.ue4.audi.tt",
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+ "target_kind": "vehicle",
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+ ],
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+ ],
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+ ],
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+ "visible_ratio": [
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+ "seg",
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+ "depth"
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+ ],
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+ "capture_build": "c1",
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+ },
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+ },
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+ ],
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+ }
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+ },
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+ "capture_wall_sec": 72.9,
239
+ "abort": null
240
+ }
Simul-General/clip_00020/source/meta.json ADDED
@@ -0,0 +1,630 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
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+ ],
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+ ],
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+ "intrinsics_mode": "per_camera",
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+ "capture_depth": true,
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+ "model_id": "vehicle.ue4.audi.tt",
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+ ],
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+ },
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97
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105
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113
+ }
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+ ],
115
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116
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117
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118
+ },
119
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121
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122
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+ }
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132
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