WorldRover
Collection
Paired 360 + first-person video of photoreal scenes, with per-frame depth, camera pose and actions. • 5 items • Updated
Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: IndexError
Message: list index out of range
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1859, in _prepare_split_single
original_shard_lengths[original_shard_id] += len(table)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^
IndexError: list index out of range
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1880, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
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End of preview.
WorldRover
Paired 360-panoramic and first-person video of photoreal 3D environments, with per-frame depth, camera pose and action labels. Four scenes, ~30 min of each view per scene — 129 clips per view, ~4.1 h of video at 30 fps.
This repository is the lite subset: RGB + camera pose + actions + metadata, no depth (~103 GB instead of ~800 GB). Lossless 16-bit depth is 87% of the bytes, so it lives in the per-scene repositories — take it only for the scenes you need.
| Scene | Clips per view | Per view | Full repo (with depth) |
|---|---|---|---|
| med_village | 13 | 32.1 min | WorldRover-med_village — 270 GB |
| paris | 23 | 30.7 min | WorldRover-paris — 152 GB |
| venice | 46 | 30.4 min | WorldRover-venice — 154 GB |
| art_nouveau | 47 | 30.2 min | WorldRover-art_nouveau — 164 GB |
What makes it paired
pano/<clip_id> and fp/<clip_id> share the same camera path frame for frame: the first-person
clip was rendered from the panoramic clip's per-frame trajectory, so the two
camera_trajectory.csv files match exactly. That gives the same world state under two very
different projections without relying on an interpolated alignment.
Clips are 35 s to 3.5 min of continuous motion — no cuts, no teleports.
Tools
git clone https://github.com/AlayaLab/WorldRover
pip install -r WorldRover/requirements.txt
from worldrover import Clip
clip = Clip("venice/fp/venice_000003")
rgb, depth_m = clip.rgb_frame(100), clip.depth_frame(100) # sRGB uint8; planar metres
pts = clip.points_world(100) # world points, centimetres
Three conventions the tools handle for you, and that are easy to get wrong by hand:
depth codes are log-quantized and store radial distance (convert before
unprojecting); camera_trajectory.csv has n_frames + 1 rows (the last 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.
Related
- Collection (all parts in one place): https://huggingface.co/collections/xjxu21/worldrover-6a851193b19350ca6de9f424
- Lite subset (no depth, ~103 GB): https://huggingface.co/datasets/xjxu21/WorldRover
- Full per-scene: med_village · paris · venice · art_nouveau
- Tools: https://github.com/AlayaLab/WorldRover
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 license. Tools are MIT.
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