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Datasets:
xjxu21
/
WorldRover-paris

Tasks:
Depth Estimation
Robotics
Modalities:
Text
Video
Size:
100B<n<1T
Tags:
video
panoramic
equirectangular
depth
camera-pose
embodied-ai
License:
Dataset card Data Studio Files
xet
 Community
Dataset Preview
Duplicate
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 dataset

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End of preview.

WorldRover — paris

Parisian city blocks, outdoor. 23 clips per view, 30.7 min each of panoramic and first-person video, 30 fps, with lossless per-frame depth, camera pose and action labels.

pano/<clip_id> and fp/<clip_id> share the same camera path: the first-person clip was rendered from the panoramic clip's per-frame trajectory, so frame k of one is frame k of the other and the two pose files match exactly.

Clips 23 per view (46 total)
Duration 30.7 min per view
Panoramic 4096x2048 equirectangular — 18 GB rgb + 134 GB depth
First person 1280x720 pinhole, hfov 65.5 deg — ~15 GB 
paris/
  pano/<clip_id>/  rgb.mp4  depth/{depth.mkv,depth.meta.json}
                   camera_trajectory.csv  description.json
                   gamepad_format/  trajectory.png
  fp/<clip_id>/    (same structure)

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

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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