Data Visualization
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a man run on the road
OmniWorld: A Multi-Domain and Multi-Modal Dataset for 4D World Modeling
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| Dataset | Domain | # Seq. | FPS | Resolution | # Frames | Depth | Camera | Text | Optical flow | Fg. masks |
|---|---|---|---|---|---|---|---|---|---|---|
| OmniWorld-Game | Simulator | 96K | 24 | 1280×720 | 18,515K | 🙂 | 🙂 | 🙂 | 🙂 | 🙂 |
| AgiBot | Robot | 20K | 30 | 640×480 | 39,247K | 🙂 | ✓ | ✓ | ✗ | 🙂 |
| DROID | Robot | 35K | 60 | 1280×720 | 26,643K | 🙂 | ✓ | 🙂 | 🙂 | 🙂 |
| RH20T | Robot | 109K | 10 | 640×360 | 53,453K | ✗ | ✓ | 🙂 | 🙂 | 🙂 |
| RH20T-Human | Human | 73K | 10 | 640×360 | 8,875K | ✗ | ✓ | 🙂 | ✗ | ✗ |
| HOI4D | Human | 2K | 15 | 1920×1080 | 891K | 🙂 | 🙂 | 🙂 | 🙂 | ✓ |
| Epic-Kitchens | Human | 15K | 30 | 1280×720 | 3,635K | ✗ | 🙂 | 🙂 | ✗ | ✗ |
| Ego-Exo4D | Human | 4K | 30 | 1024×1024 | 9,190K | ✗ | ✓ | 🙂 | 🙂 | ✗ |
| HoloAssist | Human | 1K | 30 | 896×504 | 13,037K | ✗ | 🙂 | 🙂 | 🙂 | ✗ |
| Assembly101 | Human | 4K | 60 | 1920×1080 | 110,831K | ✗ | ✓ | 🙂 | 🙂 | 🙂 |
| EgoDex | Human | 242K | 30 | 1280×720 | 76,631K | ✗ | ✓ | 🙂 | ✗ | ✗ |
| CityWalk | Internet | 7K | 30 | 1280×720 | 13,096K | ✗ | 🙂 | ✓ | ✗ | ✗ |
🙂 indicates the modality is newly annotated by us, ✓ denotes ground-truth data that already exists in the original dataset, and ✗ marks missing modalities.
| Dataset | Scene Type | Motion | Resolution | # Frames | Depth | Camera | Text | Optical flow | Fg. masks |
|---|---|---|---|---|---|---|---|---|---|
| MPI Sintel | Mixed | Dynamic | 1024×436 | 1K | ✓ | ✓ | ✗ | ✓ | ✓ |
| FlyingThings++ | Outdoor | Dynamic | 960×540 | 28K | ✓ | ✗ | ✗ | ✓ | ✓ |
| TartanAir | Mixed | Dynamic | 640×480 | 1,000K | ✓ | ✓ | ✗ | ✓ | ✓ |
| BlendedMVS | Mixed | Static | 768×576 | 17K | ✓ | ✓ | ✗ | ✗ | ✗ |
| HyperSim | Indoor | Static | 1024×768 | 77K | ✓ | ✓ | ✗ | ✗ | ✓ |
| Dynamic Replica | Indoor | Dynamic | 1280×720 | 169K | ✓ | ✓ | ✗ | ✓ | ✓ |
| Spring | Mixed | Dynamic | 1920×1080 | 23K | ✓ | ✓ | ✗ | ✓ | ✗ |
| EDEN | Outdoor | Static | 640×480 | 300K | ✓ | ✓ | ✗ | ✓ | ✓ |
| PointOdyssey | Mixed | Dynamic | 960×540 | 216K | ✓ | ✓ | ✗ | ✗ | ✓ |
| SeKai-Game | Outdoor | Dynamic | 1920×1080 | 4,320K | ✗ | ✓ | ✓ | ✗ | ✗ |
| OmniWorld-Game (Ours) | Mixed | Dynamic | 1280×720 | 18,515K | ✓ | ✓ | ✓ | ✓ | ✓ |
Comparisons between OmniWorld-Game and existing synthetic datasets. OmniWorld-Game surpasses existing public synthetic datasets in modal diversity and data scale. ✓ denotes available modalities; ✗ denotes missing ones.
