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README.md

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+---
+pretty_name: TriWorldBench Dataset
+tags:
+- benchmark
+- embodied-ai
+- world-model
+- robotics
+- evaluation
+---
+
+# TriWorldBench Dataset
+
+Welcome to TriWorldBench, a benchmark for evaluating triple-view embodied world models.
+
+- Benchmark homepage: [https://www.triworldbench.com](https://www.triworldbench.com)
+- Benchmark code repository: [TriWorldBench/TriWorldBench](https://github.com/TriWorldBench/TriWorldBench)
+
+## Overview
+
+TriWorldBench evaluates world models from three synchronized robot views: head,
+left wrist, and right wrist. The benchmark focuses on whether a model can generate
+one coherent robot world across all three cameras while preserving task alignment,
+physical and 3D coherence, motion quality, temporal consistency, and visual quality.
+
+## Released Files
+
+This Hugging Face dataset provides two compressed dataset bundles:
+
+- `test_dataset`: the official 500-episode test set for leaderboard submission.
+- `val_dataset`: a 100-episode validation bundle for local development and quick evaluation.
+
+## `test_dataset` Structure
+
+After extraction, the official test dataset is organized as:
+
+```text
+test_dataset/
++-- data/
+|   +-- episode1.hdf5
+|   +-- episode2.hdf5
+|   +-- ...
+|   +-- episode500.hdf5
++-- first_frame/
+|   +-- episode1_head.jpg
+|   +-- episode1_left.jpg
+|   +-- episode1_right.jpg
+|   +-- ...
+|   +-- episode500_right.jpg
++-- instructions/
+    +-- episode1.json
+    +-- episode2.json
+    +-- ...
+    +-- episode500.json
+```
+
+The test set contains 500 episodes indexed from `episode1` to `episode500`.
+For each episode, `data/episodeN.hdf5` contains the trajectory/action sequence,
+`first_frame/` provides the initial 320x240 observations for the head, left wrist,
+and right wrist cameras, and `instructions/episodeN.json` contains the task instruction.
+
+Participants should run their models on this test set and submit generated videos
+for all three views: `head.mp4`, `left.mp4`, and `right.mp4`.
+
+## `val_dataset` Structure
+
+The validation bundle contains 100 episodes derived from RoboTwin2.0, together
+with the corresponding ground-truth data and processed state annotations.
+After extraction, it is organized as:
+
+```text
+val_dataset/
++-- test_dataset/
+|   +-- data/
+|   +-- first_frame/
+|   +-- instructions/
++-- STATE/
+|   +-- episode*.json
++-- gt_dataset/
+    +-- episode*/
+```
+
+The `val_dataset/test_dataset` folder provides the same type of model inputs as
+the official test set. The bundled `gt_dataset` and `STATE` folders are already
+formatted for the TriWorldBench evaluation code. Matching VQA question annotations
+for this validation set are included in the benchmark code repository under
+`metrics/VQA/qa_val/`.
+
+## Evaluation and Submission
+
+Please refer to the benchmark homepage and code repository for environment setup,
+inference, evaluation, and leaderboard submission instructions.