PointWorld-DROID

**PointWorld-DROID** **Dataset Description:** PointWorld-DROID is the packaged DROID-derived annotation release used for training and evaluating the 3D world model, PointWorld. It contains precomputed 3D annotations derived from the official DROID dataset, including episode-level 3D point trajectories, optimized camera metadata, optional downsampled depth, and the released expert confidence artifact used by the PointWorld DROID evaluation pipeline. This dataset is for research and development only. This Hugging Face repository hosts the packaged release, not the original raw DROID scenes and not prebuilt WebDataset shards. After download, users should restore the packaged archives to the canonical HDF5/JSON layout. From there, they can either use the files directly as 3D annotations or follow the PointWorld repository workflow for integrity checking, conversion, training, and evaluation. **Dataset Owner(s):** NVIDIA Corporation **Dataset Creation Date:** 04/15/2026 **License/Terms of Use:** NVIDIA License **Intended Usage:** Research and development for world modeling, 3D vision, and robotic manipulation. This release is intended for two common use cases: 1. Using the restored data with the released PointWorld codebase, and 2. Using the restored 3D annotations directly, for example to access depth, camera poses, visibility masks, or tracked 3D point trajectories without using the PointWorld training pipeline. **Dataset Characterization** Data Collection Method Hybrid: Human, Automatic/Sensors Labeling Method Automatic/Sensors **Dataset Format** The release is distributed in two layers: 1. packaged Hugging Face download artifacts: split compressed archives package.tar.zst.part-\* restore helper script recover\_dataset\_from\_parts.sh 2. restored dataset contents: episode-level HDF5 files (.h5) camera metadata JSON sidecars (.json) one auxiliary confidence HDF5 file for released DROID evaluation Restored canonical layout: Local conversion to WebDataset train/test shar