CLARU
Anonymous-nips-submissionscc-by-4.0

MiraBench

An evaluation dataset for assessing action-conditioned reliability in robotic world models, containing tests for action following fidelity, optimism bias detection, physical consistency, and physics law compliance.

Downloads303

Technical Profile

Modalities
video
Task Types
world_model_evaluation
License
cc-by-4.0
Part of the MiraBench family

Access

View on HuggingFace

Need custom video data?

Claru builds purpose-built datasets for any environment applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

Egocentric-100K

The largest dataset of manual labor with 100,405 hours of egocentric video from head-mounted fisheye cameras, featuring state-of-the-art hand visibility and active manipulation density.

rgbvideo
68K downloadsFeb 2026apache-2.0

PhysicalAI WorldModel Synthetic Embodied Robot Scenes

A large-scale synthetic robotics video corpus of 373,703 RGB MP4 video clips generated from NVIDIA Isaac Sim and related simulation systems, covering collision, manipulation, and humanoid motion tasks across diverse robot embodiments. Designed to improve physical plausibility, embodiment persistence, and long-horizon robot video modeling for Cosmos training.

rgbvideosimulator_statemetadata
15K downloadsJun 2026Creative Commons Attribution 4.0 International (CC BY 4.0) - pending final approval

HOIGen Filtered Videos Dataset

A filtered subset of 28,562 videos from the HOIGen-1M dataset selected based on quality and relevance criteria, organized for human-object interaction and action recognition research.

rgbvideo
3K downloadsOct 2025MIT

RoboTwin SFT 8-Tasks SAPIEN Eval

SAPIEN execution results for 1280 SFT-generated videos across 8 RoboTwin manipulation tasks, with actions extracted via inverse dynamics model and replayed in simulation.

rgbvideo
980 downloadsApr 2026apache-2.0

WMBench — World-Model video benchmark for hallucination detection

Benchmark suite for evaluating hallucination and anomaly detection in videos generated by world models against real robot training distributions. Includes datasets from NVIDIA GR1 and planned Stanford DROID data with real and synthetically generated robot videos.

rgbvideo
934 downloadsMay 2026cc-by-4.0

ACWM-Phys

A benchmark dataset for evaluating action-conditioned video world models under diverse physical dynamics, spanning 8 environments across 4 physics regimes (rigid-body, deformable, particle, kinematics) with controlled in-distribution and out-of-distribution test splits.

rgbvideo
784 downloadsMay 2026cc-by-4.0