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EmbodiedCity/ANWM-Dataset

ANWM-Dataset Training / evaluation trajectories for ANWM (Aerial Navigation World Model), released with the paper Aerial World Model for Long-horizon Visual Generation and Navigation in 3D Space. Code: https://github.com/EmbodiedCity/ANWM.code Model: EmbodiedCity/ANWM Contents Sharded tar archives of AirVLN-16 style trajectories (airvln_16-*.tar). Each archive preserves the original folder layout ({ID}_processed/... with images and traj_data.pkl).… See the full description on the dataset page: https://huggingface.co/datasets/EmbodiedCity/ANWM-Dataset.

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Dataset Card

ANWM-Dataset

Training / evaluation trajectories for ANWM (Aerial Navigation World Model), released with the paper Aerial World Model for Long-horizon Visual Generation and Navigation in 3D Space.

Contents

Sharded tar archives of AirVLN-16 style trajectories (airvln_16-*.tar). Each archive preserves the original folder layout ({ID}_processed/... with images and traj_data.pkl).

Quick start

bash
git clone https://github.com/EmbodiedCity/ANWM.code.git
cd ANWM.code

huggingface-cli download EmbodiedCity/ANWM-Dataset --repo-type dataset \
  --local-dir data/airvln_16_shards
mkdir -p data/airvln_16
for f in data/airvln_16_shards/airvln_16-*.tar; do
  tar -xf "$f" -C data/airvln_16
done

After extract, trajectory directories are directly under data/airvln_16/.

Also download the released checkpoint:

bash
huggingface-cli download EmbodiedCity/ANWM 0200000.pth.tar \
  --local-dir logs/anwm_cdit_airvln/checkpoints

See the code repository README for installation, inference, and evaluation.

Related

  • —Code: https://github.com/EmbodiedCity/ANWM.code
  • —Model: https://huggingface.co/EmbodiedCity/ANWM
  • —Dataset: https://huggingface.co/datasets/EmbodiedCity/ANWM-Dataset
  • —Paper: https://arxiv.org/abs/2512.21887