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README.md

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+---
+license: cc-by-sa-4.0
+task_categories:
+  - image-to-video
+language:
+  - en
+tags:
+  - driving
+  - street-view
+  - world-model
+  - view-interpolation
+  - kuala-lumpur
+size_categories:
+  - 10K<n<100K
+---
+
+# kl-interp-v1 — densified Kuala Lumpur street-view clips
+
+18,870 five-second driving clips (1280×704, 24 fps, 73 or 121 frames) generated
+from sparse street-view image sequences of Kuala Lumpur (Mapillary and KartaView,
+CC BY-SA 4.0) with a view-interpolation video model. Each clip is a 5 s window
+of a real capture sequence: the model was given 2–9 real keyframes with their
+GPS positions and synthesised the frames in between. Keyframes are real; the
+frames between them are generated.
+
+Built for world-model research: cross-session revisits of the same place, GPS
+per clip, and per-frame camera motion.
+
+## Layout
+
+```
+clips/kl-s{0..3}-NNN.tar      tar shards, ~300 clips each, members <name>.mp4
+poses/kl-poses.tar            <name>.npy  (T,7) float32 per-frame relative camera
+                              action [dx,dy,dz,droll,dpitch,dyaw,flag] in CARLA
+                              convention (x forward, y right, z up), estimated
+                              with VGGT-Omega and scaled by the GPS arc length
+manifest_s{0..3}.jsonl        one row per clip: name, clip_id, frames, arc_m,
+                              caption ("window" = per-window caption used,
+                              "clip" = whole-sequence fallback), guidance
+qc_scores.jsonl               cheap motion/sharpness QC per clip (weak tag; see
+                              miniworld/scripts/benchmarking/qc_clips.py)
+arcs.json                     GPS arc length (m) per clip
+captions/                     Qwen-generated short/long captions per sequence
+                              window (kl_windows_s*.jsonl) and per sequence
+```
+
+`name` is `<source>-<sequence>_w<start>`; `clip_id` is `<source>:<sequence>`.
+The original keyframes and GPS come from the `kl_real_v1` corpus.
+
+## Generation
+
+Wan2.2-TI2V-5B with a rank-128 LoRA trained with the freeze-frame keyframe
+recipe of the Seoul World Model (arXiv:2603.15583) on CARLA v2 synthetic video,
+OpenDV and Kuala Lumpur sequences; 35 sampling steps, flow shift 7, guidance 3.
+Code: https://github.com/kamwoh/miniworld (`scripts/generation/interpolate_batch.py`).
+
+## Caveats
+
+- Generated frames can morph objects on close-range lateral pans; `qc_scores`
+  is a weak filter. Treat non-keyframe content as synthetic.
+- Poses are monocular estimates; scale drift is possible on long arcs.
+
+## License and attribution
+
+Source imagery: Mapillary and KartaView contributors, CC BY-SA 4.0. This
+derivative is released under the same license.

captions/kl_windows.jsonl

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+{"clip_id": "kartaview:10471737:83:24", "window_start": 0, "uuid": "34f2a0c7-4563-5055-bb75-ed3a3b837a71", "short_caption": "A forward-moving dashcam view travels along a wide, multi-lane urban road under a partly cloudy sky. Construction hoardings line the left side, while high-rise buildings and parked cars occupy the right. A red hatchback drives ahead in the center lane, followed by a motorcyclist. Traffic flows steadily away from the viewer toward a distant intersection.", "long_caption": "A forward-moving dashcam perspective captures a wide, multi-lane urban avenue during the daytime under a bright, partly cloudy sky. The asphalt road surface is dry with clear white dashed lane markings separating the lanes of traffic moving away from the viewer. On the left, a long construction site is enclosed by grey and white hoardings featuring large advertising banners, bordered by a black-and-yellow striped curb. To the right, dense commercial architecture lines the street, including a prominent building displaying 'HOTEL 99' signage and a taller tower marked 'Maybank'. Parked vehicles, including a colorful tour bus and several sedans, sit along the right curb. In the immediate foreground, a red hatchback travels steadily in the center lane, its brake lights briefly visible. A motorcyclist rides just to the right of the red car, maintaining pace. Further ahead, a red double-decker bus and other vehicles navigate the busy thoroughfare, creating a continuous flow of traffic extending toward the distant city skyline."}
+{"clip_id": "kartaview:10471737:83:24", "window_start": 5, "uuid": "34acf89c-2d6d-53b5-a644-015822afb87d", "short_caption": "A dashcam view moves forward on a wide, multi-lane urban road under a cloudy sky. A red hatchback drives ahead in the same lane, following a large red bus. To the left, a covered transit station and construction barriers line the curb. On the right, tall commercial buildings with glass facades rise above parked buses and moving cars. Traffic flows steadily away from the viewer, while vehicles in the opposite direction approach slowly.", "long_caption": "The dashcam view travels forward along a broad, multi-lane city street beneath a bright, overcast sky filled with scattered clouds. The asphalt surface is dry, marked by white dashed lines separating lanes of traffic moving in the same direction. Ahead, a compact red hatchback maintains a steady pace in the center lane, following a large red double-decker bus that occupies the lane further up the road. To the left, a long, curved-roof transit shelter runs parallel to the road, bordered by temporary construction fencing and yellow warning signs. On the right, imposing high-rise structures dominate the skyline, including a building with a prominent glass facade and vertical signage reading \"HOTEL 99\". Below these towers, several colorful tour buses are parked along the curb, while smaller sedans and a motorcycle navigate the adjacent lanes. In the distance, more modern skyscrapers fade into the haze, framing the end of the visible street where traffic continues to flow smoothly away from the camera."}
+{"clip_id": "kartaview:10471737:83:24", "window_start": 10, "uuid": "f5542540-f881-5bdc-938c-029d3c8d2237", "short_caption": "A dashcam view moves forward along a wide, multi-lane urban street under an overcast sky. On the left, a covered walkway and yellow barriers line a large grey building with rooftop advertisements. To the right, tall glass-fronted hotels rise above busy storefronts. A red hatchback travels directly ahead in the same lane, while oncoming traffic flows steadily in the opposite direction. The road surface is dry asphalt with clear white markings.", "long_caption": "A dashcam perspective captures a steady forward movement along a broad, multi-lane city street during a cloudy daytime. The asphalt road features distinct white dashed lane dividers and solid edge lines. On the left side, a long covered pedestrian walkway runs parallel to the road, separated by a low yellow metal fence and black-and-white striped curbs. Behind this structure stands a massive, modern grey building adorned with large red advertising billboards on its upper facade. On the right, towering commercial buildings with extensive glass facades dominate the skyline, featuring prominent vertical signage for hotels and ground-level retail shops with orange awnings. Directly ahead in the center lane, a compact red hatchback maintains a consistent distance, moving away from the viewer. Further down the road, a red double-decker bus is visible among other distant vehicles. In the adjacent right-hand lanes, oncoming traffic, including several white sedans and a dark SUV, approaches at a moderate speed. The overall scene depicts a bustling urban environment with mixed vehicular flow."}
+{"clip_id": "kartaview:10471737:83:36", "window_start": 0, "uuid": "0909283d-ddab-5869-8ded-ec4176da4c0c", "short_caption": "A dashcam view moves forward along a wide, multi-lane urban avenue under an overcast sky. The camera follows a red hatchback in the center lane, which brakes as it approaches a red double-decker bus ahead. To the left, a yellow railing separates the roadway from a covered pedestrian walkway beside a large grey building with rooftop advertising banners. On the right, tall glass hotel towers line the street, with several white and red cars parked or moving slowly near the curb. Traffic flows steadily forward in both directions.", "long_caption": "A dashcam view moves forward along a wide, multi-lane urban avenue under an overcast sky filled with soft white clouds. The road surface is dry asphalt marked with dashed white lane lines. The camera follows a red hatchback in the center lane, which maintains a steady pace before its brake lights illuminate as it approaches a red double-decker bus further ahead. To the left, a yellow metal railing separates the roadway from a covered pedestrian walkway that runs alongside a large grey multi-story building topped with prominent red advertising banners. Yellow directional signs are mounted on poles along this side. On the right, tall modern hotel towers with extensive glass facades dominate the streetscape, displaying vertical signage for multiple hotel brands. Several vehicles, including white sedans and a red car, are visible parked or moving slowly near the right curb, where orange traffic cones mark a small work zone. In the distance, additional high-rise buildings and green trees line the horizon. Traffic flows steadily forward in the same direction as the camera, with light congestion visible ahead."}
+{"clip_id": "kartaview:10471737:83:36", "window_start": 5, "uuid": "a96f5b66-26a9-523e-83fa-8e419965837c", "short_caption": "A dashcam view moves forward on a multi-lane city street under an overcast sky. A red hatchback travels ahead in the center lane, following a large red bus. To the left, a yellow railing separates the road from a covered transit station structure. On the right, high-rise buildings and parked cars line the curb. Traffic flows steadily away from the viewer toward distant urban structures.", "long_caption": "A moving dashcam perspective captures a wide, multi-lane urban street during the daytime under a cloudy, bright sky. The camera advances forward along the asphalt, which features dashed white lane markings and a solid yellow line bordering the left edge. On the left side, a long yellow metal railing separates the roadway from a large, grey concrete transit station with a curved roof structure. On the right, tall modern buildings with glass facades and hotel signage rise above the street level, where several vehicles are parked parallel to the curb. Directly ahead in the same lane, a red compact hatchback drives at a steady pace, its brake lights occasionally visible as it follows a large red double-decker bus further down the road. In the adjacent right lane, a red taxi and other sedans move slowly in the same direction. Distant traffic and pedestrians appear near an overpass structure in the background. The overall flow of traffic is consistent, moving away from the viewer through the dense city corridor."}

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