Datasets:

spikefly
/

SemanticVLA-TraceX-240K-BC-Z

pretty_name: SemanticVLA TraceX 240K BC-Z
tags:
  - robotics
  - lerobot
  - bc-z
  - google-robot
  - semanticvla
  - tracex
  - lerobot-v3
license: other
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/**/*.parquet

SemanticVLA TraceX 240K · BC-Z

🎉 Accepted to CVPR 2026.
✍️ Fei Ni¹, Zhuo Chen², Yifu Yuan³, Zibin Dong³, Xianze Yao³, Shan Luo², Jianye Hao³, Jiankang Deng¹†, Stefanos Zafeiriou¹†
🏫 ¹Imperial College London ²King's College London ³Tianjin University
✉️ Primary contact: f.ni@imperial.ac.uk

The BC-Z component of TraceX-240K — the trace-annotated trajectory corpus introduced in SemanticVLA. This package is a LeRobot v3.0 repack of BC-Z · Open-X-Embodiment BC-Z v0.1.0 with dense per-frame end-effector trace labels stored directly in every frame row.

📚 Code · checkpoints · paper: https://github.com/Fei-Ni/SemanticVLA_Offcial

🎬 Sample trace overlays

Each clip shows the orange trace label (per-frame gripper position) overlaid on the original episode camera feed.


_{episode 4331}	_{episode 12997}	_{episode 25940}	_{episode 30275}

🧭 Trace label schema

Dense per-frame end-effector position columns, stored directly in every frame row:

trace.x — float32[1], normalized image-space x coordinate on a [0, 100] scale.
trace.y — float32[1], normalized image-space y coordinate on a [0, 100] scale.

(0, 0) is the top-left corner of the frame, (100, 100) the bottom-right.

📦 Contents

Field	Value
HF repo	`spikefly/SemanticVLA-TraceX-240K-BC-Z`
Format	LeRobot v3.0
Episodes	43,264
Frames	6,015,535
FPS	5
Robot type	`google_robot`
Source dataset	Open-X-Embodiment BC-Z v0.1.0
Data file target	100 MB
Video file target	500 MB

Video streams

observation.images.image

🧭 Coverage

Episodes are stored in a single continuous index space: 39,350 train + 3,914 val = 43,264 total. Source split is preserved in episode metadata.

📂 Sibling datasets in TraceX-240K

Dataset	HF Repository	Embodiment
Bridge	spikefly/SemanticVLA-TraceX-240K-Bridge	BridgeData V2 / WidowX
Fractal	spikefly/SemanticVLA-TraceX-240K-Fractal	Fractal / Google Robot (RT-1)
DROID	spikefly/SemanticVLA-TraceX-240K-DROID	DROID / Franka

✏️ Citation

If you use this dataset, please cite SemanticVLA:

@inproceedings{ni2026semanticvla,
  title     = {SemanticVLA: Towards Semantic Reasoning over Action Memorization via Synergistic Explicit Trace and Latent Action Planning},
  author    = {Ni, Fei and Chen, Zhuo and Yuan, Yifu and Dong, Zibin and Yao, Xianze and Luo, Shan and Hao, Jianye and Deng, Jiankang and Zafeiriou, Stefanos},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year      = {2026}
}

📜 License & terms

The trace annotation labels (trace.x / trace.y) are released under the MIT License as part of the SemanticVLA code release. Use of the underlying robot trajectory data is subject to the original source dataset terms (Open-X-Embodiment BC-Z v0.1.0). Please consult the upstream dataset license before use.