SemanticVLA Datasets
Collection
TraceX 240K LeRobot v3 datasets: Bridge, Fractal, BC-Z, and DROID. • 4 items • Updated • 1
action list | language_embedding list | is_terminal bool 2
classes | is_last bool 2
classes | language_instruction stringlengths 0 195 | observation.state list | is_first bool 2
classes | discount float32 1 1 | reward float32 0 1 | timestamp float32 0 23.6 | frame_index int64 0 118 | episode_index int64 0 53.2k | index int64 0 2M | task_index int64 0 53.2k | trace.x float32 0 100 | trace.y float32 0 100 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
SemanticVLA TraceX 240K · Bridge
🎉 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 Bridge component of TraceX-240K — the trace-annotated trajectory corpus introduced in SemanticVLA. This package is a LeRobot v3.0 repack of BridgeData V2 · WidowX 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 5317 | episode 10663 | episode 21302 | episode 15995 |
🧭 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-Bridge |
| Format | LeRobot v3.0 |
| Episodes | 53,192 |
| Frames | 1,999,410 |
| FPS | 5 |
| Robot type | widowx |
| Source dataset | BridgeData V2 (v1.0.0) |
| Data file target | 100 MB |
| Video file target | 500 MB |
Video streams
observation.images.image_0observation.images.image_1observation.images.image_2observation.images.image_3
📂 Sibling datasets in TraceX-240K
| Dataset | HF Repository | Embodiment |
|---|---|---|
| Fractal | spikefly/SemanticVLA-TraceX-240K-Fractal | Fractal / Google Robot (RT-1) |
| BC-Z | spikefly/SemanticVLA-TraceX-240K-BC-Z | BC-Z / Google Robot |
| 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 (BridgeData V2 (v1.0.0)). Please consult the upstream dataset license before use.
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