SemanticVLA Datasets
Collection
TraceX 240K LeRobot v3 datasets: Bridge, Fractal, BC-Z, and DROID. • 4 items • Updated • 1
Datasets:
action list | action_dict.cartesian_position list | action_dict.cartesian_velocity list | action_dict.gripper_position float64 0 1 | action_dict.gripper_velocity float64 -1 1 | action_dict.joint_position list | action_dict.joint_velocity list | discount float32 1 1 | is_first bool 2
classes | is_last bool 2
classes | is_terminal bool 2
classes | language_instruction stringlengths 0 292 | language_instruction_2 stringlengths 0 249 | language_instruction_3 stringlengths 0 247 | observation.cartesian_position list | observation.gripper_position float64 0 1 | observation.joint_position list | reward float32 0 1 | observation.state list | timestamp float32 0 173 | frame_index int64 0 2.6k | episode_index int64 0 39.9k | index int64 0 11.4M | task_index int64 0 39.9k | trace.x float32 0 100 | trace.y float32 0 100 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
SemanticVLA TraceX 240K · DROID
🎉 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 DROID component of TraceX-240K — the trace-annotated trajectory corpus introduced in SemanticVLA. This package is a LeRobot v3.0 repack of DROID · Franka · Open-X-Embodiment DROID v1.0.1 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.
 |
 |
 |
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| episode 5699 | episode 11349 | episode 33979 | episode 39547 |
🧭 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.
DROID per-episode camera: unlike Bridge / Fractal / BC-Z (single fixed camera), DROID's trace was projected onto one of the two exterior cameras per episode based on calibration quality. The episode metadata field source.camera_for_trace (exterior_image_1_left or exterior_image_2_left) tells you which camera the trace corresponds to. Overlay accordingly when visualising.
📦 Contents
| Field | Value |
|---|---|
| HF repo | spikefly/SemanticVLA-TraceX-240K-DROID |
| Format | LeRobot v3.0 |
| Episodes | 56,362 |
| Frames | 16,142,421 |
| FPS | 15 |
| Robot type | franka |
| Source dataset | Open-X-Embodiment DROID v1.0.1 (56K dense TraceX selection) |
| Data file target | 100 MB |
| Video file target | 500 MB |
Video streams
observation.images.exterior_image_1_leftobservation.images.exterior_image_2_leftobservation.images.wrist_image_left
🧭 Coverage
56,362 episodes with valid dense trace from the local 56K projection selection. All three DROID camera streams (two exterior + wrist) and raw action/observation fields are preserved.
📂 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) |
| BC-Z | spikefly/SemanticVLA-TraceX-240K-BC-Z | BC-Z / Google Robot |
✏️ 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 DROID v1.0.1 (56K dense TraceX selection)). Please consult the upstream dataset license before use.
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