SemanticVLA Datasets
Collection
TraceX 240K LeRobot v3 datasets: Bridge, Fractal, BC-Z, and DROID. • 4 items • Updated • 1
is_first bool | action.future.xyz_residual list | action.future.axis_angle_residual list | action.future.target_close list | is_terminal bool | observation.sequence_length int64 | observation.present.autonomous int64 | observation.natural_language_instruction string | observation.present.axis_angle list | observation.episode_success float32 | observation.present.sensed_close float32 | observation.present.intervention int64 | observation.present.xyz list | observation.natural_language_embedding list | reward float32 | is_last bool | action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | trace.x float32 | trace.y float32 |
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End of preview. Expand in Data Studio
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.
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