SemanticVLA Datasets
Collection
TraceX 240K LeRobot v3 datasets: Bridge, Fractal, BC-Z, and DROID. • 4 items • Updated • 1
is_terminal bool 2
classes | is_first bool 2
classes | action.gripper_closedness_action float32 -1 1 | action.terminate_episode list | action.base_displacement_vector list | action.rotation_delta list | action.base_displacement_vertical_rotation float32 -0.4 0.4 | action.world_vector list | reward float32 0 1 | observation.rotation_delta_to_go list | observation.orientation_start list | observation.height_to_bottom float32 -0.01 1.69 | observation.natural_language_instruction stringclasses 599
values | observation.natural_language_embedding list | observation.workspace_bounds list | observation.robot_orientation_positions_box list | observation.gripper_closedness_commanded float32 -1 1 | observation.base_pose_tool_reached list | observation.vector_to_go list | observation.src_rotation list | observation.gripper_closed float32 0 1 | observation.orientation_box list | is_last bool 2
classes | action list | observation.state list | timestamp float32 0 130 | frame_index int64 0 649 | episode_index int64 0 84k | index int64 0 3.65M | task_index int64 0 84k | trace.x float32 0.8 100 | trace.y float32 0 100 |
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End of preview. Expand in Data Studio
SemanticVLA TraceX 240K · Fractal (RT-1)
🎉 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 Fractal (RT-1) component of TraceX-240K — the trace-annotated trajectory corpus introduced in SemanticVLA. This package is a LeRobot v3.0 repack of Fractal · Google Robot · Open-X-Embodiment fractal20220817 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 17431 | episode 34901 | episode 43630 | episode 61060 |
🧭 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-Fractal |
| Format | LeRobot v3.0 |
| Episodes | 87,182 |
| Frames | 3,786,274 |
| FPS | 5 |
| Robot type | google_robot |
| Source dataset | Open-X-Embodiment fractal20220817_data v0.1.0 |
| Data file target | 100 MB |
| Video file target | 500 MB |
Video streams
observation.images.image
🧭 Coverage
The upstream Fractal train split has 87,212 episodes. This TraceX v3 package contains the 87,182 episodes with valid dense trace annotations; the 30 episodes without dense trace are excluded (no synthetic fallback inserted).
📂 Sibling datasets in TraceX-240K
| Dataset | HF Repository | Embodiment |
|---|---|---|
| Bridge | spikefly/SemanticVLA-TraceX-240K-Bridge | BridgeData V2 / WidowX |
| 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 (Open-X-Embodiment fractal20220817_data v0.1.0). Please consult the upstream dataset license before use.
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