spikefly/SemanticVLA-TraceX-240K-BC-Z
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 ·… See the full description on the dataset page: https://huggingface.co/datasets/spikefly/SemanticVLA-TraceX-240K-BC-Z.
SemanticVLA TraceX 240K · BC-Z
🎉 Accepted to [CVPR 2026](https://cvpr.thecvf.com/virtual/2026/poster/39352).<br> ✍️ Fei Ni¹, Zhuo Chen², Yifu Yuan³, Zibin Dong³, Xianze Yao³, Shan Luo², Jianye Hao³, Jiankang Deng¹†, Stefanos Zafeiriou¹†<br> 🏫 ¹Imperial College London ²King's College London ³Tianjin University<br> ✉️ 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.
<table> <tr> <td><img src="assets/traceoverlays/ep004331.gif" width="200" alt="episode 4331"></td> <td><img src="assets/traceoverlays/ep012997.gif" width="200" alt="episode 12997"></td> <td><img src="assets/traceoverlays/ep025940.gif" width="200" alt="episode 25940"></td> <td><img src="assets/traceoverlays/ep030275.gif" width="200" alt="episode 30275"></td> </tr> <tr> <td align="center"><sub>episode 4331</sub></td><td align="center"><sub>episode 12997</sub></td><td align="center"><sub>episode 25940</sub></td><td align="center"><sub>episode 30275</sub></td> </tr> </table>
🧭 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
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
<table> <tr><th>Dataset</th><th>HF Repository</th><th>Embodiment</th></tr> <tr><td><b>Bridge</b></td><td><a href="https://huggingface.co/datasets/spikefly/SemanticVLA-TraceX-240K-Bridge">spikefly/SemanticVLA-TraceX-240K-Bridge</a></td><td>BridgeData V2 / WidowX</td></tr> <tr><td><b>Fractal</b></td><td><a href="https://huggingface.co/datasets/spikefly/SemanticVLA-TraceX-240K-Fractal">spikefly/SemanticVLA-TraceX-240K-Fractal</a></td><td>Fractal / Google Robot (RT-1)</td></tr> <tr><td><b>DROID</b></td><td><a href="https://huggingface.co/datasets/spikefly/SemanticVLA-TraceX-240K-DROID">spikefly/SemanticVLA-TraceX-240K-DROID</a></td><td>DROID / Franka</td></tr> </table>
✏️ 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.