yoonkyojung/TraceGenBridgedata

TraceGen – BridgeData V2 (Derived Subset)

Overview

This folder contains a derived subset of the BridgeData dataset processed using the TraceForge pipeline as part of the TraceGen project.

• TraceGen Project Website: https://tracegen.github.io/

The data is released for academic research purposes and follows the licensing terms of the original BridgeData dataset.

Evaluation Protocol

This dataset defines the official evaluation protocol for the TraceGen benchmark. Models are evaluated on five environments with the following metrics:

• Mean Squared Error (MSE)
• Mean Absolute Error (MAE)
• Endpoint MSE

The official datasets and models are hosted at: 👉 TraceGen Collection

The official leaderboard is hosted at: 👉 TraceGen Leaderboard

Source Dataset

• Dataset: BridgeData
• Original Authors: BridgeData Authors
• Original License: Creative Commons Attribution 4.0 International (CC BY 4.0)
• Official Website: https://rail-berkeley.github.io/bridgedata/

What Is Released Here

This folder contains a subset of episodes processed by the TraceForge pipeline. For each episode <video_name>, we release:

• images/: RGB frames extracted from the original BridgeData dataset (*.png)
• samples/: per-frame TraceForge / TraceGen representations (*.npz)
• <video_name>.npz: aggregated episode-level metadata and outputs

Notes

• RGB frames originate from the BridgeData dataset.
• Trace representations are derived outputs generated by TraceForge and were not part of the original dataset distribution.

Modifications

The original data has been processed using the TraceForge pipeline, including:

• temporal subsampling
• camera motion compensation
• coordinate normalization and trace abstraction

License and Attribution

This derived dataset is released under the CC BY 4.0 license.

Users must:

• provide appropriate attribution to the original BridgeData authors
• indicate that this dataset is a derived work
• follow the terms of the CC BY 4.0 license

Disclaimer

This release does not replace or redistribute the original BridgeData dataset. The TraceGen authors are not affiliated with the original dataset creators. Any errors introduced during processing are the responsibility of the TraceGen authors.