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--- |
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license: cc-by-4.0 |
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task_categories: |
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- robotics |
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- depth-estimation |
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tags: |
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- tracegen |
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- traceforge |
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- droid |
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- computer-vision |
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- manipulation |
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- 3d-trajectories |
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--- |
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# TraceGen – DROID (Derived Subset) |
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## Overview |
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This folder contains a **derived subset** of the DROID dataset processed using the |
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TraceForge pipeline as part of the TraceGen project. |
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- **TraceGen Project Website**: https://tracegen.github.io/ |
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The data is released for academic research purposes. |
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## Evaluation Protocol |
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This dataset defines the official evaluation protocol for the TraceGen benchmark. |
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Models are evaluated on five environments with the following metrics: |
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- Mean Squared Error (MSE) |
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- Mean Absolute Error (MAE) |
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- Endpoint MSE |
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The official datasets and models are hosted at: |
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👉 [TraceGen Collection](https://huggingface.co/collections/furonghuang-lab/tracegen) |
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The official leaderboard is hosted at: |
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👉 [TraceGen Leaderboard](https://huggingface.co/furonghuang-lab/TraceGenLeaderboard) |
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## Source Dataset |
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- **Dataset**: DROID |
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- **Original Authors**: DROID Authors |
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- **Original License**: Creative Commons Attribution 4.0 (CC BY 4.0) |
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- **Official Website**: https://droid-dataset.github.io/ |
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## What Is Released Here |
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For each episode `<video_name>`, this release includes: |
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- `images/`: RGB frames extracted from the original DROID videos |
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- `depth/`: predicted depth maps aligned to the released frames (`*.png`, `*_raw.npz`) |
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- `samples/`: per-frame TraceForge / TraceGen representations (`*.npz`) |
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- `<video_name>.npz`: aggregated episode-level metadata and outputs |
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RGB frames are redistributed in accordance with the original dataset license. |
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## Modifications |
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The data has been processed using TraceForge, including: |
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- temporal subsampling |
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- depth-based 3D reconstruction |
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- coordinate normalization |
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- trace abstraction |
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## License and Attribution |
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This derived dataset is released under the **CC BY 4.0** license. |
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Appropriate attribution to the DROID dataset is required, |
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and users must indicate that this dataset is a derived work. |
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## Disclaimer |
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This release **does not substitute for the original DROID dataset**. |
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The TraceGen authors assume responsibility only for the derived representations. |
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