---
license: cc-by-4.0
task_categories:
  - robotics
  - depth-estimation
tags:
  - tracegen
  - traceforge
  - droid
  - computer-vision
  - manipulation
  - 3d-trajectories
---

# TraceGen – DROID (Derived Subset)

## Overview
This folder contains a **derived subset** of the DROID 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.

## 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](https://huggingface.co/collections/furonghuang-lab/tracegen)

The official leaderboard is hosted at:
👉 [TraceGen Leaderboard](https://huggingface.co/furonghuang-lab/TraceGenLeaderboard)

## Source Dataset
- **Dataset**: DROID
- **Original Authors**: DROID Authors
- **Original License**: Creative Commons Attribution 4.0 (CC BY 4.0)
- **Official Website**: https://droid-dataset.github.io/

## What Is Released Here
For each episode `<video_name>`, this release includes:

- `images/`: RGB frames extracted from the original DROID videos
- `depth/`: predicted depth maps aligned to the released frames (`*.png`, `*_raw.npz`)
- `samples/`: per-frame TraceForge / TraceGen representations (`*.npz`)
- `<video_name>.npz`: aggregated episode-level metadata and outputs

RGB frames are redistributed in accordance with the original dataset license.

## Modifications
The data has been processed using TraceForge, including:
- temporal subsampling
- depth-based 3D reconstruction
- coordinate normalization
- trace abstraction

## License and Attribution
This derived dataset is released under the **CC BY 4.0** license.

Appropriate attribution to the DROID dataset is required,
and users must indicate that this dataset is a derived work.

## Disclaimer
This release **does not substitute for the original DROID dataset**.
The TraceGen authors assume responsibility only for the derived representations.