yoonkyojung/TraceGenRobomimic

TraceGen – RoboMimic (Derived Subset)

Overview

This folder contains a derived subset generated from the RoboMimic dataset using the TraceForge pipeline as part of the TraceGen project.

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

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: RoboMimic
• Original Authors: RoboMimic Authors
• Original License: MIT License
• Official Website: https://robomimic.github.io/

What Is Released Here

For each episode <video_name>, we release:

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

Modifications

The data has been processed using TraceForge, including:

• frame subsampling
• motion normalization
• trace abstraction

License and Attribution

This derived dataset is released under the MIT License.

Users must retain the original copyright and license notices in any redistribution.

Disclaimer

This dataset is a derived work and does not replace the original RoboMimic dataset. The TraceGen authors are not affiliated with the RoboMimic authors.