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---
license: mit
task_categories:
- robotics
tags:
- tracegen
- traceforge
- robomimic
- computer-vision
- imitation-learning
- 3d-trajectories
---
# 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](https://huggingface.co/collections/furonghuang-lab/tracegen)
The official leaderboard is hosted at:
👉 [TraceGen Leaderboard](https://huggingface.co/furonghuang-lab/TraceGenLeaderboard)
## 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.
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