---
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.