CC BY 4.0
The publisher's licence permits commercial use and redistribution, with attribution.
wget -r -np -nH --cut-dirs=3 https://rail.eecs.berkeley.edu/datasets/bridge_release/data/Teleoperated demos and scripted rollouts ship as separate zip files; a TFDS/RLDS version downsampled to 256x256 is in the same directory. fps of 5 is the control frequency. Total size not stated on the site.
Specification, as published
- Hours (derived)
- 127 h
- Episodes (stated)
- 60,096 episodes
- Scale
- 60,096 trajectories
- Task
- Pick & place, Sorting & packing, Laundry & folding, Cleaning, Other
- Environment
- Indoor – lab
- Modality
- RGB, Depth, Proprioception, Actions, Language
- Capture
- CCTV Scene
- In frame
- Robot hands
- Captured in
- United States of America
- Embodiment
- WidowX 250 6DOF arm
- Frame rate
- 5 fps
- Resolution
- 640x480 (raw); 256x256 in the TFDS/RLDS version
- Formats
- Images (JPEG/PNG), Pickle, RLDS/TFRecord, NPZ/NumPy
- Hosted on
- rail.eecs.berkeley.edu
Figures are the publisher's own. Kinetic Blocks has not measured this dataset. Estimated from the publisher's figures: 60,096 trajectories with a mean length of 38 timesteps at 5 Hz. The publisher states no total.
About this dataset
BridgeData V2 collects 60,096 trajectories on a low-cost WidowX 250 arm: 50,365 human teleoperated demonstrations plus 9,731 rollouts from a scripted pick-and-place policy. Recording spans 24 environments, mostly toy kitchens and tabletops, and 13 skills such as pick and place, pushing, sweeping, stacking and folding. Each step carries an over-the-shoulder RGBD view, two randomly posed RGB cameras and a wrist camera, sampled at 5 Hz control frequency.
Publisher's own task names: pick-and-place, pushing, sweeping, stacking, folding, opening, closing, 13 skills.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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