Datasets:
Dataset Viewer
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imagewidth (px) 640
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imagewidth (px) 640
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| frame_43_image
imagewidth (px) 640
640
| campaign_name
stringclasses 17
values | session_name
stringclasses 118
values | trajectory_name
stringclasses 339
values | trajectory_index
int64 0
9.73k
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stringlengths 54
77
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pnp_utensils_11-29
|
2022-11-29_15-24-23
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traj0
| 0 |
traj_0000_pnp_utensils_11-29_2022-11-29_15-24-23_traj0
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj1
| 1 |
traj_0001_pnp_utensils_11-29_2022-11-29_15-24-23_traj1
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj10
| 2 |
traj_0002_pnp_utensils_11-29_2022-11-29_15-24-23_traj10
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj100
| 3 |
traj_0003_pnp_utensils_11-29_2022-11-29_15-24-23_traj100
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj101
| 4 |
traj_0004_pnp_utensils_11-29_2022-11-29_15-24-23_traj101
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj102
| 5 |
traj_0005_pnp_utensils_11-29_2022-11-29_15-24-23_traj102
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj103
| 6 |
traj_0006_pnp_utensils_11-29_2022-11-29_15-24-23_traj103
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj104
| 7 |
traj_0007_pnp_utensils_11-29_2022-11-29_15-24-23_traj104
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj105
| 8 |
traj_0008_pnp_utensils_11-29_2022-11-29_15-24-23_traj105
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj106
| 9 |
traj_0009_pnp_utensils_11-29_2022-11-29_15-24-23_traj106
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj107
| 10 |
traj_0010_pnp_utensils_11-29_2022-11-29_15-24-23_traj107
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj108
| 11 |
traj_0011_pnp_utensils_11-29_2022-11-29_15-24-23_traj108
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj109
| 12 |
traj_0012_pnp_utensils_11-29_2022-11-29_15-24-23_traj109
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj11
| 13 |
traj_0013_pnp_utensils_11-29_2022-11-29_15-24-23_traj11
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj110
| 14 |
traj_0014_pnp_utensils_11-29_2022-11-29_15-24-23_traj110
|
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pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj111
| 15 |
traj_0015_pnp_utensils_11-29_2022-11-29_15-24-23_traj111
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj112
| 16 |
traj_0016_pnp_utensils_11-29_2022-11-29_15-24-23_traj112
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj113
| 17 |
traj_0017_pnp_utensils_11-29_2022-11-29_15-24-23_traj113
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj114
| 18 |
traj_0018_pnp_utensils_11-29_2022-11-29_15-24-23_traj114
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj115
| 19 |
traj_0019_pnp_utensils_11-29_2022-11-29_15-24-23_traj115
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj116
| 20 |
traj_0020_pnp_utensils_11-29_2022-11-29_15-24-23_traj116
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj117
| 21 |
traj_0021_pnp_utensils_11-29_2022-11-29_15-24-23_traj117
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj118
| 22 |
traj_0022_pnp_utensils_11-29_2022-11-29_15-24-23_traj118
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj119
| 23 |
traj_0023_pnp_utensils_11-29_2022-11-29_15-24-23_traj119
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj12
| 24 |
traj_0024_pnp_utensils_11-29_2022-11-29_15-24-23_traj12
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj120
| 25 |
traj_0025_pnp_utensils_11-29_2022-11-29_15-24-23_traj120
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj121
| 26 |
traj_0026_pnp_utensils_11-29_2022-11-29_15-24-23_traj121
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj122
| 27 |
traj_0027_pnp_utensils_11-29_2022-11-29_15-24-23_traj122
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj124
| 29 |
traj_0029_pnp_utensils_11-29_2022-11-29_15-24-23_traj124
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj125
| 30 |
traj_0030_pnp_utensils_11-29_2022-11-29_15-24-23_traj125
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj126
| 31 |
traj_0031_pnp_utensils_11-29_2022-11-29_15-24-23_traj126
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj127
| 32 |
traj_0032_pnp_utensils_11-29_2022-11-29_15-24-23_traj127
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj128
| 33 |
traj_0033_pnp_utensils_11-29_2022-11-29_15-24-23_traj128
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj129
| 34 |
traj_0034_pnp_utensils_11-29_2022-11-29_15-24-23_traj129
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj13
| 35 |
traj_0035_pnp_utensils_11-29_2022-11-29_15-24-23_traj13
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj130
| 36 |
traj_0036_pnp_utensils_11-29_2022-11-29_15-24-23_traj130
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj131
| 37 |
traj_0037_pnp_utensils_11-29_2022-11-29_15-24-23_traj131
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj132
| 38 |
traj_0038_pnp_utensils_11-29_2022-11-29_15-24-23_traj132
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj133
| 39 |
traj_0039_pnp_utensils_11-29_2022-11-29_15-24-23_traj133
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj134
| 40 |
traj_0040_pnp_utensils_11-29_2022-11-29_15-24-23_traj134
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj135
| 41 |
traj_0041_pnp_utensils_11-29_2022-11-29_15-24-23_traj135
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj136
| 42 |
traj_0042_pnp_utensils_11-29_2022-11-29_15-24-23_traj136
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj137
| 43 |
traj_0043_pnp_utensils_11-29_2022-11-29_15-24-23_traj137
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj138
| 44 |
traj_0044_pnp_utensils_11-29_2022-11-29_15-24-23_traj138
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj139
| 45 |
traj_0045_pnp_utensils_11-29_2022-11-29_15-24-23_traj139
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj14
| 46 |
traj_0046_pnp_utensils_11-29_2022-11-29_15-24-23_traj14
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj140
| 47 |
traj_0047_pnp_utensils_11-29_2022-11-29_15-24-23_traj140
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj141
| 48 |
traj_0048_pnp_utensils_11-29_2022-11-29_15-24-23_traj141
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj142
| 49 |
traj_0049_pnp_utensils_11-29_2022-11-29_15-24-23_traj142
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj143
| 50 |
traj_0050_pnp_utensils_11-29_2022-11-29_15-24-23_traj143
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj144
| 51 |
traj_0051_pnp_utensils_11-29_2022-11-29_15-24-23_traj144
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj145
| 52 |
traj_0052_pnp_utensils_11-29_2022-11-29_15-24-23_traj145
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj146
| 53 |
traj_0053_pnp_utensils_11-29_2022-11-29_15-24-23_traj146
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj147
| 54 |
traj_0054_pnp_utensils_11-29_2022-11-29_15-24-23_traj147
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj148
| 55 |
traj_0055_pnp_utensils_11-29_2022-11-29_15-24-23_traj148
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj149
| 56 |
traj_0056_pnp_utensils_11-29_2022-11-29_15-24-23_traj149
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj15
| 57 |
traj_0057_pnp_utensils_11-29_2022-11-29_15-24-23_traj15
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj150
| 58 |
traj_0058_pnp_utensils_11-29_2022-11-29_15-24-23_traj150
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj151
| 59 |
traj_0059_pnp_utensils_11-29_2022-11-29_15-24-23_traj151
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj152
| 60 |
traj_0060_pnp_utensils_11-29_2022-11-29_15-24-23_traj152
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj153
| 61 |
traj_0061_pnp_utensils_11-29_2022-11-29_15-24-23_traj153
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj154
| 62 |
traj_0062_pnp_utensils_11-29_2022-11-29_15-24-23_traj154
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj155
| 63 |
traj_0063_pnp_utensils_11-29_2022-11-29_15-24-23_traj155
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj156
| 64 |
traj_0064_pnp_utensils_11-29_2022-11-29_15-24-23_traj156
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj157
| 65 |
traj_0065_pnp_utensils_11-29_2022-11-29_15-24-23_traj157
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj158
| 66 |
traj_0066_pnp_utensils_11-29_2022-11-29_15-24-23_traj158
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj159
| 67 |
traj_0067_pnp_utensils_11-29_2022-11-29_15-24-23_traj159
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj16
| 68 |
traj_0068_pnp_utensils_11-29_2022-11-29_15-24-23_traj16
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj161
| 70 |
traj_0070_pnp_utensils_11-29_2022-11-29_15-24-23_traj161
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj162
| 71 |
traj_0071_pnp_utensils_11-29_2022-11-29_15-24-23_traj162
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj163
| 72 |
traj_0072_pnp_utensils_11-29_2022-11-29_15-24-23_traj163
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj164
| 73 |
traj_0073_pnp_utensils_11-29_2022-11-29_15-24-23_traj164
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj165
| 74 |
traj_0074_pnp_utensils_11-29_2022-11-29_15-24-23_traj165
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj166
| 75 |
traj_0075_pnp_utensils_11-29_2022-11-29_15-24-23_traj166
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj167
| 76 |
traj_0076_pnp_utensils_11-29_2022-11-29_15-24-23_traj167
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj168
| 77 |
traj_0077_pnp_utensils_11-29_2022-11-29_15-24-23_traj168
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj169
| 78 |
traj_0078_pnp_utensils_11-29_2022-11-29_15-24-23_traj169
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj17
| 79 |
traj_0079_pnp_utensils_11-29_2022-11-29_15-24-23_traj17
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj170
| 80 |
traj_0080_pnp_utensils_11-29_2022-11-29_15-24-23_traj170
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj171
| 81 |
traj_0081_pnp_utensils_11-29_2022-11-29_15-24-23_traj171
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj172
| 82 |
traj_0082_pnp_utensils_11-29_2022-11-29_15-24-23_traj172
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj173
| 83 |
traj_0083_pnp_utensils_11-29_2022-11-29_15-24-23_traj173
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj174
| 84 |
traj_0084_pnp_utensils_11-29_2022-11-29_15-24-23_traj174
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj175
| 85 |
traj_0085_pnp_utensils_11-29_2022-11-29_15-24-23_traj175
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj176
| 86 |
traj_0086_pnp_utensils_11-29_2022-11-29_15-24-23_traj176
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj177
| 87 |
traj_0087_pnp_utensils_11-29_2022-11-29_15-24-23_traj177
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj178
| 88 |
traj_0088_pnp_utensils_11-29_2022-11-29_15-24-23_traj178
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj179
| 89 |
traj_0089_pnp_utensils_11-29_2022-11-29_15-24-23_traj179
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj18
| 90 |
traj_0090_pnp_utensils_11-29_2022-11-29_15-24-23_traj18
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj180
| 91 |
traj_0091_pnp_utensils_11-29_2022-11-29_15-24-23_traj180
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj182
| 93 |
traj_0093_pnp_utensils_11-29_2022-11-29_15-24-23_traj182
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj183
| 94 |
traj_0094_pnp_utensils_11-29_2022-11-29_15-24-23_traj183
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj184
| 95 |
traj_0095_pnp_utensils_11-29_2022-11-29_15-24-23_traj184
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj185
| 96 |
traj_0096_pnp_utensils_11-29_2022-11-29_15-24-23_traj185
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj186
| 97 |
traj_0097_pnp_utensils_11-29_2022-11-29_15-24-23_traj186
|
|||
pnp_utensils_11-29
|
2022-11-29_15-24-23
|
traj187
| 98 |
traj_0098_pnp_utensils_11-29_2022-11-29_15-24-23_traj187
|
|||
pnp_utensils_11-29
|
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BridgeData V2 Image Triplets Dataset
This dataset contains image triplets from BridgeData V2 trajectories in ImageFolder format.
Derived From
This dataset is a derivative of the 30 GB scripted subset of BridgeData V2 from RAIL-Berkeley. All rights and original licensing apply.
Dataset Structure
- initial_images/: Contains first frame images (initial state)
- intermediate_images/: Contains intermediate frame images (frame 38)
- final_images/: Contains final frame images (frame 43)
- metadata.jsonl: Contains metadata for each trajectory with image file paths
Format
Each trajectory contributes one entry with:
- First image (frame 0) - Initial state
- Intermediate image (frame 38) - Intermediate edited state
- Frame 43 image (frame 43) - Final edited state
- Trajectory metadata (campaign, session, trajectory names, etc.)
All images have a consistent resolution of 640 x 480 pixels.
Statistics
- Total trajectories: 8802
- Total images: 26406
- Image triplets per trajectory: 1
- Image resolution: 640 x 480 pixels
Loading the Dataset
from datasets import load_dataset
# Load the dataset
dataset = load_dataset("imagefolder", data_dir="path/to/dataset")
# Access image triplets
example = dataset[0]
initial_image = example["first_image_file_name"] # PIL Image - frame 0 (in initial_images/)
intermediate_image = example["intermediate_image_file_name"] # PIL Image - frame 38 (in intermediate_images/)
final_image = example["frame_43_image_file_name"] # PIL Image - frame 43 (in final_images/)
metadata = {k: v for k, v in example.items() if not k.endswith("_file_name") and k != "intermediate_image_file_name"}
Citation
If you use this dataset, please cite the original BridgeData V2 paper:
@inproceedings{walke2023bridgedata,
title={BridgeData V2: A Dataset for Robot Learning at Scale},
author={Walke, Homer and Black, Kevin and Lee, Abraham and Kim, Moo Jin and Du, Max and Zheng, Chongyi and Zhao, Tony and Hansen-Estruch, Philippe and Vuong, Quan and He, Andre and Myers, Vivek and Fang, Kuan and Finn, Chelsea and Levine, Sergey},
booktitle={Conference on Robot Learning (CoRL)},
year={2023}
}
Generated on: 2025-09-07
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