| --- |
| license: cc-by-4.0 |
| task_categories: |
| - image-to-image |
| language: |
| - en |
| size_categories: |
| - 1K<n<10K |
| --- |
| # 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](https://rail-berkeley.github.io/bridgedata/). 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 |
| |
| ```python |
| 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: |
| |
| ```bibtex |
| @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 |
