Datasets:
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---
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 |