chaoqi-liu/bridge_simpler_mt4

bridgesimplermt4

This dataset was created using LeRobot.

Dataset Description

This dataset is a targeted Bridge subset for the four SIMPLER WidowX tasks:

• —widowx_spoon_on_towel
• —widowx_carrot_on_plate
• —widowx_stack_cube
• —widowx_put_eggplant_in_basket

The data preserve the source Bridge camera, state, and action schema while narrowing the task distribution toward these four targets.

Dataset Structure

meta/info.json:

{
  "codebase_version": "v3.0",
  "robot_type": "widowx",
  "total_episodes": 2237,
  "total_frames": 83482,
  "total_tasks": 1217,
  "fps": 5,
  "splits": {
    "train": "0:2237"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
}

• —meta/stats.json
• —meta/tasks.parquet
• —meta/episodes/chunk-000/file-000.parquet

Source

• —Source repo: jesbu1/bridge_v2_lerobot
• —Output repo: chaoqi-liu/bridge_simpler_mt4

Selection Recipe

The subset is built online from source metadata with this frozen recipe:

• —direct spoon_on_towel
• —direct carrot_on_plate
• —direct loose stack_cube
• —compositional eggplant_any
• —compositional basket_any
• —loose stack_any_blockcube

This recipe is intentionally asymmetric:

• —task 4 has no exact public Bridge match, so it is approximated with eggplant_any ∪ basket_any
• —task 3 is widened with loose stack/block-cube tasks to raise subset size into a practical range

Final Size

• —episodes: 2237
• —frames: 83482

Rule Counts Before Union

• —spoon_direct: 167
• —carrot_direct: 332
• —stack_direct_loose: 33
• —eggplant_any: 418
• —basket_any: 544
• —stack_any_blockcube: 772

Notes

• —The dataset name is stable; exact counts are recorded here instead of being encoded in the repo name.
• —This subset preserves the source camera/state/action schema.