bridge_simpler_mt4

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.