mlsanityData to 7 Oct 2026

BridgeData V2: A Dataset for Robot Learning at Scale

arXiv 2308.12952 ↗First posted 24 Aug 2023cs.RO cs.LGcited by 634

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

We introduce BridgeData V2, a large and diverse dataset of robotic manipulation behaviors designed to facilitate research on scalable robot learning. BridgeData V2 contains 60,096 trajectories collected across 24 environments on a publicly available low-cost robot. BridgeData V2 provides extensive task and environment variability, leading to skills that can generalize across environments, domains, and institutions, making the dataset a useful resource for a broad range of researchers. Additionally, the dataset is compatible with a wide variety of open-vocabulary, multi-task learning methods conditioned on goal images or natural language instructions. In our experiments, we train 6 state-of-the-art imitation learning and offline reinforcement learning methods on our dataset, and find that they succeed on a suite of tasks requiring varying amounts of generalization. We also demonstrate that the performance of these methods improves with more data and higher capacity models, and that training on a greater variety of skills leads to improved generalization. By publicly sharing BridgeData V2 and our pre-trained models, we aim to accelerate research in scalable robot learning methods. Project page at https://rail-berkeley.github.io/bridgedata

Key facts. Cited by 634 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 51 of its 61 references that are in the map. First posted on arXiv 24 Aug 2023.

Builds on

51 of 61 references.

Closest ancestors · 5

Same direction, newest first

  1. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  2. 2022Behavior Transformers: Cloning k modes with one stone22 Jun
  3. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  4. 2020Visual Imitation Made Easy11 Aug
  5. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation7 Nov

Other references · 46

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2020Language Models are Few-Shot Learnerscited by 32,199
  3. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  4. 2019EfficientNet: Rethinking Model Scaling for Convolutional Neural Networkscited by 6,415
  5. 2021Zero-Shot Text-to-Image Generationcited by 4,276
  6. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  7. 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,286
  8. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  9. 2016Generative Adversarial Imitation Learningcited by 1,576
  10. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,245
  11. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,168
  12. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
34 more
  1. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  2. 2015End-to-End Training of Deep Visuomotor Policiescited by 847
  3. 2018QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulationcited by 730
  4. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  5. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
  6. 2016Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collectioncited by 312
  7. 2023IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policiescited by 307
  8. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  9. 2019RoboNet: Large-Scale Multi-Robot Learningcited by 268
  10. 2016Unsupervised Learning for Physical Interaction through Video Predictioncited by 256
  11. 2021Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasetscited by 248
  12. 2022Contrastive Learning as Goal-Conditioned Reinforcement Learningcited by 241
  13. 2021MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scalecited by 226
  14. 2018Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Controlcited by 220
  15. 2015Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hourscited by 208
  16. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  17. 2019Multilingual Universal Sentence Encoder for Semantic Retrievalcited by 192
  18. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  19. 2016Learning to Poke by Poking: Experiential Learning of Intuitive Physicscited by 152
  20. 2018One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learningcited by 146
  21. 2020Language-Conditioned Imitation Learning for Robot Manipulation Taskscited by 136
  22. 2021Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skillscited by 125
  23. 2022Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigationcited by 122
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  25. 2020C-Learning: Learning to Achieve Goals via Recursive Classificationcited by 99
  26. 2017Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulationcited by 90
  27. 2020COG: Connecting New Skills to Past Experience with Offline Reinforcement Learningcited by 83
  28. 2022Pre-Training for Robots: Offline RL Enables Learning New Tasks from a Handful of Trialscited by 78
  29. 2018Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitationcited by 76
  30. 2018Robot Learning in Homes: Improving Generalization and Reducing Dataset Biascited by 75
  31. 2022TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Modelscited by 48
  32. 2016Learning to Push by Grasping: Using multiple tasks for effective learningcited by 36
  33. 2018GONet: A Semi-Supervised Deep Learning Approach For Traversability Estimationcited by 28
  34. 2022How to Spend Your Robot Time: Bridging Kickstarting and Offline Reinforcement Learning for Vision-based Robotic Manipulationcited by 9

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 11; 2024: 91; 2025: 250; 2026: 282.

634 papers.

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By area:

  1. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  2. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  3. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  4. 2025Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Successcited by 844
  5. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  6. 2025SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Modelcited by 502
  7. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  8. 2023Learning Interactive Real-World Simulatorscited by 440
  9. 2025CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Modelscited by 440
  10. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  11. 2026World Action Models are Zero-shot Policiescited by 411
  12. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 390
38 more
  1. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  2. 2024Robotic Control via Embodied Chain-of-Thought Reasoningcited by 340
  3. 20243D-VLA: A 3D Vision-Language-Action Generative World Modelcited by 320
  4. 2024Latent Action Pretraining from Videoscited by 302
  5. 2023Unified-IO 2: Scaling Autoregressive Multimodal Models with Vision, Language, Audio, and Actioncited by 301
  6. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 298
  7. 2024GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulationcited by 290
  8. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
  9. 2023Any-point Trajectory Modeling for Policy Learningcited by 207
  10. 2025Real-Time Execution of Action Chunking Flow Policiescited by 199
  11. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 191
  12. 2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulationcited by 183
  13. 2025World Simulation with Video Foundation Models for Physical AIcited by 183
  14. 2024VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Taskscited by 171
  15. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  16. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  17. 2025LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorizationcited by 166
  18. 2024Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulationcited by 159
  19. 2025Cosmos-Reason1: From Physical Common Sense To Embodied Reasoningcited by 159
  20. 2025Steering Your Diffusion Policy with Latent Space Reinforcement Learningcited by 149
  21. 2024SpatialBot: Precise Spatial Understanding with Vision Language Modelscited by 146
  22. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 144
  23. 2024Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulationcited by 142
  24. 2025Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Bettercited by 142
  25. 2024iVideoGPT: Interactive VideoGPTs are Scalable World Modelscited by 136
  26. 2025RoboBrain: A Unified Brain Model for Robotic Manipulation from Abstract to Concretecited by 134
  27. 2025Unified Vision-Language-Action Modelcited by 128
  28. 2025HAMSTER: Hierarchical Action Models For Open-World Robot Manipulationcited by 125
  29. 2025Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Modelcited by 125
  30. 2025NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Taskscited by 119
  31. 2026DreamDojo: A Generalist Robot World Model from Large-Scale Human Videoscited by 117
  32. 2024Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulationcited by 116
  33. 2024Generative Camera Dolly: Extreme Monocular Dynamic Novel View Synthesiscited by 116
  34. 2025GR-3 Technical Reportcited by 110
  35. 2024GRAPE: Generalizing Robot Policy via Preference Alignmentcited by 106
  36. 2025OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoningcited by 105
  37. 2025FLARE: Robot Learning with Implicit World Modelingcited by 105
  38. 2025What Can RL Bring to VLA Generalization? An Empirical Studycited by 102

50 most cited of 634 All 634 (JSON)

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  1. 2026A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
  2. 2026AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation
  3. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  4. 2022Learning and Retrieval from Prior Data for Skill-based Imitation Learning
  5. 2025Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
  6. 2024Octo: An Open-Source Generalist Robot Policy
  7. 2023Scaling Robot Learning with Semantically Imagined Experience
  8. 2025CUPID: Curating Data your Robot Loves with Influence Functions