<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0508</schemaVersion>

    <documentType>4</documentType>

    <periodOfReport>2023-07-20</periodOfReport>

    <notSubjectToSection16>1</notSubjectToSection16>

    <issuer>
        <issuerCik>0001824734</issuerCik>
        <issuerName>Berkshire Grey, Inc.</issuerName>
        <issuerTradingSymbol>BGRY</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001883913</rptOwnerCik>
            <rptOwnerName>SVF II BG (DE) LLC</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>251 LITTLE FALLS DRIVE</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>WILMINGTON</rptOwnerCity>
            <rptOwnerState>DE</rptOwnerState>
            <rptOwnerZipCode>19808</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001883559</rptOwnerCik>
            <rptOwnerName>SVF II Aggregator (Jersey) L.P.</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>CRESTBRIDGE LIMITED</rptOwnerStreet1>
            <rptOwnerStreet2>47 ESPLANADE</rptOwnerStreet2>
            <rptOwnerCity>ST. HELIER</rptOwnerCity>
            <rptOwnerState>Y9</rptOwnerState>
            <rptOwnerZipCode>JE1 0BD</rptOwnerZipCode>
            <rptOwnerStateDescription>JERSEY</rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001787613</rptOwnerCik>
            <rptOwnerName>SOFTBANK VISION FUND II-2 L.P.</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>CRESTBRIDGE LIMITED</rptOwnerStreet1>
            <rptOwnerStreet2>47 ESPLANADE</rptOwnerStreet2>
            <rptOwnerCity>ST. HELIER</rptOwnerCity>
            <rptOwnerState>Y9</rptOwnerState>
            <rptOwnerZipCode>JE1 0BD</rptOwnerZipCode>
            <rptOwnerStateDescription>JERSEY</rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001883884</rptOwnerCik>
            <rptOwnerName>SB Global Advisers Ltd</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>69 GROSVENOR STREET</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>LONDON</rptOwnerCity>
            <rptOwnerState>X0</rptOwnerState>
            <rptOwnerZipCode>W1K 3JP</rptOwnerZipCode>
            <rptOwnerStateDescription>UNITED KINGDOM</rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001883900</rptOwnerCik>
            <rptOwnerName>SVF II Holdings (DE) LLC</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>251 LITTLE FALLS DRIVE</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>WILMINGTON</rptOwnerCity>
            <rptOwnerState>DE</rptOwnerState>
            <rptOwnerZipCode>19808</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>0</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>1</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <aff10b5One>0</aff10b5One>

    <nonDerivativeTable>
        <nonDerivativeTransaction>
            <securityTitle>
                <value>Class A Common Stock</value>
            </securityTitle>
            <transactionDate>
                <value>2023-07-20</value>
            </transactionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>S</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
                <footnoteId id="F1"/>
            </transactionCoding>
            <transactionAmounts>
                <transactionShares>
                    <value>65567317</value>
                </transactionShares>
                <transactionPricePerShare>
                    <value>1.4</value>
                    <footnoteId id="F1"/>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>D</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>0</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>See footnote</value>
                    <footnoteId id="F2"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">Pursuant to that certain Agreement and Plan of Merger (the &quot;Merger Agreement&quot;), dated as of March 24, 2023, by and among the Issuer, SoftBank Group Corp. (&quot;SoftBank&quot;) and Backgammon Acquisition Corp., a wholly owned subsidiary of SoftBank (&quot;Merger Sub&quot;), on July 20, 2023, Merger Sub merged with and into the Issuer (the &quot;Merger&quot;), with the Issuer continuing as the surviving corporation and a wholly-owned subsidiary of SoftBank. In connection with the Merger, each share of the Issuer's Class A common stock and Class C common stock (subject to certain exceptions) was converted into the right to receive $1.40 per share in cash.</footnote>
        <footnote id="F2">SVF II BG (DE) LLC (&quot;SVF II BG&quot;) was the record holder of 65,567,317 shares of the Issuer's common stock. SoftBank Vision Fund II-2 L.P. is the sole limited partner of SVF II Aggregator (Jersey) L.P., which is the sole member of SVF II Holdings (DE) LLC, which is the sole member of SVF II BG. SB Global Advisers Limited has been appointed as manager and is exclusively responsible for making all final decisions related to the acquisition, structuring, financing and disposal of SoftBank Vision Fund II-2 L.P.'s investments, including as held by SVF II BG.</footnote>
    </footnotes>

    <ownerSignature>
        <signatureName>SVF II BG (DE) LLC, By: /s/ Jonathan Duckles, as Director</signatureName>
        <signatureDate>2023-07-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>SVF II Aggregator (Jersey) L.P., By: /s/ Michael Johnson, as Director of SVF II GP (Jersey) Limited</signatureName>
        <signatureDate>2023-07-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>SoftBank Vision Fund II-2 L.P., By: /s/ Alex Clavel, as Director</signatureName>
        <signatureDate>2023-07-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>SB Global Advisers Limited, By: /s/ Alex Clavel, as Director</signatureName>
        <signatureDate>2023-07-20</signatureDate>
    </ownerSignature>

    <ownerSignature>
        <signatureName>SVF II Holdings (DE) LLC, By: /s/ Jonathan Duckles, as Director</signatureName>
        <signatureDate>2023-07-20</signatureDate>
    </ownerSignature>
</ownershipDocument>
