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

    <schemaVersion>X0306</schemaVersion>

    <documentType>4/A</documentType>

    <periodOfReport>2022-06-22</periodOfReport>

    <dateOfOriginalSubmission>2022-06-24</dateOfOriginalSubmission>

    <notSubjectToSection16>0</notSubjectToSection16>

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

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001217448</rptOwnerCik>
            <rptOwnerName>DELANEY JOHN K</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>140 SOUTH ROAD</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>BEDFORD</rptOwnerCity>
            <rptOwnerState>MA</rptOwnerState>
            <rptOwnerZipCode>01730</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isDirector>1</isDirector>
            <isOfficer>0</isOfficer>
            <isTenPercentOwner>0</isTenPercentOwner>
            <isOther>0</isOther>
        </reportingOwnerRelationship>
    </reportingOwner>

    <nonDerivativeTable>
        <nonDerivativeTransaction>
            <securityTitle>
                <value>Class A Common Stock</value>
            </securityTitle>
            <transactionDate>
                <value>2022-06-22</value>
            </transactionDate>
            <deemedExecutionDate></deemedExecutionDate>
            <transactionCoding>
                <transactionFormType>4</transactionFormType>
                <transactionCode>A</transactionCode>
                <equitySwapInvolved>0</equitySwapInvolved>
            </transactionCoding>
            <transactionTimeliness>
                <value></value>
            </transactionTimeliness>
            <transactionAmounts>
                <transactionShares>
                    <value>91667</value>
                    <footnoteId id="F1"/>
                </transactionShares>
                <transactionPricePerShare>
                    <value>0.00</value>
                </transactionPricePerShare>
                <transactionAcquiredDisposedCode>
                    <value>A</value>
                </transactionAcquiredDisposedCode>
            </transactionAmounts>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>91667</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>D</value>
                </directOrIndirectOwnership>
            </ownershipNature>
        </nonDerivativeTransaction>
        <nonDerivativeHolding>
            <securityTitle>
                <value>Class A Common Stock</value>
            </securityTitle>
            <postTransactionAmounts>
                <sharesOwnedFollowingTransaction>
                    <value>3735333</value>
                </sharesOwnedFollowingTransaction>
            </postTransactionAmounts>
            <ownershipNature>
                <directOrIndirectOwnership>
                    <value>I</value>
                </directOrIndirectOwnership>
                <natureOfOwnership>
                    <value>By RAAC Management LLC</value>
                    <footnoteId id="F2"/>
                </natureOfOwnership>
            </ownershipNature>
        </nonDerivativeHolding>
    </nonDerivativeTable>

    <footnotes>
        <footnote id="F1">These shares represent restricted stock units (&quot;RSUs&quot;) and will be settled in the Issuer's Class A common stock upon vesting. These RSUs vest in full on June 22, 2023, the first anniversary of the grant date.</footnote>
        <footnote id="F2">RAAC Management LLC (&quot;Sponsor&quot;) is the record holder of the shares reported herein. Acceleration Capital Management LLC (&quot;ACM&quot;) is a member of Sponsor. John K. Delaney is the managing member of ACM. The members of Sponsor elect and remove its managers. As a result of the foregoing, Mr. Delaney may be deemed to beneficially own shares held by Sponsor. Mr. Delaney disclaims beneficial ownership of the shares held by Sponsor, except to the extent of his pecuniary interest therein.</footnote>
    </footnotes>

    <remarks>Exhibit 24 - Power of Attorney

The Form 4 originally filed by the Reporting Person on June 24, 2022 incorrectly stated the vesting terms within note 1. This amendment is being filed to correct this misstatement and to include the Power of Attorney as an attachment.</remarks>

    <ownerSignature>
        <signatureName>/s/ Christian Ehrbar, Attorney-in-Fact</signatureName>
        <signatureDate>2022-06-27</signatureDate>
    </ownerSignature>
</ownershipDocument>
