The Open X-Embodiment Dataset is the largest open-source real robot dataset to date. It contains 1M+ real robot trajectories spanning 22 robot embodiments, from single robot arms to bi-manual robots and quadrupeds. The dataset was constructed by pooling 60 existing robot datasets from 34 robotic research labs around the world. The number of visually distinct scenes is well-distributed across different robot embodiments and that the dataset includes a wide range of common behaviors and household objects.
They process and aggregate a large number of prior datasets into a single, standardized repository, called Open X-Embodiment, which shows how robot learning datasets can be shared in a meaningful and useful way.
The Open X-Embodiment Dataset contains 1M+ real robot trajectories spanning 22 robot embodiments, from single robot arms to bi-manual robots and quadrupeds. The dataset was constructed by pooling 60 existing robot datasets from 34 robotic research labs around the world and converting them into a consistent data format for easy download and usage.
@misc{open_x_embodiment_rt_x_2023,
title={Open {X-E}mbodiment: Robotic Learning Datasets and {RT-X} Models},
author = {Open X-Embodiment Collaboration and Abby O'Neill and Abdul Rehman and Abhinav Gupta and Abhiram Maddukuri and Abhishek Gupta and Abhishek Padalkar and Abraham Lee and Acorn Pooley and Agrim Gupta and Ajay Mandlekar and Ajinkya Jain and Albert Tung and Alex Bewley and Alex Herzog and Alex Irpan and Alexander Khazatsky and Anant Rai and Anchit Gupta and Andrew Wang and Andrey Kolobov and Anikait Singh and Animesh Garg and Aniruddha Kembhavi and Annie Xie and Anthony Brohan and Antonin Raffin and Archit Sharma and Arefeh Yavary and Arhan Jain and Ashwin Balakrishna and Ayzaan Wahid and Ben Burgess-Limerick and Beomjoon Kim and Bernhard Schölkopf and Blake Wulfe and Brian Ichter and Cewu Lu and Charles Xu and Charlotte Le and Chelsea Finn and Chen Wang and Chenfeng Xu and Cheng Chi and Chenguang Huang and Christine Chan and Christopher Agia and Chuer Pan and Chuyuan Fu and Coline Devin and Danfei Xu and Daniel Morton and Danny Driess and Daphne Chen and Deepak Pathak and Dhruv Shah and Dieter Büchler and Dinesh Jayaraman and Dmitry Kalashnikov and Dorsa Sadigh and Edward Johns and Ethan Foster and Fangchen Liu and Federico Ceola and Fei Xia and Feiyu Zhao and Felipe Vieira Frujeri and Freek Stulp and Gaoyue Zhou and Gaurav S. Sukhatme and Gautam Salhotra and Ge Yan and Gilbert Feng and Giulio Schiavi and Glen Berseth and Gregory Kahn and Guangwen Yang and Guanzhi Wang and Hao Su and Hao-Shu Fang and Haochen Shi and Henghui Bao and Heni Ben Amor and Henrik I Christensen and Hiroki Furuta and Homanga Bharadhwaj and Homer Walke and Hongjie Fang and Huy Ha and Igor Mordatch and Ilija Radosavovic and Isabel Leal and Jacky Liang and Jad Abou-Chakra and Jaehyung Kim and Jaimyn Drake and Jan Peters and Jan Schneider and Jasmine Hsu and Jay Vakil and Jeannette Bohg and Jeffrey Bingham and Jeffrey Wu and Jensen Gao and Jiaheng Hu and Jiajun Wu and Jialin Wu and Jiankai Sun and Jianlan Luo and Jiayuan Gu and Jie Tan and Jihoon Oh and Jimmy Wu and Jingpei Lu and Jingyun Yang and Jitendra Malik and João Silvério and Joey Hejna and Jonathan Booher and Jonathan Tompson and Jonathan Yang and Jordi Salvador and Joseph J. Lim and Junhyek Han and Kaiyuan Wang and Kanishka Rao and Karl Pertsch and Karol Hausman and Keegan Go and Keerthana Gopalakrishnan and Ken Goldberg and Kendra Byrne and Kenneth Oslund and Kento Kawaharazuka and Kevin Black and Kevin Lin and Kevin Zhang and Kiana Ehsani and Kiran Lekkala and Kirsty Ellis and Krishan Rana and Krishnan Srinivasan and Kuan Fang and Kunal Pratap Singh and Kuo-Hao Zeng and Kyle Hatch and Kyle Hsu and Laurent Itti and Lawrence Yunliang Chen and Lerrel Pinto and Li Fei-Fei and Liam Tan and Linxi "Jim" Fan and Lionel Ott and Lisa Lee and Luca Weihs and Magnum Chen and Marion Lepert and Marius Memmel and Masayoshi Tomizuka and Masha Itkina and Mateo Guaman Castro and Max Spero and Maximilian Du and Michael Ahn and Michael C. Yip and Mingtong Zhang and Mingyu Ding and Minho Heo and Mohan Kumar Srirama and Mohit Sharma and Moo Jin Kim and Muhammad Zubair Irshad and Naoaki Kanazawa and Nicklas Hansen and Nicolas Heess and Nikhil J Joshi and Niko Suenderhauf and Ning Liu and Norman Di Palo and Nur Muhammad Mahi Shafiullah and Oier Mees and Oliver Kroemer and Osbert Bastani and Pannag R Sanketi and Patrick "Tree" Miller and Patrick Yin and Paul Wohlhart and Peng Xu and Peter David Fagan and Peter Mitrano and Pierre Sermanet and Pieter Abbeel and Priya Sundaresan and Qiuyu Chen and Quan Vuong and Rafael Rafailov and Ran Tian and Ria Doshi and Roberto Mart{'i}n-Mart{'i}n and Rohan Baijal and Rosario Scalise and Rose Hendrix and Roy Lin and Runjia Qian and Ruohan Zhang and Russell Mendonca and Rutav Shah and Ryan Hoque and Ryan Julian and Samuel Bustamante and Sean Kirmani and Sergey Levine and Shan Lin and Sherry Moore and Shikhar Bahl and Shivin Dass and Shubham Sonawani and Shubham Tulsiani and Shuran Song and Sichun Xu and Siddhant Haldar and Siddharth Karamcheti and Simeon Adebola and Simon Guist and Soroush Nasiriany and Stefan Schaal and Stefan Welker and Stephen Tian and Subramanian Ramamoorthy and Sudeep Dasari and Suneel Belkhale and Sungjae Park and Suraj Nair and Suvir Mirchandani and Takayuki Osa and Tanmay Gupta and Tatsuya Harada and Tatsuya Matsushima and Ted Xiao and Thomas Kollar and Tianhe Yu and Tianli Ding and Todor Davchev and Tony Z. Zhao and Travis Armstrong and Trevor Darrell and Trinity Chung and Vidhi Jain and Vikash Kumar and Vincent Vanhoucke and Vitor Guizilini and Wei Zhan and Wenxuan Zhou and Wolfram Burgard and Xi Chen and Xiangyu Chen and Xiaolong Wang and Xinghao Zhu and Xinyang Geng and Xiyuan Liu and Xu Liangwei and Xuanlin Li and Yansong Pang and Yao Lu and Yecheng Jason Ma and Yejin Kim and Yevgen Chebotar and Yifan Zhou and Yifeng Zhu and Yilin Wu and Ying Xu and Yixuan Wang and Yonatan Bisk and Yongqiang Dou and Yoonyoung Cho and Youngwoon Lee and Yuchen Cui and Yue Cao and Yueh-Hua Wu and Yujin Tang and Yuke Zhu and Yunchu Zhang and Yunfan Jiang and Yunshuang Li and Yunzhu Li and Yusuke Iwasawa and Yutaka Matsuo and Zehan Ma and Zhuo Xu and Zichen Jeff Cui and Zichen Zhang and Zipeng Fu and Zipeng Lin},
howpublished = {\url{https://arxiv.org/abs/2310.08864}},
year = {2023},
}
