What it measures
Not an evaluation benchmark. It provides training data for generalist policies; the RT-1-X and RT-2-X models are trained on the pooled data mixture.
DatasetCompletedLow relevance
Open X-Embodiment
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment is a large, cross-institution collection of real robot manipulation data: over 1 million trajectories from 22 robot embodiments, contributed by 21 institutions. The project also released RT-X models trained on the pooled data. It is a training resource rather than an evaluation benchmark, and its embodiments are single arms, bimanual robots and quadrupeds.
- First published
- 2023
- Organizers
- Open X-Embodiment Collaboration
- Tasks
- 160266
- Simulator
- —
- License
- Apache-2.0 (code); dataset licenses vary by source
How it works
Contributing labs pooled their existing robot datasets into one collection. The project page lists the included datasets in a shared spreadsheet and links the code repository. The arXiv abstract reports 527 skills and 160,266 tasks across the collection; these are the paper's own counts, not a single standardized task list.
Why it matters
Pooled cross-embodiment data is an input for many generalist robot policies, including humanoid ones. The project page does not mention any humanoid embodiment, so the dataset's direct relevance to humanoids is low.
Scoring
Metrics
This record defines no leaderboard metrics.
Hardware
Robots involved
No in-dataset robot embodiments are linked.
22 robot embodiments described on the project page as spanning single robot arms, bimanual robots and quadrupeds. No humanoid is named, and the full list of individual robots was not opened, so no roster robot is linked.
Recorded outcomes
Results
No result files yet
This record describes the evaluation, but no verified structured results have been added.
Evidence
Sources
- [1]Open X-Embodiment: Robotic Learning Datasets and RT-X Models ↗arXiv · accessed Oct 8, 2026
- [2]Open X-Embodiment project page ↗Open X-Embodiment Collaboration · accessed Oct 8, 2026
- [3]open_x_embodiment (GitHub repository) ↗GitHub · accessed Oct 8, 2026
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