Open X-Embodiment (OXE)

Aggregate of 60 datasets from 34 labs (project page); paper abstract states 22 robots, 21 institutions, 527 skills, 160,266 tasks. Hours/frames/modalities not stated on fetched pages; hosted on Google Cloud Storage, not Hugging Face.

Facts

Organisation: Open X-Embodiment Collaboration (Google DeepMind + partner labs)
Form tags: multi-embodiment
Embodiments (as stated): 22 different robots
Episodes: 1,000,000
Hours: unverified
Frames: unverified
Tasks: 160266
Scenes: unverified
Modalities: unverified
Format: RLDS
Licence: Software: Apache License 2.0; all other materials: Creative Commons Attribution 4.0 International (CC-BY) (repository README); constituent datasets are cited/licensed individually via the dataset spreadsheet
Commercial use: unverified
Released: 2023-10
Size: unverified

Sources · 11 sources

name https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Page: '22 different robots'; 'pooling 60 existing robot datasets from 34 robotic research labs around the world'

org https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Page: '22 different robots'; 'pooling 60 existing robot datasets from 34 robotic research labs around the world'

url https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Page: '22 different robots'; 'pooling 60 existing robot datasets from 34 robotic research labs around the world'

embodiments https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Page: '22 different robots'; 'pooling 60 existing robot datasets from 34 robotic research labs around the world'

form_tags https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet Page: '22 different robots'; 'pooling 60 existing robot datasets from 34 robotic research labs around the world'

episodes https://robotics-transformer-x.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet '1M+ real robot trajectories' recorded as floor 1,000,000

tasks https://arxiv.org/abs/2310.08864 Official page · Fetched 2026-09-18 · No snapshot stored yet Abstract: '527 skills (160266 tasks)'; also on project page

format https://github.com/google-deepmind/open_x_embodiment Official page · Fetched 2026-09-18 · No snapshot stored yet README: each episode 'is represented using the RLDS episode format'; data at gs://gdm-robotics-open-x-embodiment/

license https://github.com/google-deepmind/open_x_embodiment Official page · Fetched 2026-09-18 · No snapshot stored yet README: 'All software is licensed under the Apache License, Version 2.0' / 'All other materials are licensed under the Creative Commons Attribution 4.0 International License (CC-BY)'; per-dataset licenses not enumerated, so commercial_ok left null

commercial_ok https://github.com/google-deepmind/open_x_embodiment Official page · Fetched 2026-09-18 · No snapshot stored yet README: 'All software is licensed under the Apache License, Version 2.0' / 'All other materials are licensed under the Creative Commons Attribution 4.0 International License (CC-BY)'; per-dataset licenses not enumerated, so commercial_ok left null

release_date https://arxiv.org/abs/2310.08864 Official page · Fetched 2026-09-18 · No snapshot stored yet arXiv v1 submitted 2023-10-13 (latest v9 2025-05-14)

Related bodies in the index

Matched by stated robot names or form; a match means the form is covered, not that a model was trained on it.

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Clear direction, grounded judgement.