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Main Authors:	Embodiment Collaboration, O'Neill, Abby, Rehman, Abdul, Gupta, Abhinav, Maddukuri, Abhiram, Gupta, Abhishek, Padalkar, Abhishek, Lee, Abraham, Pooley, Acorn, Gupta, Agrim, Mandlekar, Ajay, Jain, Ajinkya, Tung, Albert, Bewley, Alex, Herzog, Alex, Irpan, Alex, Khazatsky, Alexander, Rai, Anant, Gupta, Anchit, Wang, Andrew, Kolobov, Andrey, Singh, Anikait, Garg, Animesh, Kembhavi, Aniruddha, Xie, Annie, Brohan, Anthony, Raffin, Antonin, Sharma, Archit, Yavary, Arefeh, Jain, Arhan, Balakrishna, Ashwin, Wahid, Ayzaan, Burgess-Limerick, Ben, Kim, Beomjoon, Schölkopf, Bernhard, Wulfe, Blake, Ichter, Brian, Lu, Cewu, Xu, Charles, Le, Charlotte, Finn, Chelsea, Wang, Chen, Xu, Chenfeng, Chi, Cheng, Huang, Chenguang, Chan, Christine, Agia, Christopher, Pan, Chuer, Fu, Chuyuan, Devin, Coline, Xu, Danfei, Morton, Daniel, Driess, Danny, Chen, Daphne, Pathak, Deepak, Shah, Dhruv, Büchler, Dieter, Jayaraman, Dinesh, Kalashnikov, Dmitry, Sadigh, Dorsa, Johns, Edward, Foster, Ethan, Liu, Fangchen, Ceola, Federico, Xia, Fei, Zhao, Feiyu, Frujeri, Felipe Vieira, Stulp, Freek, Zhou, Gaoyue, Sukhatme, Gaurav S., Salhotra, Gautam, Yan, Ge, Feng, Gilbert, Schiavi, Giulio, Berseth, Glen, Kahn, Gregory, Yang, Guangwen, Wang, Guanzhi, Su, Hao, Fang, Hao-Shu, Shi, Haochen, Bao, Henghui, Amor, Heni Ben, Christensen, Henrik I, Furuta, Hiroki, Bharadhwaj, Homanga, Walke, Homer, Fang, Hongjie, Ha, Huy, Mordatch, Igor, Radosavovic, Ilija, Leal, Isabel, Liang, Jacky, Abou-Chakra, Jad, Kim, Jaehyung, Drake, Jaimyn, Peters, Jan, Schneider, Jan, Hsu, Jasmine, Vakil, Jay, Bohg, Jeannette, Bingham, Jeffrey, Wu, Jeffrey, Gao, Jensen, Hu, Jiaheng, Wu, Jiajun, Wu, Jialin, Sun, Jiankai, Luo, Jianlan, Gu, Jiayuan, Tan, Jie, Oh, Jihoon, Wu, Jimmy, Lu, Jingpei, Yang, Jingyun, Malik, Jitendra, Silvério, João, Hejna, Joey, Booher, Jonathan, Tompson, Jonathan, Yang, Jonathan, Salvador, Jordi, Lim, Joseph J., Han, Junhyek, Wang, Kaiyuan, Rao, Kanishka, Pertsch, Karl, Hausman, Karol, Go, Keegan, Gopalakrishnan, Keerthana, Goldberg, Ken, Byrne, Kendra, Oslund, Kenneth, Kawaharazuka, Kento, Black, Kevin, Lin, Kevin, Zhang, Kevin, Ehsani, Kiana, Lekkala, Kiran, Ellis, Kirsty, Rana, Krishan, Srinivasan, Krishnan, Fang, Kuan, Singh, Kunal Pratap, Zeng, Kuo-Hao, Hatch, Kyle, Hsu, Kyle, Itti, Laurent, Chen, Lawrence Yunliang, Pinto, Lerrel, Fei-Fei, Li, Tan, Liam, Fan, Linxi "Jim", Ott, Lionel, Lee, Lisa, Weihs, Luca, Chen, Magnum, Lepert, Marion, Memmel, Marius, Tomizuka, Masayoshi, Itkina, Masha, Castro, Mateo Guaman, Spero, Max, Du, Maximilian, Ahn, Michael, Yip, Michael C., Zhang, Mingtong, Ding, Mingyu, Heo, Minho, Srirama, Mohan Kumar, Sharma, Mohit, Kim, Moo Jin, Irshad, Muhammad Zubair, Kanazawa, Naoaki, Hansen, Nicklas, Heess, Nicolas, Joshi, Nikhil J, Suenderhauf, Niko, Liu, Ning, Di Palo, Norman, Shafiullah, Nur Muhammad Mahi, Mees, Oier, Kroemer, Oliver, Bastani, Osbert, Sanketi, Pannag R, Miller, Patrick "Tree", Yin, Patrick, Wohlhart, Paul, Xu, Peng, Fagan, Peter David, Mitrano, Peter, Sermanet, Pierre, Abbeel, Pieter, Sundaresan, Priya, Chen, Qiuyu, Vuong, Quan, Rafailov, Rafael, Tian, Ran, Doshi, Ria, Martín-Martín, Roberto, Baijal, Rohan, Scalise, Rosario, Hendrix, Rose, Lin, Roy, Qian, Runjia, Zhang, Ruohan, Mendonca, Russell, Shah, Rutav, Hoque, Ryan, Julian, Ryan, Bustamante, Samuel, Kirmani, Sean, Levine, Sergey, Lin, Shan, Moore, Sherry, Bahl, Shikhar, Dass, Shivin, Sonawani, Shubham, Tulsiani, Shubham, Song, Shuran, Xu, Sichun, Haldar, Siddhant, Karamcheti, Siddharth, Adebola, Simeon, Guist, Simon, Nasiriany, Soroush, Schaal, Stefan, Welker, Stefan, Tian, Stephen, Ramamoorthy, Subramanian, Dasari, Sudeep, Belkhale, Suneel, Park, Sungjae, Nair, Suraj, Mirchandani, Suvir, Osa, Takayuki, Gupta, Tanmay, Harada, Tatsuya, Matsushima, Tatsuya, Xiao, Ted, Kollar, Thomas, Yu, Tianhe, Ding, Tianli, Davchev, Todor, Zhao, Tony Z., Armstrong, Travis, Darrell, Trevor, Chung, Trinity, Jain, Vidhi, Kumar, Vikash, Vanhoucke, Vincent, Guizilini, Vitor, Zhan, Wei, Zhou, Wenxuan, Burgard, Wolfram, Chen, Xi, Chen, Xiangyu, Wang, Xiaolong, Zhu, Xinghao, Geng, Xinyang, Liu, Xiyuan, Liangwei, Xu, Li, Xuanlin, Pang, Yansong, Lu, Yao, Ma, Yecheng Jason, Kim, Yejin, Chebotar, Yevgen, Zhou, Yifan, Zhu, Yifeng, Wu, Yilin, Xu, Ying, Wang, Yixuan, Bisk, Yonatan, Dou, Yongqiang, Cho, Yoonyoung, Lee, Youngwoon, Cui, Yuchen, Cao, Yue, Wu, Yueh-Hua, Tang, Yujin, Zhu, Yuke, Zhang, Yunchu, Jiang, Yunfan, Li, Yunshuang, Li, Yunzhu, Iwasawa, Yusuke, Matsuo, Yutaka, Ma, Zehan, Xu, Zhuo, Cui, Zichen Jeff, Zhang, Zichen, Fu, Zipeng, Lin, Zipeng
Format:	Preprint
Published:	2023
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2310.08864
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_version_	1866908362706255872
author	Embodiment Collaboration O'Neill, Abby Rehman, Abdul Gupta, Abhinav Maddukuri, Abhiram Gupta, Abhishek Padalkar, Abhishek Lee, Abraham Pooley, Acorn Gupta, Agrim Mandlekar, Ajay Jain, Ajinkya Tung, Albert Bewley, Alex Herzog, Alex Irpan, Alex Khazatsky, Alexander Rai, Anant Gupta, Anchit Wang, Andrew Kolobov, Andrey Singh, Anikait Garg, Animesh Kembhavi, Aniruddha Xie, Annie Brohan, Anthony Raffin, Antonin Sharma, Archit Yavary, Arefeh Jain, Arhan Balakrishna, Ashwin Wahid, Ayzaan Burgess-Limerick, Ben Kim, Beomjoon Schölkopf, Bernhard Wulfe, Blake Ichter, Brian Lu, Cewu Xu, Charles Le, Charlotte Finn, Chelsea Wang, Chen Xu, Chenfeng Chi, Cheng Huang, Chenguang Chan, Christine Agia, Christopher Pan, Chuer Fu, Chuyuan Devin, Coline Xu, Danfei Morton, Daniel Driess, Danny Chen, Daphne Pathak, Deepak Shah, Dhruv Büchler, Dieter Jayaraman, Dinesh Kalashnikov, Dmitry Sadigh, Dorsa Johns, Edward Foster, Ethan Liu, Fangchen Ceola, Federico Xia, Fei Zhao, Feiyu Frujeri, Felipe Vieira Stulp, Freek Zhou, Gaoyue Sukhatme, Gaurav S. Salhotra, Gautam Yan, Ge Feng, Gilbert Schiavi, Giulio Berseth, Glen Kahn, Gregory Yang, Guangwen Wang, Guanzhi Su, Hao Fang, Hao-Shu Shi, Haochen Bao, Henghui Amor, Heni Ben Christensen, Henrik I Furuta, Hiroki Bharadhwaj, Homanga Walke, Homer Fang, Hongjie Ha, Huy Mordatch, Igor Radosavovic, Ilija Leal, Isabel Liang, Jacky Abou-Chakra, Jad Kim, Jaehyung Drake, Jaimyn Peters, Jan Schneider, Jan Hsu, Jasmine Vakil, Jay Bohg, Jeannette Bingham, Jeffrey Wu, Jeffrey Gao, Jensen Hu, Jiaheng Wu, Jiajun Wu, Jialin Sun, Jiankai Luo, Jianlan Gu, Jiayuan Tan, Jie Oh, Jihoon Wu, Jimmy Lu, Jingpei Yang, Jingyun Malik, Jitendra Silvério, João Hejna, Joey Booher, Jonathan Tompson, Jonathan Yang, Jonathan Salvador, Jordi Lim, Joseph J. Han, Junhyek Wang, Kaiyuan Rao, Kanishka Pertsch, Karl Hausman, Karol Go, Keegan Gopalakrishnan, Keerthana Goldberg, Ken Byrne, Kendra Oslund, Kenneth Kawaharazuka, Kento Black, Kevin Lin, Kevin Zhang, Kevin Ehsani, Kiana Lekkala, Kiran Ellis, Kirsty Rana, Krishan Srinivasan, Krishnan Fang, Kuan Singh, Kunal Pratap Zeng, Kuo-Hao Hatch, Kyle Hsu, Kyle Itti, Laurent Chen, Lawrence Yunliang Pinto, Lerrel Fei-Fei, Li Tan, Liam Fan, Linxi "Jim" Ott, Lionel Lee, Lisa Weihs, Luca Chen, Magnum Lepert, Marion Memmel, Marius Tomizuka, Masayoshi Itkina, Masha Castro, Mateo Guaman Spero, Max Du, Maximilian Ahn, Michael Yip, Michael C. Zhang, Mingtong Ding, Mingyu Heo, Minho Srirama, Mohan Kumar Sharma, Mohit Kim, Moo Jin Irshad, Muhammad Zubair Kanazawa, Naoaki Hansen, Nicklas Heess, Nicolas Joshi, Nikhil J Suenderhauf, Niko Liu, Ning Di Palo, Norman Shafiullah, Nur Muhammad Mahi Mees, Oier Kroemer, Oliver Bastani, Osbert Sanketi, Pannag R Miller, Patrick "Tree" Yin, Patrick Wohlhart, Paul Xu, Peng Fagan, Peter David Mitrano, Peter Sermanet, Pierre Abbeel, Pieter Sundaresan, Priya Chen, Qiuyu Vuong, Quan Rafailov, Rafael Tian, Ran Doshi, Ria Martín-Martín, Roberto Baijal, Rohan Scalise, Rosario Hendrix, Rose Lin, Roy Qian, Runjia Zhang, Ruohan Mendonca, Russell Shah, Rutav Hoque, Ryan Julian, Ryan Bustamante, Samuel Kirmani, Sean Levine, Sergey Lin, Shan Moore, Sherry Bahl, Shikhar Dass, Shivin Sonawani, Shubham Tulsiani, Shubham Song, Shuran Xu, Sichun Haldar, Siddhant Karamcheti, Siddharth Adebola, Simeon Guist, Simon Nasiriany, Soroush Schaal, Stefan Welker, Stefan Tian, Stephen Ramamoorthy, Subramanian Dasari, Sudeep Belkhale, Suneel Park, Sungjae Nair, Suraj Mirchandani, Suvir Osa, Takayuki Gupta, Tanmay Harada, Tatsuya Matsushima, Tatsuya Xiao, Ted Kollar, Thomas Yu, Tianhe Ding, Tianli Davchev, Todor Zhao, Tony Z. Armstrong, Travis Darrell, Trevor Chung, Trinity Jain, Vidhi Kumar, Vikash Vanhoucke, Vincent Guizilini, Vitor Zhan, Wei Zhou, Wenxuan Burgard, Wolfram Chen, Xi Chen, Xiangyu Wang, Xiaolong Zhu, Xinghao Geng, Xinyang Liu, Xiyuan Liangwei, Xu Li, Xuanlin Pang, Yansong Lu, Yao Ma, Yecheng Jason Kim, Yejin Chebotar, Yevgen Zhou, Yifan Zhu, Yifeng Wu, Yilin Xu, Ying Wang, Yixuan Bisk, Yonatan Dou, Yongqiang Cho, Yoonyoung Lee, Youngwoon Cui, Yuchen Cao, Yue Wu, Yueh-Hua Tang, Yujin Zhu, Yuke Zhang, Yunchu Jiang, Yunfan Li, Yunshuang Li, Yunzhu Iwasawa, Yusuke Matsuo, Yutaka Ma, Zehan Xu, Zhuo Cui, Zichen Jeff Zhang, Zichen Fu, Zipeng Lin, Zipeng
author_facet	Embodiment Collaboration O'Neill, Abby Rehman, Abdul Gupta, Abhinav Maddukuri, Abhiram Gupta, Abhishek Padalkar, Abhishek Lee, Abraham Pooley, Acorn Gupta, Agrim Mandlekar, Ajay Jain, Ajinkya Tung, Albert Bewley, Alex Herzog, Alex Irpan, Alex Khazatsky, Alexander Rai, Anant Gupta, Anchit Wang, Andrew Kolobov, Andrey Singh, Anikait Garg, Animesh Kembhavi, Aniruddha Xie, Annie Brohan, Anthony Raffin, Antonin Sharma, Archit Yavary, Arefeh Jain, Arhan Balakrishna, Ashwin Wahid, Ayzaan Burgess-Limerick, Ben Kim, Beomjoon Schölkopf, Bernhard Wulfe, Blake Ichter, Brian Lu, Cewu Xu, Charles Le, Charlotte Finn, Chelsea Wang, Chen Xu, Chenfeng Chi, Cheng Huang, Chenguang Chan, Christine Agia, Christopher Pan, Chuer Fu, Chuyuan Devin, Coline Xu, Danfei Morton, Daniel Driess, Danny Chen, Daphne Pathak, Deepak Shah, Dhruv Büchler, Dieter Jayaraman, Dinesh Kalashnikov, Dmitry Sadigh, Dorsa Johns, Edward Foster, Ethan Liu, Fangchen Ceola, Federico Xia, Fei Zhao, Feiyu Frujeri, Felipe Vieira Stulp, Freek Zhou, Gaoyue Sukhatme, Gaurav S. Salhotra, Gautam Yan, Ge Feng, Gilbert Schiavi, Giulio Berseth, Glen Kahn, Gregory Yang, Guangwen Wang, Guanzhi Su, Hao Fang, Hao-Shu Shi, Haochen Bao, Henghui Amor, Heni Ben Christensen, Henrik I Furuta, Hiroki Bharadhwaj, Homanga Walke, Homer Fang, Hongjie Ha, Huy Mordatch, Igor Radosavovic, Ilija Leal, Isabel Liang, Jacky Abou-Chakra, Jad Kim, Jaehyung Drake, Jaimyn Peters, Jan Schneider, Jan Hsu, Jasmine Vakil, Jay Bohg, Jeannette Bingham, Jeffrey Wu, Jeffrey Gao, Jensen Hu, Jiaheng Wu, Jiajun Wu, Jialin Sun, Jiankai Luo, Jianlan Gu, Jiayuan Tan, Jie Oh, Jihoon Wu, Jimmy Lu, Jingpei Yang, Jingyun Malik, Jitendra Silvério, João Hejna, Joey Booher, Jonathan Tompson, Jonathan Yang, Jonathan Salvador, Jordi Lim, Joseph J. Han, Junhyek Wang, Kaiyuan Rao, Kanishka Pertsch, Karl Hausman, Karol Go, Keegan Gopalakrishnan, Keerthana Goldberg, Ken Byrne, Kendra Oslund, Kenneth Kawaharazuka, Kento Black, Kevin Lin, Kevin Zhang, Kevin Ehsani, Kiana Lekkala, Kiran Ellis, Kirsty Rana, Krishan Srinivasan, Krishnan Fang, Kuan Singh, Kunal Pratap Zeng, Kuo-Hao Hatch, Kyle Hsu, Kyle Itti, Laurent Chen, Lawrence Yunliang Pinto, Lerrel Fei-Fei, Li Tan, Liam Fan, Linxi "Jim" Ott, Lionel Lee, Lisa Weihs, Luca Chen, Magnum Lepert, Marion Memmel, Marius Tomizuka, Masayoshi Itkina, Masha Castro, Mateo Guaman Spero, Max Du, Maximilian Ahn, Michael Yip, Michael C. Zhang, Mingtong Ding, Mingyu Heo, Minho Srirama, Mohan Kumar Sharma, Mohit Kim, Moo Jin Irshad, Muhammad Zubair Kanazawa, Naoaki Hansen, Nicklas Heess, Nicolas Joshi, Nikhil J Suenderhauf, Niko Liu, Ning Di Palo, Norman Shafiullah, Nur Muhammad Mahi Mees, Oier Kroemer, Oliver Bastani, Osbert Sanketi, Pannag R Miller, Patrick "Tree" Yin, Patrick Wohlhart, Paul Xu, Peng Fagan, Peter David Mitrano, Peter Sermanet, Pierre Abbeel, Pieter Sundaresan, Priya Chen, Qiuyu Vuong, Quan Rafailov, Rafael Tian, Ran Doshi, Ria Martín-Martín, Roberto Baijal, Rohan Scalise, Rosario Hendrix, Rose Lin, Roy Qian, Runjia Zhang, Ruohan Mendonca, Russell Shah, Rutav Hoque, Ryan Julian, Ryan Bustamante, Samuel Kirmani, Sean Levine, Sergey Lin, Shan Moore, Sherry Bahl, Shikhar Dass, Shivin Sonawani, Shubham Tulsiani, Shubham Song, Shuran Xu, Sichun Haldar, Siddhant Karamcheti, Siddharth Adebola, Simeon Guist, Simon Nasiriany, Soroush Schaal, Stefan Welker, Stefan Tian, Stephen Ramamoorthy, Subramanian Dasari, Sudeep Belkhale, Suneel Park, Sungjae Nair, Suraj Mirchandani, Suvir Osa, Takayuki Gupta, Tanmay Harada, Tatsuya Matsushima, Tatsuya Xiao, Ted Kollar, Thomas Yu, Tianhe Ding, Tianli Davchev, Todor Zhao, Tony Z. Armstrong, Travis Darrell, Trevor Chung, Trinity Jain, Vidhi Kumar, Vikash Vanhoucke, Vincent Guizilini, Vitor Zhan, Wei Zhou, Wenxuan Burgard, Wolfram Chen, Xi Chen, Xiangyu Wang, Xiaolong Zhu, Xinghao Geng, Xinyang Liu, Xiyuan Liangwei, Xu Li, Xuanlin Pang, Yansong Lu, Yao Ma, Yecheng Jason Kim, Yejin Chebotar, Yevgen Zhou, Yifan Zhu, Yifeng Wu, Yilin Xu, Ying Wang, Yixuan Bisk, Yonatan Dou, Yongqiang Cho, Yoonyoung Lee, Youngwoon Cui, Yuchen Cao, Yue Wu, Yueh-Hua Tang, Yujin Zhu, Yuke Zhang, Yunchu Jiang, Yunfan Li, Yunshuang Li, Yunzhu Iwasawa, Yusuke Matsuo, Yutaka Ma, Zehan Xu, Zhuo Cui, Zichen Jeff Zhang, Zichen Fu, Zipeng Lin, Zipeng
contents	Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io.
format	Preprint
id	arxiv_https___arxiv_org_abs_2310_08864
institution	arXiv
publishDate	2023
record_format	arxiv
spellingShingle	Open X-Embodiment: Robotic Learning Datasets and RT-X Models Embodiment Collaboration O'Neill, Abby Rehman, Abdul Gupta, Abhinav Maddukuri, Abhiram Gupta, Abhishek Padalkar, Abhishek Lee, Abraham Pooley, Acorn Gupta, Agrim Mandlekar, Ajay Jain, Ajinkya Tung, Albert Bewley, Alex Herzog, Alex Irpan, Alex Khazatsky, Alexander Rai, Anant Gupta, Anchit Wang, Andrew Kolobov, Andrey Singh, Anikait Garg, Animesh Kembhavi, Aniruddha Xie, Annie Brohan, Anthony Raffin, Antonin Sharma, Archit Yavary, Arefeh Jain, Arhan Balakrishna, Ashwin Wahid, Ayzaan Burgess-Limerick, Ben Kim, Beomjoon Schölkopf, Bernhard Wulfe, Blake Ichter, Brian Lu, Cewu Xu, Charles Le, Charlotte Finn, Chelsea Wang, Chen Xu, Chenfeng Chi, Cheng Huang, Chenguang Chan, Christine Agia, Christopher Pan, Chuer Fu, Chuyuan Devin, Coline Xu, Danfei Morton, Daniel Driess, Danny Chen, Daphne Pathak, Deepak Shah, Dhruv Büchler, Dieter Jayaraman, Dinesh Kalashnikov, Dmitry Sadigh, Dorsa Johns, Edward Foster, Ethan Liu, Fangchen Ceola, Federico Xia, Fei Zhao, Feiyu Frujeri, Felipe Vieira Stulp, Freek Zhou, Gaoyue Sukhatme, Gaurav S. Salhotra, Gautam Yan, Ge Feng, Gilbert Schiavi, Giulio Berseth, Glen Kahn, Gregory Yang, Guangwen Wang, Guanzhi Su, Hao Fang, Hao-Shu Shi, Haochen Bao, Henghui Amor, Heni Ben Christensen, Henrik I Furuta, Hiroki Bharadhwaj, Homanga Walke, Homer Fang, Hongjie Ha, Huy Mordatch, Igor Radosavovic, Ilija Leal, Isabel Liang, Jacky Abou-Chakra, Jad Kim, Jaehyung Drake, Jaimyn Peters, Jan Schneider, Jan Hsu, Jasmine Vakil, Jay Bohg, Jeannette Bingham, Jeffrey Wu, Jeffrey Gao, Jensen Hu, Jiaheng Wu, Jiajun Wu, Jialin Sun, Jiankai Luo, Jianlan Gu, Jiayuan Tan, Jie Oh, Jihoon Wu, Jimmy Lu, Jingpei Yang, Jingyun Malik, Jitendra Silvério, João Hejna, Joey Booher, Jonathan Tompson, Jonathan Yang, Jonathan Salvador, Jordi Lim, Joseph J. Han, Junhyek Wang, Kaiyuan Rao, Kanishka Pertsch, Karl Hausman, Karol Go, Keegan Gopalakrishnan, Keerthana Goldberg, Ken Byrne, Kendra Oslund, Kenneth Kawaharazuka, Kento Black, Kevin Lin, Kevin Zhang, Kevin Ehsani, Kiana Lekkala, Kiran Ellis, Kirsty Rana, Krishan Srinivasan, Krishnan Fang, Kuan Singh, Kunal Pratap Zeng, Kuo-Hao Hatch, Kyle Hsu, Kyle Itti, Laurent Chen, Lawrence Yunliang Pinto, Lerrel Fei-Fei, Li Tan, Liam Fan, Linxi "Jim" Ott, Lionel Lee, Lisa Weihs, Luca Chen, Magnum Lepert, Marion Memmel, Marius Tomizuka, Masayoshi Itkina, Masha Castro, Mateo Guaman Spero, Max Du, Maximilian Ahn, Michael Yip, Michael C. Zhang, Mingtong Ding, Mingyu Heo, Minho Srirama, Mohan Kumar Sharma, Mohit Kim, Moo Jin Irshad, Muhammad Zubair Kanazawa, Naoaki Hansen, Nicklas Heess, Nicolas Joshi, Nikhil J Suenderhauf, Niko Liu, Ning Di Palo, Norman Shafiullah, Nur Muhammad Mahi Mees, Oier Kroemer, Oliver Bastani, Osbert Sanketi, Pannag R Miller, Patrick "Tree" Yin, Patrick Wohlhart, Paul Xu, Peng Fagan, Peter David Mitrano, Peter Sermanet, Pierre Abbeel, Pieter Sundaresan, Priya Chen, Qiuyu Vuong, Quan Rafailov, Rafael Tian, Ran Doshi, Ria Martín-Martín, Roberto Baijal, Rohan Scalise, Rosario Hendrix, Rose Lin, Roy Qian, Runjia Zhang, Ruohan Mendonca, Russell Shah, Rutav Hoque, Ryan Julian, Ryan Bustamante, Samuel Kirmani, Sean Levine, Sergey Lin, Shan Moore, Sherry Bahl, Shikhar Dass, Shivin Sonawani, Shubham Tulsiani, Shubham Song, Shuran Xu, Sichun Haldar, Siddhant Karamcheti, Siddharth Adebola, Simeon Guist, Simon Nasiriany, Soroush Schaal, Stefan Welker, Stefan Tian, Stephen Ramamoorthy, Subramanian Dasari, Sudeep Belkhale, Suneel Park, Sungjae Nair, Suraj Mirchandani, Suvir Osa, Takayuki Gupta, Tanmay Harada, Tatsuya Matsushima, Tatsuya Xiao, Ted Kollar, Thomas Yu, Tianhe Ding, Tianli Davchev, Todor Zhao, Tony Z. Armstrong, Travis Darrell, Trevor Chung, Trinity Jain, Vidhi Kumar, Vikash Vanhoucke, Vincent Guizilini, Vitor Zhan, Wei Zhou, Wenxuan Burgard, Wolfram Chen, Xi Chen, Xiangyu Wang, Xiaolong Zhu, Xinghao Geng, Xinyang Liu, Xiyuan Liangwei, Xu Li, Xuanlin Pang, Yansong Lu, Yao Ma, Yecheng Jason Kim, Yejin Chebotar, Yevgen Zhou, Yifan Zhu, Yifeng Wu, Yilin Xu, Ying Wang, Yixuan Bisk, Yonatan Dou, Yongqiang Cho, Yoonyoung Lee, Youngwoon Cui, Yuchen Cao, Yue Wu, Yueh-Hua Tang, Yujin Zhu, Yuke Zhang, Yunchu Jiang, Yunfan Li, Yunshuang Li, Yunzhu Iwasawa, Yusuke Matsuo, Yutaka Ma, Zehan Xu, Zhuo Cui, Zichen Jeff Zhang, Zichen Fu, Zipeng Lin, Zipeng Robotics Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io.
title	Open X-Embodiment: Robotic Learning Datasets and RT-X Models
topic	Robotics
url	https://arxiv.org/abs/2310.08864

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