RT-1 Robot Action Dataset
Google RT-1 teleop demos: 87k+ episodes of Everyday Robots tabletop manipulation with language, RLDS format (OXE fractal).
| Year | 2022 |
|---|---|
| Episodes | 87,212 |
| Total hours | 351 |
| Modalities | ee_pose, language, proprioception, rgb |
| Task categories | manipulation, navigation |
| License | CC-BY-4.0 |
| Access | open — commercial use permitted |
| Maintainer | Google (Robotics at Google / Everyday Robots) |
The RT-1 robot action dataset (fractal20220817_data in Open X-Embodiment) contains 87,212 human-teleoperated demonstration episodes of tabletop manipulation with 17 objects, collected on Google's Everyday Robots mobile manipulators. Each step pairs an RGB image and natural-language instruction with a discretized arm+base action, plus success/feasible/undesirable labels, stored in RLDS/TFDS format.