Skill = atomic action primitives (pick, place, reach) · Task = instruction-level goals · Modality: RGB · D = depth · L = language · F = force/torque · A = audio · T = touch
| Dataset | Episodes | Skills | Tasks | Modality | Embodiment | Collection |
|---|---|---|---|---|---|---|
| QT-Opt | 580K | 1 (Pick) | — | RGB | KUKA LBR iiwa | Learned |
| MT-Opt | 800K | 2 | 12 | RGBL | 7 robots | Scripted Learned |
| RoboNet | 162K | — | — | RGB | 7 robots | Scripted |
| BridgeData | 7.2K | 4 | 71 | RGBL | WidowX 250 | Teleop |
| BridgeData V2 | 60.1K | 13 | — | RGB-DL | WidowX 250 | Teleop |
| BC-Z | 26.0K | 3 | 100 | RGBL | Google EDR | Teleop |
| Language Table | 413K | 1 (Push) | — | RGBL | xArm | Teleop |
| RH20T | 110K | 42 | 147 | RGB-DLFA | 4 robots | Teleop |
| RT-1 | 130K | 12 | 700+ | RGBL | Google EDR | Teleop |
| OXE | 1.4M | 527 | 160,266 | RGB-DL | 22 robots | Mixed |
| DROID | 76K | 86 | — | RGB-DL | Franka Panda | Teleop |
| FuSe | 27K | 2 | 3 | RGBLTA | WidowX 250 | Teleop |
| RoboMIND | 107K | 38 | 479 | RGB-DL | 4 robots | Teleop |
| AgiBot World | 1M | 87 | 217 | RGB-DL | AgiBot G1 | Teleop |
Adapted from the survey (Table 1). Statistics as reported in original papers.