Overview#

The MimicGen paper released a large collection of task demonstrations across several different environments.

The datasets contain over 48,000 task demonstrations across 12 tasks, grouped into the following categories:

• source: 120 human demonstrations across 12 tasks used to automatically generate the other datasets

• core: 26,000 task demonstrations across 12 tasks (26 task variants)

• object: 2000 task demonstrations on the Mug Cleanup task with different mugs

• robot: 16,000 task demonstrations across 4 different robot arms on 2 tasks (4 task variants)

• large_interpolation: 6000 task demonstrations across 6 tasks that pose significant challenges for modern imitation learning methods

See this link for more information on the datasets.

Downloading#

Please see this link for instructions on downloading and using these datasets.

Postprocessing#

No postprocessing is needed for these datasets.

Citation#

@inproceedings{mandlekar2023mimicgen,
    title={MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations},
    author={Mandlekar, Ajay and Nasiriany, Soroush and Wen, Bowen and Akinola, Iretiayo and Narang, Yashraj and Fan, Linxi and Zhu, Yuke and Fox, Dieter},
    booktitle={7th Annual Conference on Robot Learning},
    year={2023}
}