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MimicGen

Name: MimicGen
Creator: Synthetic
License: Open Source

Synthetic demonstration generation

Indexed from an external sourceSyntheticUpdated 2023-10-26Open Source

Published by

NVIDIA GEAR Lab

RobotData indexes this dataset's metadata. Attribution and licensing stay with the original publisher.

50,000+ demonstrations across 18 tasks and multiple robot arms, generated automatically by adapting only ~200 human demonstrations to new object poses and scenes. Shows synthetic data can match human-collected sets for imitation learning.

Reported structure

Values below come from the dataset's own documentation. Missing fields are shown as not provided rather than estimated.

Observation

3 cameras

State

7 DoF

Action

20 Hz

Result

Not provided

Data modalities

● RGB Video● Depth● Joint Positions● Robot State● Actions○ Force/Torque○ Audio○ Language Instructions

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