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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.

Indexed episode structure

Per-episode numbers RobotData has indexed locally (camera count, DoF, control rate, success rate). "Not indexed yet" means we have not recorded that number — it does not mean the publisher's data lacks observations, state or actions. See the source-backed profile above for what the publisher documents.

Observation

3 cameras

State

7 DoF

Action

20 Hz

Result

Not indexed yet

Data modalities

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

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