DexMimicGen
Description
DexMimicGen generated 21,000 demonstrations from 60 human source demonstrations across nine MuJoCo tasks and three embodiments: dual Panda arms with grippers, dual Panda arms with dexterous hands, and a GR-1 humanoid with dexterous hands. Source demonstrations were teleoperated using iPhone or Apple Vision Pro interfaces. Tasks include threading, assembly, pouring, tray lifting, drawer cleanup, transport, and can sorting, with observations and coordinated end-effector and hand actions intended for image-based imitation learning and real-to-sim-to-real transfer.
License
Conflicting official declarations: the distributed dataset LICENSE uses a custom NVIDIA non-commercial license for research or evaluation; Hugging Face metadata identifies CC BY-NC-SA 4.0; the project README states CC BY 4.0.*
* Double-check the publisher's current license and usage terms before using this dataset.