EgoMimic
Description
The public EgoMimic release is 243 GB and combines Project Aria human demonstrations with teleoperated data from a low-cost bimanual ViperX-arm rig. Human streams include egocentric RGB, SLAM device pose, and 3D hand tracks; robot streams add wrist RGB, end-effector and joint states, and joint actions. Demonstrations cover continuous object-in-bowl, clothes folding, and grocery packing, and support co-training a shared imitation policy that transfers to objects or scenes encountered only in human data.
License
Dataset license not specified. Code: MIT.*
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