MimicGen
Description
The released MimicGen corpus contains more than 48,000 HDF5 demonstrations across 12 simulated manipulation tasks, including 120 teleoperated human source demonstrations and generated variants spanning reset distributions, objects, and four robot arms. Representative tasks include coffee preparation, threading, mug cleanup, pick-and-place, and multi-part assembly. The data support RGB observations, robot proprioception, and end-effector delta-pose and gripper actions for behavioral cloning and research on scalable automated demonstration generation.
License
Dataset: CC BY 4.0. Code: NVIDIA Source Code License.*
* Double-check the publisher's current license and usage terms before using this dataset.