MimicPlay
Description
MimicPlay combines multiview human play with a smaller set of teleoperated, single-arm robot demonstrations for 14 long-horizon manipulation tasks in six real environments. The TFDS release contains 378 episodes and 7.14 GiB, including front and wrist RGB views, language instructions, end-effector and gripper state, joint state, and robot actions. Human-derived 3D hand plans guide a low-level robot controller on tasks involving kitchens, flowers, whiteboards, sandwiches, and cloth, reducing the robot demonstrations needed for imitation learning.
License
Dataset license not specified. Code: MIT.*
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