MimicGen
Sim manipulation datasets auto-generated by NVIDIA's MimicGen from ~200 human demos: 48K+ demos, 12 tasks, 4 arms, HDF5.
| Year | 2023 |
|---|---|
| Episodes | 48,000 |
| Embodiments | franka_panda, kuka_iiwa, sawyer, ur5 |
| Modalities | ee_pose, proprioception, rgb |
| Task categories | manipulation |
| License | CC-BY-4.0 |
| Access | open — commercial use permitted |
| Maintainer | NVIDIA (with The University of Texas at Austin) |
MimicGen is a data-generation system (CoRL 2023, NVIDIA + UT Austin) that synthesizes large-scale robot manipulation datasets by adapting a small set of human teleoperation demonstrations to new object poses, objects, and robot embodiments. The public release contains over 48,000 simulated task demonstrations across 12 tasks (categories: source/core/object/robot/large_interpolation) in robosuite/MuJoCo, stored as robomimic-compatible HDF5 with low-dim and image observations. The broader system generated 50K+ demos across 18 tasks over two simulators (robosuite, Isaac Gym) and a physical robot arm.