mimicgen
Datasets
All datasets matching “mimicgen”mimicgen_datasets
Dataset Card for MimicGen Datasets
Dataset Summary
This repository contains the official release of datasets for the CoRL 2023 paper "MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations".
The datasets contain over 48,000 task demonstrations across 12 tasks, grouped into the following categories:
source: 120 human demonstrations across 12 tasks used to automatically generate the other datasets
core: 26,000 task demonstrations… See the full description on the dataset page: https://huggingface.co/datasets/amandlek/mimicgen_datasets.mimicgen-aligned-gt-depth
MimicGen Aligned GT Depth Sidecars
Per-frame ground-truth simulator depth for the MimicGen demonstration set,
aligned to the original RGB demo frames. Generated by replaying each demo's
HDF5 simulator states with robosuite + MuJoCo EGL rendering.
Producer: scripts/export_mimicgen_aligned_gt_depth.py in the 3DA_unified
training repo. Original MimicGen data: https://mimicgen.github.io/ (CC BY 4.0).
Layout
26 tasks x ~1000 demos = ~26000 NPZ files, all at the repo root.… See the full description on the dataset page: https://huggingface.co/datasets/SeonghuJeon/mimicgen-aligned-gt-depth.mimicgen_hardThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 11000,
"total_frames": 3063751,
"total_tasks": 9,
"total_videos": 0,
"total_chunks": 11,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:11000"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mishmish66/mimicgen_hard.dexmimicgen_datasets
DexMimicGen Datasets
This repository contains the official dataset release of simulation environments and datasets for the ICRA 2025 paper "DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning".
Website: https://dexmimicgen.github.io
For business inquiries, please submit this form: NVIDIA Research Licensing
robocasa-mimicgenThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 20,
"features": {
"observation.images.robot0_eye_in_hand": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {… See the full description on the dataset page: https://huggingface.co/datasets/euijinrnd/robocasa-mimicgen.mimicgen_hard_100This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "panda",
"total_episodes": 1100,
"total_frames": 304988,
"total_tasks": 9,
"total_videos": 0,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:1100"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/mishmish66/mimicgen_hard_100.