MimicGen
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.
- Scale
- 48000 episodes
- Formats
- hdf5
- License
- CC-BY-4.0
- Published
- 2023-10-26
Decision summary
scripted
Metadata requires review against the official source before publication.
Read the dataset manifest and feature schema.
Catalog assessment
Selection evidence
70/100
Provisional · confidence 42 · 3/6 evaluated
Access and governance
Access and license are declared by the source.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation and action/state signals are declared; alignment quality still depends on sample verification.
View 3 more dimensions
World-model readiness
World-model observation, geometry, or temporal semantics are not verified.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Scale is declared; transfer and processing estimates are not measured.
Review unresolved evidence and next checks
Signal gaps
- Gaze / attention. Not enough evidence is available to classify this signal.
- Feedback / correction / failure. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Record specifics
Dataset facts
- Source
- NVIDIA (with The University of Texas at Austin)
- Evidence
- secondary claim
- Formats
- hdf5
- episodes
- 48000
- tasks
- 12
- bytes
- 160000000000
Metadata coverage
Loop signals
5/7 present or partial
No decision-grade evidence captured yet.
unknownNo decision-grade evidence captured yet.
unknownView 5 more signal categories
video · 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.
presentee_pose · 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.
partialMimicGen 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.
partialsimulation · 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.
presentOpen · CC-BY-4.0 · hdf5
partialEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
- Metadata requires review against the official source before publication.
Catalog links