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MIMICGEN
Generate large robot imitation datasets from a few human demonstrations
NVIDIA Source Code License
ABOUT
Imitation learning needs thousands of demos, but collecting them on hardware is slow. MimicGen takes a handful of human demonstrations and generates new successful trajectories across object poses in simulation so teams scale robot datasets without teleoperating every scene.
INTEGRATION GUIDE
1. Expand a few human demos into thousands of simulated manipulation trajectories
2. Train imitation policies on MimicGen's 12-task, 48k-demo released datasets
3. Generate data for custom simulation environments from seed demonstrations
4. Reproduce CoRL 2023 robot learning experiments with published generation configs
TAGS
pythonroboticsimitation-learningdata-generationsimulationnvidiamanipulation