Overview#

This repository contains the official release of data generation code, simulation environments, and datasets for the CoRL 2023 paper “MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations”.

Website: https://mimicgen.github.io

Paper: https://arxiv.org/abs/2310.17596

Documentation: https://mimicgen.github.io/docs/introduction/overview.html

Note

For business inquiries, please submit this form: NVIDIA Research Licensing.

Troubleshooting#

Please see the troubleshooting section for common fixes, or submit an issue on our github page.

License#

The code is released under the NVIDIA Source Code License and the datasets are released under CC-BY 4.0.

Citation#

Please cite the MimicGen paper if you use this code in your work:

@inproceedings{mandlekar2023mimicgen,
    title={MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations},
    author={Mandlekar, Ajay and Nasiriany, Soroush and Wen, Bowen and Akinola, Iretiayo and Narang, Yashraj and Fan, Linxi and Zhu, Yuke and Fox, Dieter},
    booktitle={7th Annual Conference on Robot Learning},
    year={2023}
}