Dataset · NVIDIA (NVlabs)
MimicGen Datasets
Simulation (robosuite/MuJoCo; Isaac Gym Factory for some tasks). Paper reports 'over 50K demonstrations across 18 tasks' from ~200 human demos; hub release is 48,000+ across 12 tasks. Modalities not enumerated on fetched pages.
Facts
- Organisation
- NVIDIA (NVlabs)
- Form tags
- single arm · simulation
- Embodiments (as stated)
- Panda · Sawyer · IIWA · UR5e
- Episodes
- 48,000
- Hours
- unverified
- Frames
- unverified
- Tasks
- 12
- Scenes
- unverified
- Modalities
- unverified
- Format
- HDF5 (robomimic)
- Licence
- CC-BY 4.0
- Commercial use
- allowed (stated)
- Released
- 2023-10
- Size
- 149 GB
Sources · 7 sources
embodiments https://mimicgen.github.io/ Official page · Fetched 2026-09-18 · No snapshot stored yet 'Panda', 'Sawyer', 'IIWA', 'UR5e' named as robot arms in the 'robot' dataset group
episodes https://github.com/NVlabs/mimicgen Official page · Fetched 2026-09-18 · No snapshot stored yet 'The released datasets contain over 48,000 task demonstrations across 12 tasks'; HF card breakdown: source 120, core 26,000, object 2,000, robot 16,000, large_interpolation 6,000
tasks https://github.com/NVlabs/mimicgen Official page · Fetched 2026-09-18 · No snapshot stored yet 12 tasks in released datasets (paper abstract: 18 tasks)
format https://huggingface.co/datasets/amandlek/mimicgen_datasets Official page · Fetched 2026-09-18 · No snapshot stored yet HDF5 files compatible with robomimic
license https://github.com/NVlabs/mimicgen Official page · Fetched 2026-09-18 · No snapshot stored yet 'the datasets are released under CC-BY 4.0'; HF license tag cc-by-4.0
release_date https://arxiv.org/abs/2310.17596 Official page · Fetched 2026-09-18 · No snapshot stored yet Submitted 26 Oct 2023; CoRL 2023
size_gb https://huggingface.co/datasets/amandlek/mimicgen_datasets Official page · Fetched 2026-09-18 · No snapshot stored yet 'Total file size: 149 GB'
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