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MimicGen

Benchmarks

Task NameDataset NameSOTA ResultTrend
Lifelong robotic skill learningMimicGen Lifelong tasks
Forward Transfer (FWT)89
32
Robot ManipulationMimicGen Square D2
Success Rate70
15
Robot ManipulationMimicGen Nut Assembly D0
Success Rate94
15
Robotic ManipulationMimicGen SE(2)
Stack (D1) Success Rate100
11
Robot ManipulationMimicGen Stack Three D1
Success Rate100
10
Robot ManipulationMimicGen Stack D1
Success Rate100
10
Robot ManipulationMimicGen Hammer Cleanup D1
Success Rate84
10
Robot Manipulation Policy InferenceMimicGen
Coffee Success Rate (D2)3.79
8
Robotic ManipulationMimicGen
Success Rate (C, D0)94
8
Robotic ManipulationMimicGen (1000 demonstrations)
Stack D11
8
Robotic ManipulationMimicGen (200 demonstrations)
Stack D1100
8
Robotic ManipulationMimicGen 100 demonstrations
Stack D194
8
Robotic ControlMimicGen (1000 demonstrations)
Success Rate81.99
8
Robotic ControlMimicGen 200 demonstrations
Success Rate70.26
8
Robotic ControlMimicGen 100 demonstrations
Avg Success Rate54.18
8
Robotic ManipulationMimicGen
Stack Success100
6
Robotic ManipulationMimicGen
Square76
6
Robotic ManipulationMimicGen (test)
Square Success Rate76
6
Robot ManipulationMimicGen
Coffee Success Rate100
4
Robotic ManipulationMimicGen 30° SE(3) initialization
Coffee Success Rate0.33
4
Robotic ManipulationMimicGen 15° SE(3) initialization
Coffee Success Rate54
4
Robotic ManipulationMimicGen 0° SE(3) initialization
Success Rate (Coffee)65
4
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