MimicGen
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Lifelong robotic skill learning | MimicGen Lifelong tasks | Forward Transfer (FWT)89 | 32 | |
| Coffee | MimicGen | Success Rate99.2 | 19 | |
| Kitchen | MimicGen | Success Rate100 | 19 | |
| Mug Cleanup | MimicGen | Success Rate65.6 | 19 | |
| Robot Manipulation | MimicGen Square D2 | Success Rate70 | 15 | |
| Robot Manipulation | MimicGen Nut Assembly D0 | Success Rate94 | 15 | |
| Robotic Manipulation | MimicGen SE(2) | Stack (D1) Success Rate100 | 11 | |
| Robot Manipulation | MimicGen Stack Three D1 | Success Rate100 | 10 | |
| Robot Manipulation | MimicGen Stack D1 | Success Rate100 | 10 | |
| Robot Manipulation | MimicGen Hammer Cleanup D1 | Success Rate84 | 10 | |
| Robot Manipulation | MimicGen image observation | Stack Success Rate31.6 | 9 | |
| Robot Manipulation Policy Inference | MimicGen | Coffee Success Rate (D2)3.79 | 8 | |
| Robotic Manipulation | MimicGen | Success Rate (C, D0)94 | 8 | |
| Robotic Manipulation | MimicGen (1000 demonstrations) | Stack D11 | 8 | |
| Robotic Manipulation | MimicGen (200 demonstrations) | Stack D1100 | 8 | |
| Robotic Manipulation | MimicGen 100 demonstrations | Stack D194 | 8 | |
| Robotic Control | MimicGen (1000 demonstrations) | Success Rate81.99 | 8 | |
| Robotic Control | MimicGen 200 demonstrations | Success Rate70.26 | 8 | |
| Robotic Control | MimicGen 100 demonstrations | Avg Success Rate54.18 | 8 | |
| Robotic Manipulation | MimicGen | Stack Success100 | 6 | |
| Robotic Manipulation | MimicGen | Square76 | 6 | |
| Robotic Manipulation | MimicGen (test) | Square Success Rate76 | 6 | |
| Visuomotor control | MimicGen | Success Rate (Three Piece Assembly)39.3 | 4 | |
| Robot Manipulation | MimicGen | Coffee Success Rate100 | 4 | |
| Robotic Manipulation | MimicGen 30° SE(3) initialization | Coffee Success Rate0.33 | 4 |
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