A comprehensive benchmark study of offline imitation learning methods on multi-stage robot manipulation tasks identifies key sensitivities to algorithm design, data quality, and stopping criteria while releasing all datasets and code.
Generalization through hand-eye coordination: An action space for learning spatially-invariant visuomotor control
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MimicGen creates over 50K robot demonstrations from roughly 200 human ones, allowing imitation learning to achieve strong performance on complex long-horizon tasks like assembly and coffee preparation.
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MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
MimicGen creates over 50K robot demonstrations from roughly 200 human ones, allowing imitation learning to achieve strong performance on complex long-horizon tasks like assembly and coffee preparation.