HumanoidMimicGen automatically generates large loco-manipulation datasets from few source demonstrations using whole-body planning, enabling visuomotor policies that outperform real-data-only training by 20% on a new nine-task benchmark.
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HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
HumanoidMimicGen automatically generates large loco-manipulation datasets from few source demonstrations using whole-body planning, enabling visuomotor policies that outperform real-data-only training by 20% on a new nine-task benchmark.