MimicGen
Benchmarks
TaskDatasetSOTA resultTrendResults
MimicGen 3-Part Assembly D2
64Success Rate
72
MimicGen Square D2
70Success Rate
51
MimicGen Stack Three D1
100Success Rate
46
MimicGen D2
60Success Rate
36
MimicGen Lifelong tasks
89Forward Transfer (FWT)
32
MimicGen
100Coffee Success Rate
25
MimicGen
99.2Success Rate
19
MimicGen
100Success Rate
19
MimicGen
65.6Success Rate
19
MimicGen Nut Assembly D0
94Success Rate
15
MimicGen SE(2)
100Stack (D1) Success Rate
11
MimicGen Stack D1
100Success Rate
10
MimicGen Hammer Cleanup D1
84Success Rate
10
MimicGen image observation
31.6Stack Success Rate
9
MimicGen
3.79Coffee Success Rate (D2)
8
MimicGen
94Success Rate (C, D0)
8
MimicGen (1000 demonstrations)
1Stack D1
8
MimicGen (200 demonstrations)
100Stack D1
8
MimicGen 100 demonstrations
94Stack D1
8
MimicGen (1000 demonstrations)
81.99Success Rate
8
MimicGen 200 demonstrations
70.26Success Rate
8
MimicGen 100 demonstrations
54.18Avg Success Rate
8
MimicGen
100Stack Success
6
MimicGen
76Square
6
MimicGen (test)
76Square Success Rate
6