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MimicGen dataset and benchmarks – Page 2 · SOTA2 Research

Research Datasets

MimicGen

Benchmarks

Task NameDataset NameSOTA MethodSort

Task NameDataset NameSOTA ResultTrendResults

Imitation Learning

MimicGen (test)

94.6Stack Success

4

Visuomotor control

MimicGen

39.3Success Rate (Three Piece Assembly)

4

Robotic Manipulation

MimicGen 30° SE(3) initialization

0.33Coffee Success Rate

4

Robotic Manipulation

MimicGen 15° SE(3) initialization

54Coffee Success Rate

4

Robotic Manipulation

MimicGen 0° SE(3) initialization

65Success Rate (Coffee)

4

Robotic Manipulation

MimicGen cross-embodiment (Panda to UR5e)

94.8Stack Progress Rate

3

Robotic Manipulation

MimicGen D2 distribution

68Square Success Rate

3

Robotic Manipulation

MimicGen D1 distribution

84Square Success Rate

3

Robotic Manipulation

MimicGen D0 distribution

100Success Rate: Square

3

Voxel Reconstruction

MimicGen

24.41Masked PSNR

3

RGB-D reconstruction

MimicGen RGB-D

39.39PSNR

3

Object-centric Scene Reconstruction

MimicGen RGB-D (test)

39.39PSNR

3

Occupancy voxel reconstruction

MimicGen

63.1IoU

3

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Popular tasks

Robotic Manipulation Robot Manipulation Robotic Control Voxel Reconstruction Imitation Learning

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