MimicGen
Benchmarks
TaskDatasetSOTA resultTrendResults
MimicGen (test)
94.6Stack Success
4
MimicGen
39.3Success Rate (Three Piece Assembly)
4
MimicGen 30° SE(3) initialization
0.33Coffee Success Rate
4
MimicGen 15° SE(3) initialization
54Coffee Success Rate
4
MimicGen 0° SE(3) initialization
65Success Rate (Coffee)
4
MimicGen cross-embodiment (Panda to UR5e)
94.8Stack Progress Rate
3
MimicGen D2 distribution
68Square Success Rate
3
MimicGen D1 distribution
84Square Success Rate
3
MimicGen D0 distribution
100Success Rate: Square
3
MimicGen
24.41Masked PSNR
3
MimicGen RGB-D
39.39PSNR
3
MimicGen RGB-D (test)
39.39PSNR
3
MimicGen
63.1IoU
3