Simulation · NVIDIA / Stanford research team

MimicGen (CoRL 2023)

Name: MimicGen (CoRL 2023)
Creator: NVIDIA / Stanford research team

Generated simulated manipulation demonstrations built from small source demonstration sets.

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Release / update

2023

Documentation identifies datasets released with the CoRL 2023 paper; exact day is not confirmed.

What is included?

Data type: Simulation
Tasks: Manipulation · Data generation
Modalities: RGB · Robot state · Actions
Embodiment: Multiple simulated robot arms

Reported scale

48,000+ demonstrations · 12 tasks

Publisher-reported scope. Preserve the stated unit; no duration or trajectory conversion is inferred.

Access & license

Follow the original publisher’s dataset download and loading instructions.

Dataset license not confirmed in this listing

Before you use this dataset

Separate source human demonstrations from generated simulation data. Task, object and robot variants have different reset distributions; check dataset terms independently of software.

Publisher sources checked 2026-10-05. Listing review checks the documentation, not downloaded data quality. Always check the exact release and terms.