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V9.8 MimicGen Multimodal Manipulation Demonstrations
This dataset contains 24 strict-clean robot manipulation demonstrations generated from successful source demonstrations using MimicGen and physically re-executed in MuJoCo / MolmoSpaces.
Episodes
Each demo_XXX directory contains:
trajectory.h5- table-camera RGB video
- wrist-camera RGB video
- wrist-camera depth video
- 40-sensor proximity heatmap video
- 2x2 review video
- sanitized
metadata.json
Only demonstrations satisfying all of the following are included:
- task success
- grasp-phase success
- place-phase success
- clean success
The generated demonstrations contain horizontal pickup-object perturbations while maintaining the original support height.
See manifest.jsonl for per-demonstration geometry and provenance.
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