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license: cc-by-nc-sa-4.0
---

# Dataset Card for MimicGen Datasets

## Dataset Summary

Official release of datasets for the MimicGen paper. These robot demonstration datasets were generated automatically using the MimicGen system, using a small number of human teleoperated demos. See [this link](https://github.com/NVlabs/mimicgen_environments#dataset-types) for more information on the dataset structure and how to use them.

## Citation

Please cite the MimicGen paper if you use these datasets in your work:

```bibtex
@inproceedings{mandlekar2023mimicgen,
    title={MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations},
    author={Mandlekar, Ajay and Nasiriany, Soroush and Wen, Bowen and Akinola, Iretiayo and Narang, Yashraj and Fan, Linxi and Zhu, Yuke and Fox, Dieter},
    booktitle={7th Annual Conference on Robot Learning},
    year={2023}
}
```