| | --- |
| | task_categories: |
| | - robotics |
| | tags: |
| | - robotics |
| | - humanoid-robot |
| | - manipulation |
| | - in-context-learning |
| | - simulation |
| | - robocasa |
| | --- |
| | |
| | # MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos |
| |
|
| | [Paper](https://huggingface.co/papers/2509.09769) | [Project Page](https://ut-austin-rpl.github.io/MimicDroid) | [Code](https://github.com/UT-Austin-RPL/mimicdroid-robocasa) |
| |
|
| | This repository hosts the dataset used in the MimicDroid project. MimicDroid aims to enable humanoid robots to efficiently solve new manipulation tasks from a few video examples. It leverages human play videos—continuous, unlabeled videos of people interacting freely with their environment—as a scalable and diverse training data source for in-context learning (ICL) policies, thereby reducing reliance on labor-intensive teleoperated data. |
| |
|
| | The project introduces a benchmark built on [**RoboCasa**](https://robocasa.ai), a large-scale simulation framework for training generally capable robots to perform everyday tasks. |
| |
|
| | ## Dataset Details |
| |
|
| | The MimicDroid dataset spans **30 objects, 8 kitchen environments, and 8 hours of human play data** for training. All the training environments are shown below: |
| |
|
| | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/mimicdroid-train-all.png" width="100%" /> |
| |
|
| | Evaluation is structured into **three levels** with increasing difficulty and **4 tasks** in each level: |
| |
|
| | | Level | Task Name | Abstract Embodiment | Humanoid Embodiment | |
| | |-------|-----------|---------------|------------| |
| | | **L1 (Seen Objects, Seen Environment)** | PnPSinkToRightCounterPlate | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlate.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlate_eval.png" width="200"/> | |
| | | | PnPSinkToCabinet | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToCabinet.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToCabinet_eval.png" width="200"/> | |
| | | | TurnOnFaucet | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/TurnOnFaucet.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/TurnOnFaucet_eval.png" width="200"/> | |
| | | | CloseLeftCabinetDoor | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoor.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoor_eval.png" width="200"/> | |
| | | **L2 (Unseen Objects, Seen Environment)** | PnPSinkToRightCounterPlateL2 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlateL2.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlateL2_eval.png" width="200"/> | |
| | | | PnPSinkToCabinetL2 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToCabinetL2.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToCabinetL2_eval.png" width="200"/> | |
| | | | CloseRightCabinetDoorL2 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseRightCabinetDoorL2.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseRightCabinetDoorL2_eval.png" width="200"/> | |
| | | | CloseLeftCabinetDoorL2 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoorL2.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoorL2_eval.png" width="200"/> | |
| | | **L3 (Unseen Objects, Unseen Environment)** | CloseLeftCabinetDoorL3 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoorL3.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/CloseLeftCabinetDoorL3_eval.png" width="200"/> | |
| | | | PnPSinkToRightCounterPlateL3 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlateL3.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToRightCounterPlateL3_eval.png" width="200"/> | |
| | | | PnPSinkToMicrowaveTopL3 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToMicrowaveTopL3.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/PnPSinkToMicrowaveTopL3_eval.png" width="200"/> | |
| | | | TurnOnFaucetL3 | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/TurnOnFaucetL3.png" width="200"/> | <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/tasks/TurnOnFaucetL3_eval.png" width="200"/> | |
| |
|
| | ## Dataset Download |
| |
|
| | To download the necessary kitchen assets for the dataset (approximately 5GB), use the following command: |
| |
|
| | ```bash |
| | python robocasa/scripts/download_kitchen_assets.py |
| | ``` |
| |
|
| | For more detailed dataset installation and visualization instructions, please refer to the `DATASET.md` file in the [GitHub repository](https://github.com/UT-Austin-RPL/mimicdroid-robocasa). |
| |
|
| | ## Citation |
| |
|
| | If you find this dataset or research useful for your work, please cite the following: |
| |
|
| | ```bibtex |
| | @article{shah2025mimicdroid, |
| | title={MimicDroid: In-Context Learning for Humanoid Manipulation from Human Play Videos}, |
| | author={Shah, Rutav and Liu, Shuijing and Wang, Qi and Jiang, Zhenyu and Kumar, Sateesh and Seo, Mingyo and Mart{\'\i}n-Mart{\'\i}n, Roberto and Zhu, Yuke}, |
| | journal={arXiv preprint arXiv:2509.09769}, |
| | year={2025} |
| | } |
| | |
| | @inproceedings{robocasa2024, |
| | title={RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots}, |
| | author={Soroush Nasiriany and Abhiram Maddukuri and Lance Zhang and Adeet Parikh and Aaron Lo and Abhishek Joshi and Ajay Mandlekar and Yuke Zhu}, |
| | booktitle={Robotics: Science and Systems}, |
| | year={2024} |
| | } |
| | ``` |
