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hamzasheedi
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dataset2

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Robotics
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robotics
humanoid-robot
manipulation
in-context-learning
simulation
robocasa
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+ # Audio files - uncompressed
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README.md ADDED
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+ ---
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+ task_categories:
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+ - robotics
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+ tags:
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+ - robotics
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+ - humanoid-robot
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+ - manipulation
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+ - in-context-learning
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+ - simulation
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+ - robocasa
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+ ---
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+
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+ # MimicDroid: In-Context Learning for Humanoid Robot Manipulation from Human Play Videos
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+
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+ [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)
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+
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+ 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.
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+
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+ 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.
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+
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+ ## Dataset Details
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+
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+ 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:
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+
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+ <img src="https://github.com/UT-Austin-RPL/mimicdroid-robocasa/blob/main/docs/images/mimicdroid-train-all.png" width="100%" />
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+
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+ Evaluation is structured into **three levels** with increasing difficulty and **4 tasks** in each level:
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+
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+ | Level | Task Name | Abstract Embodiment | Humanoid Embodiment |
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+ |-------|-----------|---------------|------------|
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+ | **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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+ | **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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+ | **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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+ | | 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"/> |
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+
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+ ## Dataset Download
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+
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+ To download the necessary kitchen assets for the dataset (approximately 5GB), use the following command:
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+
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+ ```bash
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+ python robocasa/scripts/download_kitchen_assets.py
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+ ```
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+
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+ 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).
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+
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+ ## Citation
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+
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+ If you find this dataset or research useful for your work, please cite the following:
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+
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+ ```bibtex
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+ @article{shah2025mimicdroid,
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+ title={MimicDroid: In-Context Learning for Humanoid Manipulation from Human Play Videos},
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+ 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},
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+ journal={arXiv preprint arXiv:2509.09769},
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+ year={2025}
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+ }
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+
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+ @inproceedings{robocasa2024,
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+ title={RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots},
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+ author={Soroush Nasiriany and Abhiram Maddukuri and Lance Zhang and Adeet Parikh and Aaron Lo and Abhishek Joshi and Ajay Mandlekar and Yuke Zhu},
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+ booktitle={Robotics: Science and Systems},
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+ year={2024}
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+ }
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+ ```
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