diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..acb1219eee2a5fcef1a29e72e3b7cbfd086de7e4 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,62 @@ +*.7z filter=lfs diff=lfs merge=lfs -text +*.arrow filter=lfs diff=lfs merge=lfs -text +*.bin filter=lfs diff=lfs merge=lfs -text +*.bz2 filter=lfs diff=lfs merge=lfs -text +*.ckpt filter=lfs diff=lfs merge=lfs -text +*.ftz filter=lfs diff=lfs merge=lfs -text +*.gz filter=lfs diff=lfs merge=lfs -text +*.h5 filter=lfs diff=lfs merge=lfs -text +*.joblib filter=lfs diff=lfs merge=lfs -text +*.lfs.* filter=lfs diff=lfs merge=lfs -text +*.lz4 filter=lfs diff=lfs merge=lfs -text +*.mds filter=lfs diff=lfs merge=lfs -text +*.mlmodel filter=lfs diff=lfs merge=lfs -text +*.model filter=lfs diff=lfs merge=lfs -text +*.msgpack filter=lfs diff=lfs merge=lfs -text +*.npy filter=lfs diff=lfs merge=lfs -text +*.npz filter=lfs diff=lfs merge=lfs -text +*.onnx filter=lfs diff=lfs merge=lfs -text +*.ot filter=lfs diff=lfs merge=lfs -text +*.parquet filter=lfs diff=lfs merge=lfs -text +*.pb filter=lfs diff=lfs merge=lfs -text +*.pickle filter=lfs diff=lfs merge=lfs -text +*.pkl filter=lfs diff=lfs merge=lfs -text +*.pt filter=lfs diff=lfs merge=lfs -text +*.pth filter=lfs diff=lfs merge=lfs -text +*.rar filter=lfs diff=lfs merge=lfs -text +*.safetensors filter=lfs diff=lfs merge=lfs -text +saved_model/**/* filter=lfs diff=lfs merge=lfs -text +*.tar.* filter=lfs diff=lfs merge=lfs -text +*.tar filter=lfs diff=lfs merge=lfs -text +*.tflite filter=lfs diff=lfs merge=lfs -text +*.tgz filter=lfs diff=lfs merge=lfs -text +*.wasm filter=lfs diff=lfs merge=lfs -text +*.xz filter=lfs diff=lfs merge=lfs -text +*.zip filter=lfs diff=lfs merge=lfs -text +*.zst filter=lfs diff=lfs merge=lfs -text +*tfevents* filter=lfs diff=lfs merge=lfs -text +# Audio files - uncompressed +*.pcm filter=lfs diff=lfs merge=lfs -text +*.sam filter=lfs diff=lfs merge=lfs -text +*.raw filter=lfs diff=lfs merge=lfs -text +# Audio files - compressed +*.aac filter=lfs diff=lfs merge=lfs -text +*.flac filter=lfs diff=lfs merge=lfs -text +*.mp3 filter=lfs diff=lfs merge=lfs -text +*.ogg filter=lfs diff=lfs merge=lfs -text +*.wav filter=lfs diff=lfs merge=lfs -text +# Image files - uncompressed +*.bmp filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text +*.tiff filter=lfs diff=lfs merge=lfs -text +# Image files - compressed +*.jpg filter=lfs diff=lfs merge=lfs -text +*.jpeg filter=lfs diff=lfs merge=lfs -text +*.webp filter=lfs diff=lfs merge=lfs -text +# Video files - compressed +*.mp4 filter=lfs diff=lfs merge=lfs -text +*.webm filter=lfs diff=lfs merge=lfs -text +*.hdf5 filter=lfs diff=lfs merge=lfs -text +training/demo_key_t_to_index.json filter=lfs diff=lfs merge=lfs -text +training/index_to_demo_key.json filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3a739f7c9d227d73c5492af15235a7f8061ad04a --- /dev/null +++ b/README.md @@ -0,0 +1,72 @@ +--- +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: + + + +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 | | | +| | PnPSinkToCabinet | | | +| | TurnOnFaucet | | | +| | CloseLeftCabinetDoor | | | +| **L2 (Unseen Objects, Seen Environment)** | PnPSinkToRightCounterPlateL2 | | | +| | PnPSinkToCabinetL2 | | | +| | CloseRightCabinetDoorL2 | | | +| | CloseLeftCabinetDoorL2 | | | +| **L3 (Unseen Objects, Unseen Environment)** | CloseLeftCabinetDoorL3 | | | +| | PnPSinkToRightCounterPlateL3 | | | +| | PnPSinkToMicrowaveTopL3 | | | +| | TurnOnFaucetL3 | | | + +## 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} +} +``` \ No newline 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