Generating Data with MimicGen

Generating Data with MimicGen#

Given a modest number of source demonstrations, we offer the ability to syntehsize new trajectories with MimicGen.

Installation#

  1. Clone and setup MimicGen under the experimental/robocasa branch:

    git clone https://github.com/NVlabs/mimicgen -b experimental/robocasa
cd mimicgen
pip install -e .

  2. Setup the robomimic dependency:

    cd ..
git clone https://github.com/ARISE-Initiative/robomimic -b robocasa
cd robomimic
pip install -e .

Generate data for existing tasks#

We have set up MimicGen for 64/65 existing atomic tasks. Generating demonstration datasets for these tasks is a 3 step process, which we illustrate for the PickPlaceCounterToSink task:

  1. Extract subtask meta data:

    python mimicgen/scripts/prepare_src_dataset.py --dataset <hdf5-ds-path>

  2. Generate demonstartions:

    python mimicgen/scripts/generate_dataset_multicore.py --source <hdf5-ds-path> --config mimicgen/exps/templates/robocasa/single_stage/kitchen_pick_place/PickPlaceCounterToSink.json

  3. Extract image observations. You can then extract image datasets following the dataset extraction tutorial on this guide.

Set up MimicGen for new tasks#

Please follow the official MimicGen documentation tutorial page.

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