RoboMimic
Imitation learning framework. BC, DAgger, HBC. MimicGen for synthetic data augmentation.
Overview
RoboMimic provides algorithms (BC, DAgger, HBC) and infrastructure for imitation learning. MimicGen extends it by generating 50K+ synthetic demos from ~200 human demos. Supports simulation and real robots. MIT license.
Official Links
- robomimic.github.io — Project site
- github.com/ARISE-Initiative/robomimic — Code
Continue the loop
A dataset format is step one; the loop trains on it, then scores the policy on real hardware.