README.md

---
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}
}
```