---
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}
}
```