I wanted to test LeRobot on complex tasks without a physical robot arm. MimicGen has 26K+ demonstrations across 12 tasks. I created mg2hfbot to convert datasets, train LeRobot & RoboMimic policies, and evaluate them.

The Problem

Testing robot learning algorithms typically requires either:

  • Access to physical robot hardware (expensive, time-consuming)
  • Simple simulation environments (not representative of real challenges)

MimicGen provides a middle ground: high-quality demonstrations of complex manipulation tasks in simulation.

The Solution

mg2hfbot bridges MimicGen and LeRobot:

  • Converts MimicGen datasets to HuggingFace format
  • Trains both LeRobot and RoboMimic policies
  • Provides evaluation tools for both frameworks
  • Enables rapid experimentation without physical hardware

Repository

Check out the code: github.com/kywch/mg2hfbot

Acknowledgments

Thanks to:

  • @AjayMandlekar for MimicGen and guidance
  • @RemiCadene for LeRobot and guidance
  • PufferAI and @jsuarez5341 for computing support