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We demonstrate efficient generation of mid-infrared frequency combs based on continuous-wave-seeded femtosecond optical parametric generation in nonlinear waveguides. Conversion of the near-infrared pump to signal and idler light takes place with very high efficiency (74%), and the threshold (25 pJ for 100 fs pulses) is over 300 times lower than in bulk analogs. Relative intensity noise of the mid-infrared comb is exceptionally low, below 5 × 10−5 (integrated from 10 Hz to 2 MHz). Furthermore, the mid-infrared bandwidth can be increased by driving the process with a broadband pump obtained via supercontinuum generation.