Over the last decade, the development of ultrafast laser pulses in the mid-infrared (MIR) region has led to important breakthroughs in attosecond science and strong-field physics. However, as most such broadband MIR laser sources are near-IR pumped, the generation of high-intensity, long-wavelength MIR pulses is still a challenge, especially starting from picosecond pulses. Here we report, both experimentally and numerically, nonlinear pulse compression of sub-millijoule picosecond pulses down to sub-300 fs at 2050 nm wavelength in gas-filled Kagome-type hollow-core photonic crystal fibers for driving MIR optical parametric amplifiers. The pump laser is comprised of a compact fiber laser-seeded 2 μm chirped pulse amplification system based on a Ho:YLF crystal at 1 kHz repetition rate. Spectral broadening is studied for different experimental conditions with variations of gas pressure and incident pulse energies. The spectrally broadened 1.8 ps pulses with a Fourier-limited duration of 250 fs are compressed using an external prism-based compressor down to 285 fs and output energy of 125 μJ.