ManiSkill2
UC San Diego (Hao Su Lab / SAPIEN) · 2023 · datasets.bot · datasets.bot page
One-liner. Large-scale simulated manipulation benchmark (UCSD/SAPIEN): 20 task families, 2000+ objects, 4M+ demo frames.
Setup
- Datasets / benchmarks: ManiSkill2 is a unified, fully simulated robotic manipulation benchmark built on the SAPIEN physics engine, covering 20 manipulation task families with 2000+ object models and 4M+ verified demonstration frames. It spans stationary and mobile-base, single- and dual-arm, and rigid- and soft-body tasks, with RGB, depth/RGBD, and point-cloud observations and a unified evaluation protocol for RL, imitation learning, and sense-plan-act methods. Robots are Franka Panda arms (single or dual) mounted on stationary or mobile bases. License: custom. Download: https://huggingface.co/datasets/haosulab/ManiSkill2.
- Hardware / simulator: Embodiment: franka_panda. Environment: simulation, tabletop. Realness: simulated.
Schema
HDF5 trajectory files (trajectory.{obs_mode}.{control_mode}.h5) + JSON metadata; per-episode steps with observation (rgb/rgbd/pointcloud/state) and action
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