ManiSkill
ManiSkill (v1)
Simulated benchmark of 4 tasks on 162 articulated objects, testing whether manipulation skills transfer to unseen object instances.1
Comparisons with real robots
Not checked1
Details
Paper limitations section states the authors had not yet conducted sim-to-real experiments. No later study found.
Details
About
- What it is
- Benchmark Inferred4
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Classified by the Atlas from how the authors describe and distribute it.
- Built by
- UC San Diego1
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All 9 authors at UC San Diego (Hao Su is last author). Challenge sponsored by Qualcomm (README acknowledgements).
- Released
- 2021-074
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arXiv v1 2021-07-30; README: initial version released 2021-07-29.
- Version
- Unversioned; repo renamed ManiSkill-Legacy5
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Repo description: SAPIEN Manipulation Skill Benchmark (NeurIPS 2021 Track on Datasets and Benchmarks).
- Last update
- 2022-08: README update announcing the ManiSkill 2022 challenge (2022-08-01); last push 2022-08-246
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Push date from GitHub search API (https://api.github.com/search/repositories?q=ManiSkill+in:name+user:haosulab).
- Status
- Superseded7
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ManiSkill3 paper: builds upon ManiSkill 1 and 2.
Setup
- Runs in
- Simulation1
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SAPIEN full-physics simulator.
- Robot
- Arm on wheels, Two arms1
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Moving platform (Sciurus robot body) with one or two Franka Panda arms.
- Robot model
- Sciurus-based mobile platform with one or two Franka Panda arms1
- Setting
- Whole home Inferred1
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Household articulated objects (cabinets, swivel chairs, buckets) without room scenes; mapping to 'home' is ours.
- Size
- 4 tasks; 162 objects in 3 categories; ~36,000 trajectories; ~1.5M frames1
Scoring and access
- Scored by
- Success rate1
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Sec. 2.5.
- Trials
- 100 evaluation trajectories per single environment; 50 per test environment over 10 test environments (paper experiments)1
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Tables 2-3 captions.
- Who runs it
- The organisers run the tests6
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README: temporary test server launched 2022-02-16; evaluate_policy.py for local use.
- Leaderboard
- Official leaderboard6
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Challenge existence verified in README/paper. https://sapien.ucsd.edu/challenges/maniskill2021 refused connection (WebFetch and curl), so current content is unknown.
- Code licence
- Apache-2.03
- Data licence
- Unknown
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README and LICENSE state no licence for assets or demonstrations. Objects are re-modelled from PartNet-Mobility, whose terms we did not check.
Sources 7
- 1ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale DemonstrationsPaper · Jul 2021 · checked 10 Oct 2026
- 2Semantic Scholar API recordIndex · checked 10 Oct 2026
- 3haosulab/ManiSkill-Legacy on GitHub (main)Repository · checked 10 Oct 2026
- 4ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale DemonstrationsPaper · Jul 2021 · checked 10 Oct 2026
- 5https://api.github.com/search/repositories?q=ManiSkill+in:name+user:haosulabRepository · checked 10 Oct 2026
- 6haosulab/ManiSkill-Legacy on GitHub (file README.md)Repository · checked 10 Oct 2026
- 7ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIPaper · Oct 2024 · checked 10 Oct 2026
Change history
- Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).