maniskill
robot-maniskill-image-state-dataset-v1
Robot ManiSkill Image–State Dataset
0. Update
12.22
pickcube_rgb_random_v2: having a broader distribution of viewpoints and qpos values
12.14
pickcube_rgb_traj_v3: official PickCube-v1 scene RGBD trajectories (Type-1 scaling baseline)
12.2
delete pickcube_rgb_traj_v1
11.30
pickcube_rgb_traj_v2: rendering images with cube in pickcube task.
11.28
pickcube_rgb_traj_v1: Trajectory subset… See the full description on the dataset page: https://huggingface.co/datasets/surgingTu/robot-maniskill-image-state-dataset-v1.ManiSkill_Demonstrations
ManiSkill Demonstrations
This dataset repo contains all of the latest ManiSkill demonstration datasets as well as some pretained model weights used to generate some demonstrations. To download by environment ID run
python -m mani_skill.utils.download_demo env_id
You can also replace env_id with "all" to download all demos.
For the previous ManiSkill2 paper's demonstration data (v0.5.3 of the mani_skill package) see https://huggingface.co/datasets/haosulab/ManiSkill2
The… See the full description on the dataset page: https://huggingface.co/datasets/haosulab/ManiSkill_Demonstrations.ManiSkill2
ManiSkill2 Data
Update: ManiSkill 3 has been released https://github.com/haosulab/ManiSkill/. It uses different datasets than ManiSkill2 so the data here is not expected to transfer over
ManiSkill2 is a unified benchmark for learning generalizable robotic manipulation skills powered by SAPIEN. It features 20 out-of-box task families with 2000+ diverse object models and 4M+ demonstration frames. Moreover, it empowers fast visual input learning algorithms so that a CNN-based… See the full description on the dataset page: https://huggingface.co/datasets/haosulab/ManiSkill2.RPD-maniskill
Maniskill Sub-Dataset in RLDS Format used in RPD
This repository contains the maniskill subset in RLDS format used to train Octo and OpenVLA in the paper Refined Policy Distillation: From VLA Generalists to RL Experts, which distilled these models using RL.
Project page: https://refined-policy-distillation.github.io
Code: https://github.com/Refined-Policy-Distillation/RPD
Checkout octo-base-1.5-finetuned-maniskill and openvla-7b-finetuned-maniskill which have been fine-tuned with… See the full description on the dataset page: https://huggingface.co/datasets/Juelg/RPD-maniskill.rlt-maniskill-PegInsertionSide-v1-400-succ
RLT ManiSkill Joint
Dataset Summary
rlt_maniskill_joint is a LeRobot-style dataset for joint-control Robot Learning Token (RLT) training on the ManiSkill peg insertion task.
It is designed for the RLinf + OpenPI pi05_rlt_joint pipeline and is used in three stages:
OpenPI supervised fine-tuning (SFT) base policy training
RLT Stage 1 RL-token training
RLT Stage 2 online RL initialization and normalization
The dataset corresponds to the ManiSkill task:… See the full description on the dataset page: https://huggingface.co/datasets/RLinf/rlt-maniskill-PegInsertionSide-v1-400-succ.maniskill_dataset_raw