# ManiSkill (v1) and ManiSkill2 demonstrations

From the catalogue. Listed by one researcher from one source page.

- id: `maniskill-v1-and-maniskill2-demonstrations`
- kind: real manipulation scripted or autonomous, synthetic or generated
- robot or device: Panda arm and mobile dual-arm robots in SAPIEN (class: simulation)
- how collected: scripted, not teleop: v1 from SAC RL agents; ManiSkill2 from task and motion planning, MPC and RL
- size as stated: v1 ~36,000 successful trajectories, ~1.5M frames; ManiSkill2 4M+ demonstration frames across 20 task families
- hours: not stated | hours only claimed: none | episodes: 36,000
- year: 2021
- organisation: UC San Diego (Hao Su Lab)
- licence: Apache-2.0 (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/haosulab/ManiSkill2
- Hugging Face repository: `haosulab/ManiSkill2`, 1,819 downloads in 30 days, https://huggingface.co/datasets/haosulab/ManiSkill2
- other names: ManiSkill2, ManiSkill2 data
- note: No human teleoperation in either version.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [haosulab/ManiSkill_Demonstrations](https://huggingface.co/datasets/haosulab/ManiSkill_Demonstrations) | ManiSkill (sim) | simulation | simulation |  |  | open | 2,895 |
| [Juelg/RPD-maniskill](https://huggingface.co/datasets/Juelg/RPD-maniskill) | ManiSkill (sim) | simulation | simulation |  |  | open | 1,486 |
| [haosulab/ManiSkill_bridge_v2_real2sim](https://huggingface.co/datasets/haosulab/ManiSkill_bridge_v2_real2sim) | ManiSkill (sim) | simulation | simulation |  |  | open | 1,152 |
| [johnMinelli/ManiSkill_TwoRobotStackCube-v1_recovery](https://huggingface.co/datasets/johnMinelli/ManiSkill_TwoRobotStackCube-v1_recovery) | Franka | single arm | recording | 1,043 | 0.4 | not stated | 399 |
| [AdilZtn/Maniskill-Pushcube-demonstration-large](https://huggingface.co/datasets/AdilZtn/Maniskill-Pushcube-demonstration-large) | ManiSkill (sim) | simulation | empty | 0 |  | open | 393 |
| [haosulab/ManiSkill](https://huggingface.co/datasets/haosulab/ManiSkill) | ManiSkill (sim) | simulation | simulation |  |  | open | 368 |

Each repository links to its Hugging Face page, where the files download. Everything this index knows about one upload: https://datasets.gurasees.com/datasets/{repository}.md

Confirm the licence at the link before relying on it.