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.
• download links of one episode: https://datasets.gurasees.com/episodes/haosulab/ManiSkill2.md?episode=0

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