ManiSkill2
Large-scale simulated manipulation benchmark (UCSD/SAPIEN): 20 task families, 2000+ objects, 4M+ demo frames.
| Year | 2023 |
|---|---|
| Embodiments | franka_panda |
| Modalities | depth, point_cloud, proprioception, segmentation, rgb |
| Task categories | manipulation |
| License | custom |
| Access | open |
| Maintainer | UC San Diego (Hao Su Lab / SAPIEN) |
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.