ManiSkill2
Introduced by Gu et al. in ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
ManiSkill2 is the next generation of the SAPIEN ManiSkill benchmark, to address critical pain points often encountered by researchers when using benchmarks for generalizable manipulation skills. It includes 20 manipulation task families with 2000+ object models and 4M+ demonstration frames, which cover stationary/mobile-base, single/dual-arm, and rigid/soft-body manipulation tasks with 2D/3D input data simulated by fully dynamic engines.
Source: ManiSkill2: A Unified Benchmark for Generalizable Manipulation SkillsPapers
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