ManiSkill3 Demonstrations

Simulation. Scale stated only as 'millions of demonstration frames' (arXiv 2410.00425 abstract); trajectory counts and per-task sizes not stated on fetched pages; HF repo returned 401 twice.

基本事实

机构: haosulab (ManiSkill team)
形态标签: 单臂 · 移动操作 · 人形 · 四足 · 多本体 · 仿真
本体（按原文）: Anymal C · Allegro Hand Left · Allegro Hand Right · Allegro Hand Right with Touch Sensing · D'Claw · Fetch Mobile Manipulator · Fixed Inspire Hand Left · Fixed Inspire Hand Right · Floating Inspire Hand Left · Floating Inspire Hand Right · Floating Panda Gripper · Floating Robotiq 2F-85 Gripper · Google Robot · Mujoco Humanoid · Koch v1.1 Arm · Franka Emika Panda · Franka Emika Panda Arm with Stick Tool · Franka Emika Panda with Wrist Camera · Standard Open Arm 100 (SO100) · Stompy · Trifinger Pro · UR10e · Unitree G1 · Unitree G1 Simplified Legs · Unitree G1 Simplified Upper Body · Unitree Go2 · Unitree H1 · Unitree H1 Simplified Legs · WidowX 250S · WidowX AI · WidowX AI with wrist camera · XArm6 with No Gripper · XArm6 with Robotiq Gripper · XArm6 with Robotiq Gripper and Wrist Camera · XArm7 Ability
轨迹数: 待核实
小时数: 待核实
帧数: 待核实
任务: 待核实
场景: 待核实
模态: state
格式: HDF5 + JSON metadata
许可证: Apache-2.0 (GitHub repository LICENSE); dataset card license not fetched (HF returned 401)
商用: 待核实
发布: 2024-10
体积: 待核实

来源 · 6 条来源

embodiments https://maniskill.readthedocs.io/en/latest/robots/index.html 官方页面 · 抓取 2026-09-18 · 尚未存快照 Robots page of ManiSkill3 docs lists these robots as supported by the simulator; per-robot presence in the demonstrations repo could not be verified (HF 401)

modalities https://maniskill.readthedocs.io/en/latest/user_guide/datasets/demos.html 官方页面 · 抓取 2026-09-18 · 尚未存快照 Default file 'trajectory.none.pd_joint_pos.physx_cpu.h5' contains actions, terminated/truncated flags, environment states and optional observations; file naming trajectory.{obs_mode}.{control_mode}.{sim_backend}.h5

format https://maniskill.readthedocs.io/en/latest/user_guide/datasets/demos.html 官方页面 · 抓取 2026-09-18 · 尚未存快照 'saved in the HDF5 format openable by h5py' with associated JSON metadata

hf_url https://maniskill.readthedocs.io/en/latest/user_guide/datasets/demos.html 官方页面 · 抓取 2026-09-18 · 尚未存快照 Docs point to huggingface.co/datasets/mani-skill/ManiSkill_Demonstrations; direct fetch of the HF page and API returned HTTP 401

license https://raw.githubusercontent.com/haosulab/ManiSkill/main/LICENSE 官方页面 · 抓取 2026-09-18 · 尚未存快照 Apache License, Version 2.0, January 2004

release_date https://arxiv.org/abs/2410.00425 官方页面 · 抓取 2026-09-18 · 尚未存快照 ManiSkill3 paper submitted 1 Oct 2024 (v2 30 May 2025); abstract: 'Millions of demonstration frames are provided from motion planning, RL, and teleoperation'

索引里的相关本体

按写明的机器人名或形态匹配；匹配只说明形态覆盖，不代表某个模型在其上训练过。

Unitree G1 宇树科技 · 人形
Unitree H1 宇树科技 · 人形
智元精灵 G1 智元机器人 · dual_arm_wheeled
松灵 Piper 机械臂松灵机器人 · 单臂
SO-101 开源社区 (LeRobot) · 单臂
Franka FR3 / Panda Franka Robotics · 单臂
Fourier GR-2 傅利叶智能 · 人形
WidowX 250 S Trossen Robotics · 单臂
Google Robot（Everyday Robots） Google / Everyday Robots · 单臂
Franka Emika Panda Franka Robotics · 单臂

方向清晰，判断有据。