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.

Facts

Organisation: haosulab (ManiSkill team)
Form tags: single arm · mobile manipulator · humanoid · quadruped · multi-embodiment · simulation
Embodiments (as stated): 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
Episodes: unverified
Hours: unverified
Frames: unverified
Tasks: unverified
Scenes: unverified
Modalities: state
Format: HDF5 + JSON metadata
Licence: Apache-2.0 (GitHub repository LICENSE); dataset card license not fetched (HF returned 401)
Commercial use: unverified
Released: 2024-10
Size: unverified

Sources · 6 sources

embodiments https://maniskill.readthedocs.io/en/latest/robots/index.html Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet '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 Official page · Fetched 2026-09-18 · No snapshot stored yet 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 Official page · Fetched 2026-09-18 · No snapshot stored yet Apache License, Version 2.0, January 2004

release_date https://arxiv.org/abs/2410.00425 Official page · Fetched 2026-09-18 · No snapshot stored yet ManiSkill3 paper submitted 1 Oct 2024 (v2 30 May 2025); abstract: 'Millions of demonstration frames are provided from motion planning, RL, and teleoperation'

Related bodies in the index

Matched by stated robot names or form; a match means the form is covered, not that a model was trained on it.

Unitree G1 Unitree · humanoid
Unitree H1 Unitree · humanoid
AgiBot Genie G1 AgiBot · dual_arm_wheeled
AgileX Piper arm AgileX Robotics · single arm
SO-101 open-source community (LeRobot) · single arm
Franka FR3 / Panda Franka Robotics · single arm
Fourier GR-2 Fourier Intelligence · humanoid
WidowX 250 S Trossen Robotics · single arm
Google Robot（Everyday Robots） Google / Everyday Robots · single arm
Franka Emika Panda Franka Robotics · single arm

Clear direction, grounded judgement.