ManiSkill 3

Sample of environments/robots rendered with ray-tracing. Scene datasets sourced from AI2THOR and ReplicaCAD

ManiSkill is an open-source framework for robot simulation and training powered by SAPIEN, with a strong focus on manipulation skills. Among its features include:

• GPU parallelized visual data collection system. On the high end you can collect RGBD + Segmentation data at 30,000+ FPS on a 4090 GPU
• GPU parallelized simulation, enabling high throughput state-based synthetic data collection in simulation
• GPU parallelized heterogeneous simulation, where every parallel environment has a completely different scene/set of objects
• Example tasks cover a wide range of different robot embodiments (humanoids, mobile manipulators, single-arm robots) as well as a wide range of different tasks (table-top, drawing/cleaning, dexterous manipulation)
• Flexible and simple task building API that abstracts away much of the complex GPU memory management code via an object oriented design
• Real2sim environments for scalably evaluating real-world policies 100x faster via GPU simulation.
• Sim2real examples for deploying policies trained in simulation to the real world
• Many tuned robot learning baselines in Reinforcement Learning (e.g. PPO, SAC, [TD-MPC2](https://github