ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills
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ManiSkill2 is a large-scale robotic manipulation benchmark, focusing on learning generalizable robot agents and manipulation skills. It features 2000+ diverse objects, 20 task categories, and a large-scale demonstration set in SAPIEN, a fully-physical, realistic simulator. The benchmark can be used to study 2D & 3D vision-based imitation learning, reinforcement learning, and motion planning, etc.
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