ManiSkill2 is a GPU-accelerated manipulation benchmark from UCSD HAO Lab featuring 20+ task environments (peg insertion, cube stacking, cabinet opening, etc.) with Franka Panda and xArm robots. The accompanying demonstrations provide expert trajectory data in HDF5 format with RGB, depth, point cloud, and proprioceptive modalities.

Is ManiSkill2 free to use?

Yes. ManiSkill2 demonstrations are released under the Apache 2.0 license, allowing both research and commercial use.

ManiSkill2: Manipulation Benchmark Demonstrations

GPU-accelerated manipulation benchmark with 20+ tasks and expert demonstrations. Apache 2.0 licensed.

Apache 2.0 -- Open HDF5 Simulation

Key Stats

Metric	Value
Tasks	20+ environments (peg insertion, cube stacking, cabinet, drawer, etc.)
Robots	Franka Panda, xArm (simulated)
Size	~5 GB demonstrations
Format	HDF5
Modalities	RGB, depth, point cloud, joint state, actions
License	Apache 2.0
Related datasets	99 ManiSkill-related datasets on HuggingFace

What is ManiSkill2?

ManiSkill2 is a GPU-accelerated manipulation simulation benchmark from UCSD's HAO Lab (Hao Su group). It provides a diverse set of manipulation environments with standardized evaluation protocols, plus expert demonstrations that serve as training data for imitation learning research.

Key advantages include GPU parallelization (thousands of environments in parallel on a single GPU), rich observation spaces (RGB + depth + point cloud), and a growing ecosystem of 99 related datasets on HuggingFace. ManiSkill3, the latest iteration, further improves simulation speed and adds soft-body manipulation tasks.

Access

Download from HuggingFace ManiSkill Website

Related datasets

RoboCasa -- kitchen manipulation simulation
LeRobot Collection -- standardized robot learning hub
Open X-Embodiment -- cross-embodiment pretraining

From sim to real

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