Roadmap

We are constantly working to improve ManiSkill on all aspects, from simulation/rendering speed to usability. Below is a brief list of planned upcoming features that will come to ManiSkill in the future

• GPU parallelized low-level mobile manipulation tasks (at the moment you can just take random actions but there are no reward/success metrics)

• More fully interactive scene datasets (currently there is only ReplicaCAD. There is also AI2THOR scenes but they are not interactable)

• More industrial robots properly modelled and added into simulation (Google Robot, UR5, Unitree H1 etc.)

• Larger demonstration datasets, especially tele-operated demonstrations

• RL Baselines (Algorithms like SAC, TDMPC2 etc.)

• Offline RL Baselines (Algorithms like IQL, CQL, etc.)

• Behavior Cloning Baselines (Algorithms like 3D Diffusion Policy, etc.)

• Vision Language Model Baselines (Algorithms like PerAct, VoxPoser, etc.)

• Easy to use domain randomization tools (randomizing lighting, camera poses, object textures etc.)

• Wider variety of verified tasks

• A new, fast and accurate soft body simulator

• Simple beautification tools to make high quality renders/recordings of trajectories in simulation

• Object database of high quality, simlation ready assets (rigid-body, soft-body, articulations) for use in your tasks

• More sensor types like Lidar

• Real2Sim evaluation pipelines