[asset-badge]: https://img.shields.io/badge/download%20asset-yes-blue.svg
[dense-reward-badge]: https://img.shields.io/badge/dense%20reward-yes-green.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-yes-green.svg
[no-dense-reward-badge]: https://img.shields.io/badge/dense%20reward-no-red.svg
[no-sparse-reward-badge]: https://img.shields.io/badge/sparse%20reward-no-red.svg
[demos-badge]: https://img.shields.io/badge/demos-yes-green.svg
# External Benchmarks/Tasks
These are tasks and external libraries contributed by the community, built in ManiSkill.
The document here has both a high-level overview/list of each project in a table as well as detailed task cards with video demonstrations after.
## Task Table
Table of all tasks/environments in this category. Task column is the environment ID, Preview is a thumbnail pair of the first and last frames of an example success demonstration. Max steps is the task's default max episode steps, generally tuned for RL workflows.
## ManiSkill-HAB
**[Paper](https://arxiv.org/abs/2412.13211)** | **[Website](https://arth-shukla.github.io/mshab)** | **[Code](https://github.com/arth-shukla/mshab)** | **[Models](https://huggingface.co/arth-shukla/mshab_checkpoints)** | **[Dataset](https://arth-shukla.github.io/mshab/#dataset-section)**
![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]
![demos][demos-badge]
:::{dropdown} Task Card
:icon: note
:color: primary
**Task Description:**
ManiSkill-HAB contains 3 long-horizon tasks:
- **TidyHouse**: Move 5 target objects to different open receptacles (e.g. table, counter, etc).
- **PrepareGroceries**: Move 2 objects from the opened fridge to goal positions on the counter,
then 1 object from the counter to the fridge.
- **SetTable**: Move 1 bowl from the closed drawer to the dining table and 1 apple from the
closed fridge to the same dining table.
These tasks are split into 4 subtasks: Pick Place, Open, and Close.
**Randomizations:**
- Target object/articulation/goal (depending on subtask)
- Base x/y position and z rotation, arm and torso qpos noise
**Success Conditions:**
- Pick: Object grasped, end-effector at rest position, robot static
- Place: Object within 15cm of goal position, end-effector at rest position, robot static
- Open: Articulation open, end-effector at rest position, robot static
- Close: Articulation closed, end-effector at rest position, robot static
**Fail Conditions:**
- Robot exceeds cumulative collision force threshold (5000N for Pick, 7500N for Place, 10,000N for Open/Close)
**Citation**
```latex
@article{shukla2024maniskillhab,
author = {Arth Shukla and Stone Tao and Hao Su},
title = {ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks},
journal = {CoRR},
volume = {abs/2412.13211},
year = {2024},
url = {https://doi.org/10.48550/arXiv.2412.13211},
doi = {10.48550/ARXIV.2412.13211},
eprinttype = {arXiv},
eprint = {2412.13211},
timestamp = {Mon, 09 Dec 2024 01:29:24 +0100},
biburl = {https://dblp.org/rec/journals/corr/abs-2412-13211.bib},
bibsource = {dblp computer science bibliography, https://dblp.org}
}
```
:::
