ManiSkill-HAB SetTable Dataset

Whole-body, low-level control/manipulation demonstration dataset for ManiSkill-HAB SetTable.

Dataset Details

Dataset Description

Demonstration dataset for ManiSkill-HAB SetTable. Each subtask/object combination (e.g pick 013_apple) has 1000 successful episodes (200 samples/demonstration) gathered using RL policies fitered for safe robot behavior with a rule-based event labeling system.

SetTable contains the Pick, Place, Open, and Close subtasks. Relative to the other MS-HAB long-horizon tasks (TidyHouse, PrepareGroceries), SetTable Pick, Place, Open, and Close are easy difficulty (on a scale of easy-medium-hard). The difficulty of SetTable primarily comes from skill chaining rather than individual subtasks.

Related Datasets

Full information about the MS-HAB datasets (size, difficulty, links, etc), including the other long horizon tasks, are available on the ManiSkill-HAB website.

Uses

Direct Use

This dataset can be used to train vision-based learning from demonstrations and imitation learning methods, which can be evaluated with the MS-HAB environments. This dataset may be useful as synthetic data for computer vision tasks as well.

Out-of-Scope Use

While blind state-based policies can be trained on this dataset, it is recommended to train vision-based policies to handle collisions and obstructions.

Dataset Structure

Each subtask/object combination has files [SUBTASK]/[OBJECT].json and [SUBTASK]/[OBJECT].h5. The JSON file contains episode metadata, event labels, etc, while the HDF5 file contains the demonstration data.

Dataset Creation

The data is gathered using RL policies fitered for safe robot behavior with a rule-based event labeling system.

Bias, Risks, and Limitations

The dataset is purely synthetic.

While MS-HAB supports high-quality ray-traced rendering, this dataset uses ManiSkill's default rendering for data generation due to efficiency. However, users can generate their own data with the data generation code.

Citation

@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}
}