ManiSkill

About

ManiSkill external benchmark task manifest for simulator-backed manipulation and planning rollouts.

Metrics

ManiSkill external benchmark task manifest for simulator-backed manipulation and planning rollouts.

Task YAML

worldfoundry/data/benchmarks/tasks/external/maniskill.yaml

Primary

• success_rate

Environment setup

Runtime environment

• Conda env: maniskill.
• Separate setup: defaults to the unified WorldFoundry env (needs_new_env: false); a benchmark-only conda env is usually not required.
• ManiSkill/SAPIEN 可见；完整官方状态仍需要任务套件、assets 和 policy rollout，不在本轮运行。

Evaluation data

• ManiSkill is simulator-backed; WorldFoundry normalizes rollout results and keeps simulator execution explicit.
• Candidate model outputs: set WORLDFOUNDRY_MANISKILL_RESULTS_PATH to the generated-video or rollout artifact root.
• ${WORLDFOUNDRY_CACHE_DIR}/repos/haosulab--ManiSkill

Checkpoints & assets

• This benchmark is primarily rollout- or official-result-driven; see catalog requires and the task YAML for policy/simulator checkpoints.

Key environment variables

• WORLDFOUNDRY_MANISKILL_ROOT
• WORLDFOUNDRY_MANISKILL_RESULTS_PATH

Verify setup

PYTHONPATH=${WORLDFOUNDRY_CACHE_DIR}/repos/haosulab--ManiSkill:src python -m worldfoundry.evaluation.tasks.execution.orchestration.runtime_preflight --profile maniskill --manifest worldfoundry/data/benchmarks/runtime_profiles/official/maniskill.yaml --output-dir tmp/worldfoundry_preflight/maniskill --json

Run Evaluation

After preparing the assets and candidate artifacts listed on this page, use the public run entry points below.

Set Candidate Artifacts

export WORLDFOUNDRY_GENERATED_ARTIFACT_DIR=/path/to/generated/artifacts

Import Official Results

worldfoundry-eval zoo benchmark-run \
  --benchmark-id maniskill \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/maniskill/normalizer \
  --json

Score Generated Artifacts

worldfoundry-eval zoo benchmark-run \
  --benchmark-id maniskill \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/maniskill/official-run \
  --json

Direct In-Tree Runner

worldfoundry-eval zoo benchmark-run --benchmark-id maniskill --mode official-validation --official-results-path <official_results.json> --output-dir <out> --json

Requirements

Inputs

• Official ManiSkill repository checkout
• SAPIEN/ManiSkill simulator assets
• Benchmark-specific policy checkpoint or controller
• Official task suite selection

Environment

• WORLDFOUNDRY_MANISKILL_RESULTS_PATH

Outputs

• scorecard.json
• raw_results.jsonl

← Benchmark Hub