ManiSkill2

Normalizer

ManiSkill2 — metrics, requirements, and run commands.

Last updated: Jul 11, 2026

On this page

About Metrics Task YAML Primary Environment setup Runtime environment Evaluation data Checkpoints & assets Key environment variables Run Evaluation Set Candidate Artifacts Import Official Results Score Generated Artifacts Direct In-Tree Runner Requirements Inputs Environment Outputs

About

ManiSkill2 external benchmark manifest for simulator-backed manipulation policy rollouts.

Metrics

ManiSkill2 external benchmark manifest for simulator-backed manipulation policy rollouts.

Task YAML

worldfoundry/data/benchmarks/tasks/external/maniskill2.yaml

Primary

success_rate

Metric	Focus
`success_rate`	Share of episodes or tasks that complete successfully.
`task_success`	Share of episodes or tasks that complete successfully.
`episode_success`	Share of episodes or tasks that complete successfully.
`reward`	Cumulative reward on ManiSkill2 dexterous and mobile-manipulation task rollouts.

Environment setup

Runtime environment

Conda env: worldfoundry-unified-cu128.
Separate setup: defaults to the unified WorldFoundry env (needs_new_env: false); a benchmark-only conda env is usually not required.
The older maniskill profile remains available; maniskill2 aligns with the external VLA evaluation benchmark id.

Evaluation data

Candidate model outputs: set WORLDFOUNDRY_MANISKILL2_RESULTS_PATH to the generated-video or rollout artifact root.
${WORLDFOUNDRY_DATA_DIR}/datasets/maniskill2
${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_MANISKILL2_ROOT
WORLDFOUNDRY_MANISKILL2_RESULTS_PATH

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 maniskill2 \
  --mode normalizer \
  --official-results-path /path/to/official/results-or-report \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/maniskill2/normalizer \
  --json

Score Generated Artifacts

worldfoundry-eval zoo benchmark-run \
  --benchmark-id maniskill2 \
  --mode official-run \
  --generated-artifact-dir "${WORLDFOUNDRY_GENERATED_ARTIFACT_DIR}" \
  --output-dir tmp/maniskill2/official-run \
  --json

Direct In-Tree Runner

worldfoundry-eval zoo benchmark-run --benchmark-id maniskill2 --mode official-validation --official-results-path <official_results.json> --output-dir <out> --json