File size: 1,885 Bytes
49c03ef 1928b2d 80dcf18 1928b2d 49c03ef 1928b2d 49c03ef |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 |
---
license: cc-by-4.0
viewer: false
---
# Model Checkpoints for 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)**
| **[Supplementary](https://sites.google.com/view/maniskill-hab)**
RL (SAC, PPO) and IL (BC) baselines for ManiSkill-HAB. Each checkpoint includes a torch checkpoint `policy.pt` (model, optimizer/scheduler state, other trainable parameters) and a train config `config.yml` with hyperparemeters and env kwargs.
RL Pick/Place policies are trained using SAC due to improved performance, while Open/Close is trained with PPO for wall-time efficiency (see Appendix A.4.3). All-object RL policies are under `all/` directories, while per-object policies are under directories labeled by the object name. IL policies do not have per-object Pick/Place variants.
To download these policies, run the following:
```
huggingface-cli download arth-shukla/mshab_checkpoints --local-dir mshab_checkpoints
```
If you use ManiSkill-HAB in your work, please consider citing the following:
```
@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}
}
``` |