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--- |
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license: cc-by-4.0 |
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viewer: false |
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--- |
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# Model Checkpoints for ManiSkill-HAB |
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**[Paper](https://arxiv.org/abs/2412.13211)** |
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| **[Website](https://arth-shukla.github.io/mshab)** |
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| **[Code](https://github.com/arth-shukla/mshab)** |
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| **[Models](https://huggingface.co/arth-shukla/mshab_checkpoints)** |
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| **[Dataset](https://arth-shukla.github.io/mshab/#dataset-section)** |
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| **[Supplementary](https://sites.google.com/view/maniskill-hab)** |
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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. |
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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. |
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To download these policies, run the following: |
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``` |
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huggingface-cli download arth-shukla/mshab_checkpoints --local-dir mshab_checkpoints |
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``` |
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If you use ManiSkill-HAB in your work, please consider citing the following: |
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``` |
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@article{shukla2024maniskillhab, |
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author = {Arth Shukla and Stone Tao and Hao Su}, |
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title = {ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks}, |
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journal = {CoRR}, |
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volume = {abs/2412.13211}, |
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year = {2024}, |
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url = {https://doi.org/10.48550/arXiv.2412.13211}, |
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doi = {10.48550/ARXIV.2412.13211}, |
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eprinttype = {arXiv}, |
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eprint = {2412.13211}, |
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timestamp = {Mon, 09 Dec 2024 01:29:24 +0100}, |
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biburl = {https://dblp.org/rec/journals/corr/abs-2412-13211.bib}, |
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bibsource = {dblp computer science bibliography, https://dblp.org} |
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} |
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``` |
