---
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}
}
```