RoboManipBaselines

Software that integrates various imitation learning methods and benchmark task environments to provide baselines for robot manipulation

🌍 Environments for robot manipulation

🧰 Various tasks

Cable

Ring

Particle

Cloth

🦾 Various robots

UR5e

xArm7

ALOHA

HSR

Unitree G1

🎥 Real world and various simulators

Real UR5e

Real xArm7

Isaac Gym

MuJoCo

📦 Data

📂 Demonstration datasets

Demonstrations in MuJoCo environments

DatasetEnvironmentOperation method# DemoDateLink
TeleopMujocoUR5eCable_Dataset30 MujocoUR5eCable 3D mouse3004/01/2025 Download
TeleopMujocoUR5eRing_Dataset30 MujocoUR5eRing 3D mouse3004/02/2025 Download
TeleopMujocoUR5eParticle_Dataset30 MujocoUR5eParticle 3D mouse3004/02/2025 Download
TeleopMujocoUR5eCloth_Dataset30 MujocoUR5eCloth 3D mouse3004/02/2025 Download

Demonstrations in real-world environments

DatasetEnvironmentOperation method# DemoDateLink
TeleopRealUR5eDemo_Dataset30 RealUR5eDemo 3D mouse30Coming soon

🧠 Learned parameters

Policies in MuJoCo environments

PolicyEnvironmentTraining datasetDateLink
SARNN MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 04/01/2025 Download
ACT MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 04/01/2025 Download
DiffusionPolicy MujocoUR5eCable TeleopMujocoUR5eCable_Dataset30 04/01/2025 Download

Citation

You can cite this work with:

@software{RoboManipBaselines_GitHub2024,
  author    = {Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi},
  title     = {{RoboManipBaselines}},
  url       = {https://github.com/isri-aist/RoboManipBaselines},
  version   = {1.0.0},
  year      = {2024},
  month     = dec,
}