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RoboticsOfficial ManiSkill simulatorA08 Labsv0.2.4

a08/maniskill-multitask-manipulation

ManiSkill Multi-Task Manipulation

Predict and control Panda-arm cube manipulation across push, pull, pick-and-place and stack tasks.

Private preview · advisory runtime only
Packaged geometric skill controller · model-ranked gain64/64
Shared dynamics · H8 vs persistence+45.447%
Shuffled-action error ratio1.867×
Behavior-cloning baselineRejected · 2/64 successes
Training sourceManiSkill 3.0.1 official Panda demonstrations
Training transitions31,690
Shared dynamics5-member ensemble · four tasks
Evidence boundaryOfficial simulator only

Interactive package

Change the context. Compare the plans.

The local runtime evaluates candidate control sequences, predicts their trajectories and rejects plans outside the declared envelope.

Live runtime

Plan from system state

Task contextTask flag follows the selected goal
End effectorValues observed at H0
ObjectsValues observed at H0
Robot joints18 channels · advanced context+
Planner search8 candidates · H8
Hold poseMove +XMove -XMove +YMove -YLift toolLower toolOpen gripperClose gripper

Set the current telemetry, choose a goal and run the planner.

Results include actions, predicted state and constraint checks.

World contract

One Panda arm, one or two cubes and one target in PushCube-v1, PullCube-v1, PickCube-v1 or StackCube-v1.

Temporal unit: control_step. Supported horizons: 1, 4, 8, 20.

State
Joint 1 position-3.5 to 3.5 rad
Joint 2 position-3.5 to 3.5 rad
Joint 3 position-3.5 to 3.5 rad
Joint 4 position-3.5 to 3.5 rad
Joint 5 position-3.5 to 3.5 rad
Joint 6 position-3.5 to 3.5 rad
Joint 7 position-3.5 to 3.5 rad
Joint 8 position-3.5 to 3.5 rad
Joint 9 position-3.5 to 3.5 rad
Joint 1 velocity-5 to 5 rad/s
Joint 2 velocity-5 to 5 rad/s
Joint 3 velocity-5 to 5 rad/s
Joint 4 velocity-5 to 5 rad/s
Joint 5 velocity-5 to 5 rad/s
Joint 6 velocity-5 to 5 rad/s
Joint 7 velocity-5 to 5 rad/s
Joint 8 velocity-5 to 5 rad/s
Joint 9 velocity-5 to 5 rad/s
Tool center X-1 to 1 m
Tool center Y-1 to 1 m
Tool center Z-0.1 to 1.5 m
Primary cube X-1 to 1 m
Primary cube Y-1 to 1 m
Primary cube Z-0.1 to 1 m
Primary cube VX-5 to 5 m/s
Primary cube VY-5 to 5 m/s
Primary cube VZ-5 to 5 m/s
Secondary cube X-1 to 1 m
Secondary cube Y-1 to 1 m
Secondary cube Z-0.1 to 1 m
Secondary cube VX-5 to 5 m/s
Secondary cube VY-5 to 5 m/s
Secondary cube VZ-5 to 5 m/s
Target X-1 to 1 m
Target Y-1 to 1 m
Target Z-0.1 to 1 m
Task: push0 to 1 flag
Task: pull0 to 1 flag
Task: pick place0 to 1 flag
Task: stack0 to 1 flag
Actions
Hold posehold
Move +Xmove x positive
Move -Xmove x negative
Move +Ymove y positive
Move -Ymove y negative
Lift toolmove up
Lower toolmove down
Open gripperopen gripper
Close gripperclose gripper
Goals
Push cube to target3 declared targets
Pull cube to target3 declared targets
Pick and place cube3 declared targets
Stack primary cube3 declared targets
Constraints
cube above tablecritical · gte -0.02
tcp workspace floorcritical · gte -0.05

Package record

Everything required to inspect and run this world.

Package digestsha256:f5062384d76034c12fdcb8358ee8290683c6a9c591f9398d34f6e7fce35fa50d
world.jsonScope, lineage and runtime contract
model artifact139080 parameter transition profile
schemas/State, action and goal validation
eval/36 registered cases and result digest
Declared limitationsThe 64/64 result measures the packaged geometric skill controller with model-ranked gain; no fixed-gain or random-gain ablation supports causal attribution to the learned World Model.The portable planner was re-evaluated after controller development on the same declared held-out seeds; this is not a new prospective or sealed confirmation.The 0.8774 coverage value is an external held-out rollout measurement and does not calibrate runtime abstention.Validated only in the four declared ManiSkill 3.0.1 simulator tasks with a Panda arm.The package has no physical-hardware or production-safety claim.