论文记录 · 证据边界公开

ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI

arXiv · 2024-10-01 · Sim-to-real

论文元数据

作者: Stone Tao、Fanbo Xiang、Arth Shukla、Yuzhe Qin、Xander Hinrichsen、Xiaodi Yuan、Chen Bao、Xinsong Lin、Yulin Liu、Tse-kai Chan、Yuan Gao、Xuanlin Li、Tongzhou Mu、Nan Xiao、Arnav Gurha、Viswesh Nagaswamy Rajesh、Yong Woo Choi、Yen-Ru Chen、Zhiao Huang、Roberto Calandra、Rui Chen、Shan Luo、Hao Su
机构: 机构尚未补齐
发布日期精度: 日
研究方向: Sim-to-real
机器人: 未关联具体机器人
DOI: 10.48550/arXiv.2410.00425
arXiv: 2410.00425
arXiv 当前版本: v2
arXiv 最近修订: 2025-05-30
arXiv 主分类: cs.RO
引用元数据: 0
记录状态: included
质量检查: 无自动质量红旗

工程资源状态

代码: 已核验开放
权重: 未核验
数据: 未核验
许可证: 许可证条款已核验（不等于可商用）

已终审工程资源

官方代码 · 许可证 Apache-2.0 · 最近核验 2026-07-20
依赖：Python package mani_skill、PyTorch、Vulkan for rendering、SAPIEN simulation stack；硬件/传感器：CPU simulation path、NVIDIA GPU for GPU simulation and rendering、README reports high-end throughput on RTX 4090；实机证据：Simulation and real-to-sim evaluation infrastructure; no direct physical policy deployment is claimed by this code record.；开放范围/限制：Verified through the legacy URL redirect at commit 42b68244c1497cef889b04c4f4a78aa01c927f4e. Apache-2.0 covers repository code; AI2THOR, ReplicaCAD and other assets retain separate licenses.

“官方”表示归属与论文关系已核验；仍应按所列依赖、硬件和许可证复现。

工程资源评审结论与反面证据

代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_official_repository; 最近核验：2026-07-20
代码：Repository and immutable commit 42b68244c1497cef889b04c4f4a78aa01c927f4e were retrieved and matched to the paper.
权重：Not separately promoted by this code-repository review.
数据：Not separately promoted by this code-repository review.
许可证：Apache-2.0；Verified through the legacy URL redirect at commit 42b68244c1497cef889b04c4f4a78aa01c927f4e. Apache-2.0 covers repository code; AI2THOR, ReplicaCAD and other assets retain separate licenses.
依赖：Python package mani_skill、PyTorch、Vulkan for rendering、SAPIEN simulation stack
硬件/传感器：CPU simulation path、NVIDIA GPU for GPU simulation and rendering、README reports high-end throughput on RTX 4090
实机证据：Simulation and real-to-sim evaluation infrastructure; no direct physical policy deployment is claimed by this code record.
独立复现：No independent runtime reproduction with fixed hardware and quantitative metrics was performed or established in this batch.
限制/反面证据：Verified through the legacy URL redirect at commit 42b68244c1497cef889b04c4f4a78aa01c927f4e. Apache-2.0 covers repository code; AI2THOR, ReplicaCAD and other assets retain separate licenses.
当前建议：工程资源已核验；Use the pinned repository as an engineering starting point, while preserving the stated license, dependency and evidence boundaries.
重点标签：artifact:code-verified、license:explicit、runtime:not-reproduced
核验来源：来源 1 · 来源 2

暂缓或驳回结论不会升级代码、权重或数据开放状态；Stars、转发和演示视频不等于独立复现。

原始来源

最近核验：2026-07-20。链接存在不等于官方仓库、可运行、已开放权重/数据或许可证允许使用。