ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks (2412.13211v3)

Abstract: High-quality benchmarks are the foundation for embodied AI research, enabling significant advancements in long-horizon navigation, manipulation and rearrangement tasks. However, as frontier tasks in robotics get more advanced, they require faster simulation speed, more intricate test environments, and larger demonstration datasets. To this end, we present MS-HAB, a holistic benchmark for low-level manipulation and in-home object rearrangement. First, we provide a GPU-accelerated implementation of the Home Assistant Benchmark (HAB). We support realistic low-level control and achieve over 3x the speed of prior magical grasp implementations at a fraction of the GPU memory usage. Second, we train extensive reinforcement learning (RL) and imitation learning (IL) baselines for future work to compare against. Finally, we develop a rule-based trajectory filtering system to sample specific demonstrations from our RL policies which match predefined criteria for robot behavior and safety. Combining demonstration filtering with our fast environments enables efficient, controlled data generation at scale.

• The paper introduces MS-HAB, a GPU-accelerated benchmark that advances low-level robotic manipulation in home rearrangement tasks.
• It demonstrates high-fidelity simulation using ManiSkill3 frameworks and large-scale dataset generation through parallel environments and rule-based filtering.
• Experiments reveal that per-object RL policies outperform global ones by leveraging specific geometric strategies to boost subtask success rates.

An Academic Review of "ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks"

The paper "ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks" presents MS-HAB, a novel benchmark designed to advance research in low-level robotic manipulation within home environments. The paper addresses both practical and theoretical challenges, emphasizing high-speed simulation and realistic physical interactions.

Overview of MS-HAB

MS-HAB distinguishes itself by focusing on low-level manipulation tasks using a GPU-accelerated implementation of the Home Assistant Benchmark (HAB). The benchmark achieves a notable simulation speed of over 4000 samples per second (SPS), facilitated by parallel environments and efficient rendering. Such high performance is crucial for scaling reinforcement learning (RL) and imitation learning (IL) efforts efficiently.

Key Features:

1. High-Fidelity Simulation: Utilizing ManiSkill3 frameworks, MS-HAB ensures realistic grasping and manipulation scenarios, moving away from simplistic magical grasp methods utilized in prior works.
2. Substantial Dataset Generation: The benchmark supports large-scale data generation through GPU acceleration and a rule-based filtering approach that offers controlled data manipulation.
3. Comprehensive Baselines: The inclusion of exhaustive RL and IL baselines serves as a foundation for comparative studies in low-level manipulation tasks.

Numerical and Experimental Results

The paper presents strong numerical results, indicating that MS-HAB retains 3x the simulation speed of Habitat 2.0 while using similar GPU resources. The performance evaluation includes trajectory filtering systems and success mode statistics that outline success and failure modes, crucial for security and behavioral analyses.

The training experiments involve sophisticated reinforcement learning tasks, where per-object policies in manipulation tasks consistently outperform their all-object counterparts. This reveals that specific geometric considerations lead to higher subtask success rates, a critical insight for robotics researchers focusing on object manipulation in cluttered environments.

Theoretical and Practical Implications

Theoretically, the MS-HAB benchmark raises questions about effective simulation speed and the utility of GPU acceleration in learning complex manipulation tasks. Its focus on low-level components opens avenues for exploring fine motor control in embodied AI, moving away from the oversimplification found in magical grasp methods. Practically, the ability to generate large datasets rapidly and with controlled characteristics has far-reaching implications for training more robust RL and IL models, particularly in home-scale environments.

Path for Future Research

Future work may focus on enhancing scene diversity to improve generalization across unseen environments, particularly in tasks involving close-proximity interactions. Additionally, exploring alternative or hybrid RL approaches, possibly incorporating real-world data, could bridge the gap between simulation and physical deployment. Further exploration of data-driven approaches, such as advanced IL methods or online finetuning, might also yield more adaptable and safe policies.

Conclusion

The paper titled "ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks" contributes a rich dataset and robust benchmarking tool to the field of robotic manipulation. It effectively showcases how GPU-accelerated benchmarks can enhance the efficiency and scalability of embodied AI research, suggesting new directions for both theoretical investigations and practical applications in home-scale robotics.