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🤖 RoboManipBaselines

<a href="https://isri-aist.github.io/RoboManipBaselines-ProjectPage/"><strong>Project Page</strong></a> | <a href="https://arxiv.org/abs/2509.17057"><strong>arXiv</strong></a>

A software framework integrating various imitation learning methods and benchmark environments for robotic manipulation.
Provides easy-to-use baselines for policy training, evaluation, and deployment.

https://github.com/user-attachments/assets/1ad3dcbe-bb4c-4711-96c3-5e196e9d067b

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🚀 Quick Start

Start collecting data in the MuJoCo simulation, train your model, and rollout the ACT policy in just a few steps!
📄 See the Quick Start Guide.

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⚙️ Installation

Follow our step-by-step Installation Guide to get set up smoothly.

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🧠 Policies

We provide several powerful policy architectures for manipulation tasks:

• 🔹 MLP: Simple feedforward policy
• 🔹 SARNN: Recurrent policy for sequential data
• 🔹 ACT: Transformer-based action chunking policy
• 🔹 MT-ACT: Multi-task Transformer-based imitation policy
• 🔹 Diffusion Policy: Diffusion-based imitation policy
• 🔹 3D Diffusion Policy: Diffusion-based policy with 3D point cloud input
• 🔹 Flow Policy: Flow-matching-based policy with 3D point cloud input
• 🔹 ManiFlow Policy: Flow-matching and consistency-based policy with 2D/3D vision
• 🔹 pi0: Flow-matching-based policy with a vision-language model backbone (PaliGemma)
• 🔹 GR00T: Diffusion Transformer-based policy with a vision-language model backbone (Eagle-2)

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📦 Data

• 📂 Dataset List: Pre-collected expert demonstration datasets
• 🧠 Learned Parameters: Trained model checkpoints and configs
• 📄 Data Format: Description of the custom RMB data format used in RoboManipBaselines
• 🪄 Point Cloud Preprocessing: Data preprocessing for 3D point cloud policies

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🎮 Teleoperation

Use your own teleop interface to collect expert data.
See Teleop Tools for more info.

• 🎮 Multiple SpaceMouse: Setup multiple SpaceMouse for high-degree-of-freedom robots

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🌍 Environments

Explore diverse manipulation environments:

• 📚 Environment Catalog: Overview of all task environments
• 🔧 Env Setup: Installation guides per environment
• ✏️ How to Add a New Environment: Guide for adding a custom environment
• 🔅️ MuJoCo Tactile Sensor: Guide for using tactile sensors in MuJoCo environments

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🧰 Miscellaneous

Check out Misc Scripts for standalone tools and utilities.

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📊 Evaluation Results

See Benchmarked Performance across environments and policies.

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🤝 Contributing

We welcome contributions!
Check out the Contribution Guide to get started.

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📄 License

This repository is licensed under the BSD 2-Clause License, unless otherwise stated.
Please check individual files or directories (especially third_party and assets) for specific license terms.

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📖 Citation

If you use RoboManipBaselines in your work, please cite our paper:

@article{RoboManipBaselines_Murooka_2025,
  title={RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments},
  author={Murooka, Masaki and Motoda, Tomohiro and Nakajo, Ryoichi and Oh, Hanbit and Makihara, Koshi and Shirai, Keisuke and Ogata, Tetsuya and Domae, Yukiyasu},
  journal={arXiv preprint arXiv:2509.17057},
  year={2025}
}

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