Downloads

Data & assets

A single index for the complete IG-10K dataset and the shared ManiSkill asset package. Choose the mirror that works best for your environment.

IG-10K Dataset

Human demonstrations and paired simulation data in the project LeRobot format.

Hugging Face

bash

hf download imitator-game/IG-10K-Dataset --repo-type dataset --local-dir demos

IG-10K Dataset

ModelScope mirror of the complete dataset for users who prefer that registry.

ModelScope

bash

modelscope download --dataset Zhouxunzhe/IG-10K-Dataset --local_dir demos

IG-10K Assets

The shared YCB, RoboTwin, PartNet-Mobility and external asset package for the benchmark.

Hugging Face

bash

hf download imitator-game/IG-10K-Assets --repo-type dataset --local-dir ~/.maniskill/data

IG-10K Assets

ModelScope mirror of the asset package used by the simulation environments.

ModelScope

bash

modelscope download --dataset Zhouxunzhe/IG-10K-Assets --local_dir ~/.maniskill/data

Where the files go

After downloading, the training data is organized into the human demonstration root and the converted simulation root:

text

demos/
├── demo_data/       human demonstration data, including MANO features
└── imitator_data/   simulation / robot LeRobot datasets

~/.maniskill/data/    shared simulation assets

Continue with the documentation

See installation for assets and Vulkan, data collection for conversion, and baselines for training and evaluation.