What's new for Sapien 3.0 and ManiSkill 3?

[yangfengzzz]

I would like to know what are the major changes in Sapien3? Will there be new papers or release notes to explain them later?

[StoneT2000]

We are in the process of writing a report now but no clear timeline on when we will put it up on online.

For now the major changes for SAPIEN 3 / ManiSkill 3 is GPU simulation (like NVIDIA Isaac or Mujoco MJX) as well as the fastest parallel rendering system to render RGBD+Segmentation data at very high FPS in GPU simulation. There's also a brand new documentation website with a lot of details on how to make your own GPU parallelized tasks easily. There is also neat support for efficient diverse parallel simulation where each parallel env can have different objects.

There's a number of other features such as new scene datasets being built into maniskill (ReplicaCAD, AI2 THOR scenes) and a lot of new tasks with dense rewards and demos. There is also an extensive set of baselines coming as well for people to use (RL, IL, etc.).