Citation

If you use ManiSkill3 (versions mani_skill>=3.0.0) in your work please cite our ManiSkill3 paper as so:

@article{taomaniskill3,
  title={ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI},
  author={Stone Tao and Fanbo Xiang and Arth Shukla and Yuzhe Qin and Xander Hinrichsen and Xiaodi Yuan and Chen Bao and Xinsong Lin and Yulin Liu and Tse-kai Chan and Yuan Gao and Xuanlin Li and Tongzhou Mu and Nan Xiao and Arnav Gurha and Viswesh Nagaswamy Rajesh and Yong Woo Choi and Yen-Ru Chen and Zhiao Huang and Roberto Calandra and Rui Chen and Shan Luo and Hao Su},
  journal = {Robotics: Science and Systems},
  year={2025},
}

If you use ManiSkill2 (version mani_skill==0.5.3 or lower) in your work please cite the ManiSkill2 paper as so:

@inproceedings{gu2023maniskill2,
  title={ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills},
  author={Gu, Jiayuan and Xiang, Fanbo and Li, Xuanlin and Ling, Zhan and Liu, Xiqiang and Mu, Tongzhou and Tang, Yihe and Tao, Stone and Wei, Xinyue and Yao, Yunchao and Yuan, Xiaodi and Xie, Pengwei and Huang, Zhiao and Chen, Rui and Su, Hao},
  booktitle={International Conference on Learning Representations},
  year={2023}
}

Note that some other assets, algorithms, etc. in ManiSkill are from other sources/research. We try our best to include the correct citation bibtex where possible when introducing the different components provided by ManiSkill.