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[Docs] Fix Typos and Minor Grammar Issues in index.md file #625

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[Docs] Fix Typos and Minor Grammar Issues in index.md file #625

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26 changes: 13 additions & 13 deletions docs/source/index.md
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Expand Up @@ -9,25 +9,25 @@
[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://maniskill.readthedocs.io/en/latest/)
[![Discord](https://img.shields.io/discord/996566046414753822?logo=discord)](https://discord.gg/x8yUZe5AdN)

ManiSkill is a powerful unified framework for robot simulation and training powered by [SAPIEN](https://sapien.ucsd.edu/), with a strong focus on manipulation skills. The entire tech stack is as open-source as possible and ManiSkill v3 is in beta release now. Among its features include:
- GPU parallelized visual data collection system. On the high end you can collect RGBD + Segmentation data at 30,000+ FPS with a 4090 GPU, 10-1000x faster compared to most other simulators.
- GPU parallelized simulation, enabling high throughput state-based synthetic data collection in simulation
- GPU parallelized heteogeneous simuluation, where every parallel environment has a completely different scene/set of objects
- Example tasks cover a wide range of different robot embodiments (humanoids, mobile manipulators, single-arm robots) as well as a wide range of different tasks (table-top, drawing/cleaning, dextrous manipulation)
- Flexible and simple task building API that abstracts away much of the complex GPU memory management code via an object oriented design
- Real2sim environments for scalably evaluating real-world policies 60-100x faster via GPU simulation.
ManiSkill is a powerful unified framework for robot simulation and training powered by [SAPIEN](https://sapien.ucsd.edu/), with a strong focus on manipulation skills. The entire tech stack is as open-source as possible, and ManiSkill v3 is in beta release now. Among its features are:
- GPU-parallelized visual data collection system. On the high end, you can collect RGBD + Segmentation data at 30,000+ FPS with a 4090 GPU, which is 10-1000x faster compared to most other simulators.
- GPU-parallelized simulation, enabling high-throughput state-based synthetic data collection in simulation.
- GPU-parallelized heterogeneous simulation, where every parallel environment has a completely different scene/set of objects.
- Example tasks cover a wide range of different robot embodiments (humanoids, mobile manipulators, single-arm robots) as well as a wide range of different tasks (table-top, drawing/cleaning, dexterous manipulation).
- Flexible and simple task-building API that abstracts away much of the complex GPU memory management code via an object-oriented design.
- Real-to-sim environments for scalably evaluating real-world policies 60-100x faster via GPU simulation.

<!-- TODO replace paper link with arxiv link when it is out -->
For more details we encourage you to take a look at our [paper](https://arxiv.org/abs/2410.00425).
For more details, we encourage you to take a look at our [paper](https://arxiv.org/abs/2410.00425).

There are more features to be added to ManiSkill 3, see [our roadmap](https://maniskill.readthedocs.io/en/latest/roadmap/index.html) for planned features that will be added over time before the official v3 is released.
There are more features to be added to ManiSkill 3. See [our roadmap](https://maniskill.readthedocs.io/en/latest/roadmap/index.html) for planned features that will be added over time before the official v3 release.

Please refer to our [documentation](https://maniskill.readthedocs.io/en/latest/user_guide) to learn more information from tutorials on building tasks to data collection.
Please refer to our [documentation](https://maniskill.readthedocs.io/en/latest/user_guide) to learn more from tutorials on building tasks to data collection.

**NOTE:**
This project currently is in a **beta release**, so not all features have been added in yet and there may be some bugs. If you find any bugs or have any feature requests please post them to our [GitHub issues](https://github.com/haosulab/ManiSkill/issues/) or discuss about them on [GitHub discussions](https://github.com/haosulab/ManiSkill/discussions/). We also have a [Discord Server](https://discord.gg/x8yUZe5AdN) through which we make announcements and discuss about ManiSkill.
This project currently is in a **beta release**, so not all features have been added yet, and there may be some bugs. If you find any bugs or have any feature requests, please post them to our [GitHub issues](https://github.com/haosulab/ManiSkill/issues/) or discuss them on [GitHub discussions](https://github.com/haosulab/ManiSkill/discussions/). We also have a [Discord Server](https://discord.gg/x8yUZe5AdN) through which we make announcements and discuss ManiSkill.

Users looking for the original ManiSkill2 can find the commit for that codebase at the [v0.5.3 tag](https://github.com/haosulab/ManiSkill/tree/v0.5.3)
Users looking for the original ManiSkill2 can find the commit for that codebase at the [v0.5.3 tag](https://github.com/haosulab/ManiSkill/tree/v0.5.3).

```{toctree}
:maxdepth: 1
Expand All @@ -37,4 +37,4 @@ tasks/index
robots/index
contributing/index
roadmap/index
```
```