johnMinelli/ManiSkill_PegInsertionSide-v1_recovery

PegInsertionSide-v1 Dataset

This dataset was presented in the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation and is part of the official implementation available on GitHub.

This dataset was converted from ManiSkill format to LeRobot format.

Dataset Information

• Environment: PegInsertionSide-v1
• Total Episodes: 1000
• Total Frames: 77641
• FPS: 20
• Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
• Target Control Mode: Original

Original ManiSkill Metadata

{
  "env_id": "PegInsertionSide-v1",
  "env_kwargs": {
    "obs_mode": "state+rgb",
    "control_mode": "pd_joint_delta_pos",
    "num_envs": 1,
    "render_mode": "rgb_array"
  },
  "max_episode_steps": 150
}