README.md

metadata

task_categories:
  - robotics
tags:
  - lerobot
  - maniskill

TwoRobotStackCube-v1 Dataset

This dataset was converted from ManiSkill format to LeRobot format. It is part of the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation.

• Code: GitHub Repository
• Authors: Giovanni Minelli, Giulio Turrisi, Victor Barasuol, Claudio Semini

Dataset Information

• Environment: TwoRobotStackCube-v1
• Total Episodes: 1043
• Total Frames: 25763
• FPS: 20
• Video Keys: ['observation.image']
• Target Control Mode: Original

Original ManiSkill Metadata

{
  "env_id": "TwoRobotStackCube-v1",
  "env_kwargs": {
    "obs_mode": "state+rgb",
    "control_mode": "pd_joint_delta_pos",
    "num_envs": 1,
    "render_mode": "rgb_array"
  },
  "max_episode_steps": 100
}

Citation

@article{minelli2025crostata,
  title={CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation},
  author={Minelli, Giovanni and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
  year={2025}
}