CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation
Paper • 2510.00726 • Published
Datasets:
Search is not available for this dataset
episode_index int64 0 1.04k | frame_index int64 0 97 | timestamp float64 0 4.85 | action listlengths 16 16 | next.done bool 2
classes | task_index int64 0 0 | index int64 0 25.8k | observation.state listlengths 76 76 | terminated bool 2
classes | truncated bool 1
class | success bool 2
classes | reward float64 0.01 1 | expert_mask bool 2
classes |
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End of preview. Expand in Data Studio
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}
}
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