johnMinelli/ManiSkill_UnitreeG1TransportBox-v1_recovery

UnitreeG1TransportBox-v1 Dataset

This dataset was used in the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation.

The source code for the project can be found on GitHub: iit-DLSLab/croSTAta.

The dataset was converted from ManiSkill format to LeRobot format.

Dataset Information

• Environment: UnitreeG1TransportBox-v1
• Total Episodes: 1013
• Total Frames: 44242
• FPS: 20
• Video Keys: ['observation.images.base_camera', 'observation.images.head_camera']
• Target Control Mode: Original

Original ManiSkill Metadata

{
  "env_id": "UnitreeG1TransportBox-v1",
  "env_kwargs": {
    "obs_mode": "state+rgb",
    "control_mode": "pd_joint_delta_pos",
    "sim_backend": "cpu",
    "num_envs": 1,
    "render_mode": "rgb_array"
  },
  "max_episode_steps": 200
}

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}
}