---
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](https://huggingface.co/papers/2510.00726).

- **Code:** [GitHub Repository](https://github.com/iit-DLSLab/croSTAta)
- **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
```json
{
  "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

```bibtex
@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}
}
```