CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation
Paper • 2510.00726 • Published
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StackCube-v1 Dataset
This dataset was converted from ManiSkill format to LeRobot format for the paper CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation.
- Code: https://github.com/iit-DLSLab/croSTAta
- Checkpoints: CroSTAta Evaluation Checkpoints
Dataset Information
- Environment: StackCube-v1
- Total Episodes: 1010
- Total Frames: 34249
- FPS: 20
- Video Keys: ['observation.images.base_camera', 'observation.images.hand_camera']
- Target Control Mode: Original
Original ManiSkill Metadata
{
"env_id": "StackCube-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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