Dataset of robot demonstrations for various benchmarks formatted to contain environment states following the ManiSkill2 trajectory format: https://haosulab.github.io/ManiSkill2/concepts/demonstrations.html#format Benchmarks supported:

ManiSkill2 Adroit (D4RL) Metaworld

For code to load and reset to states, as well as formatting the origianl demonstration datasets in supported benchmarks, see this repo:… See the full description on the dataset page: https://huggingface.co/datasets/Rendra86318/robot_demos_with_state_reset.