DiscoDemo-Stage2_GenData-FMB_Round-alpha0

Demonstrations for the FMB-Round task (insert a cylindrical peg into its hole on the FMB board), generated in simulation by the P-RFCL baseline generator (α = 0: the same reverse-curriculum RL without the diversity reward) of DiscoDemo. Only successful, safety-filtered episodes are kept.

Stage	Repository
Generator (RL policy)	DAVIAN-Robotics/DiscoDemo-Stage1_RL-FMB_Round-alpha0
Generated dataset	DAVIAN-Robotics/DiscoDemo-Stage2_GenData-FMB_Round-alpha0 (this repository)
Imitation policy (π0.5)	DAVIAN-Robotics/DiscoDemo-Stage3_SFT-FMB_Round-alpha0

Contents

Format	LeRobot v3.0
Episodes	3,000
Frames	214,179
Rate	20 Hz
Cameras	wrist_cam, over_shoulder_left_camera (480 × 640 RGB)
Language instruction	"Insert the cylindrical peg into its matching hole on the board"

• action (8): absolute joint-position targets for the 7 arm joints and a binary gripper command (0 open, 1 close).
• observation.state (8): the 7 arm joint positions and the gripper state.
• observation.velocity (8): the corresponding velocities.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("DAVIAN-Robotics/DiscoDemo-Stage2_GenData-FMB_Round-alpha0", revision="v3.0")

Citation

@article{park2026discodemo,
  title   = {DiscoDemo: Discovering Efficient and Diverse Robot Demonstrations for Imitation Learning},
  author  = {Park, Minho and Kim, Kinam and Kim, Donghu and Lee, Byungkun and Hwang, Dongyoon and Shin, Yongjae and Hyung, Junha and Lee, Hojoon and Choo, Jaegul},
  journal = {arXiv preprint},
  year    = {2026}
}