metadata
license: apache-2.0
task_categories:
- robotics
configs:
- config_name: default
data_files: data/*/*.parquet
tags:
- robotics
- LeRobot
- discodemo
- franka
- simulation
DiscoDemo-Stage2_GenData-StackCube
Demonstrations for the StackCube task (stack the red cube on the blue cube), generated in simulation by the DiscoDemo generator (diversity weight α = 0.3) of DiscoDemo. Only successful, safety-filtered episodes are kept.
| Stage | Repository |
|---|---|
| Generator (RL policy) | DAVIAN-Robotics/DiscoDemo-Stage1_RL-StackCube |
| Generated dataset | DAVIAN-Robotics/DiscoDemo-Stage2_GenData-StackCube (this repository) |
| Imitation policy (π0.5) | DAVIAN-Robotics/DiscoDemo-Stage3_SFT-StackCube |
Contents
| Format | LeRobot v3.0 |
| Episodes | 3,000 |
| Frames | 501,071 |
| Rate | 20 Hz |
| Cameras | over_shoulder_left_camera, wrist_cam (480 × 640 RGB) |
| Language instruction | "stack the red cube on the blue cube" |
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.observation.skill_z(3): the skill vector the generator was conditioned on for the episode.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("DAVIAN-Robotics/DiscoDemo-Stage2_GenData-StackCube", 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}
}