---
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](https://davian-robotics.github.io/DiscoDemo/). Only successful, safety-filtered episodes are kept.

| Stage | Repository |
|---|---|
| Generator (RL policy) | [`DAVIAN-Robotics/DiscoDemo-Stage1_RL-StackCube`](https://huggingface.co/DAVIAN-Robotics/DiscoDemo-Stage1_RL-StackCube) |
| Generated dataset | [`DAVIAN-Robotics/DiscoDemo-Stage2_GenData-StackCube`](https://huggingface.co/datasets/DAVIAN-Robotics/DiscoDemo-Stage2_GenData-StackCube) (this repository) |
| Imitation policy (π0.5) | [`DAVIAN-Robotics/DiscoDemo-Stage3_SFT-StackCube`](https://huggingface.co/DAVIAN-Robotics/DiscoDemo-Stage3_SFT-StackCube) |

## Contents

| | |
|---|---|
| Format | [LeRobot](https://github.com/huggingface/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

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

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

## Citation

```bibtex
@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}
}
```