DAVIAN-Robotics2026apache-2.0
DiscoDemo raw states — FMB-Round
Camera-free simulator state trajectories of generated demonstrations for the FMB-Round task (peg-in-hole insertion) on a Franka FR3 workcell in Isaac Sim, containing 3,000 successful safety-filtered trajectories per demonstration generator.
Downloads25
Episodes6000
Why This Matters for Physical AI
This dataset provides diverse and efficient robot demonstrations for imitation learning with analysis of demonstration quality, diversity, and coverage metrics to advance data-efficient robot learning.
Technical Profile
- Modalities
- proprioceptionjoint_positionsjoint_velocities
- Robot Embodiments
- Franka FR3
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- manipulationpick_and_placeinsertion
- Episodes
- 6000
- Data Format
- HDF5
- Annotation Types
- language_instructionsreward_labels
- License
- apache-2.0
Access
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