DAVIAN-Robotics2026apache-2.0
DiscoDemo raw states — FMB-SqCircle
Camera-free simulator state trajectories of generated demonstrations for the FMB-SqCircle task (inserting two-pronged pegs into matching holes) on a Franka FR3 workcell in Isaac Sim. Each file contains 3,000 successful, safety-filtered trajectories from different demonstration generators.
Downloads25
Episodes6000
Why This Matters for Physical AI
This dataset enables analysis of diverse and efficient robot demonstrations for imitation learning by providing trajectory data without camera dependencies, allowing researchers to study demonstration diversity and coverage for manipulation tasks.
Technical Profile
- Modalities
- proprioceptionjoint_positionsjoint_velocities
- Robot Embodiments
- Franka FR3
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- manipulationinsertion
- Episodes
- 6000
- Data Format
- HDF5
- Annotation Types
- language_instructionsreward_labelsaction_labels
- License
- apache-2.0
Access
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