DAVIAN-Robotics2026apache-2.0
DiscoDemo raw states — PnP-Banana
Camera-free simulator state trajectories of generated demonstrations for the Pick-and-Place Banana task on a Franka FR3 workcell in Isaac Sim, containing 3,000 successful safety-filtered trajectories per demonstration generator.
Downloads26
Episodes6000
Why This Matters for Physical AI
This dataset provides diverse, procedurally generated demonstrations for imitation learning, enabling research into efficient data generation strategies and diversity-aware robot learning without requiring real-world data collection.
Technical Profile
- Modalities
- proprioceptionjoint_positionsjoint_velocities
- Robot Embodiments
- Franka FR3
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- pick_and_placemanipulation
- Episodes
- 6000
- Data Format
- HDF5
- Annotation Types
- language_instructionsreward_labels
- License
- apache-2.0
Access
Need custom proprioception data?
Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.
Request a Sample Pack