CLARU
Guowei-Zou2026MIT

DMPO Demonstration Datasets

Pre-processed demonstration datasets for DMPO (Dispersive MeanFlow Policy Optimization) policy pre-training. Includes trajectory data and normalization statistics from both D4RL gym tasks and Robomimic manipulation tasks.

Downloads106

Why This Matters for Physical AI

This dataset enables pre-training of robotic policies using dispersive mean flow optimization, bridging reinforcement learning and imitation learning for improved sample efficiency in manipulation and locomotion tasks.

Technical Profile

Modalities
proprioceptionrgb
Robot Embodiments
humanoidPandaSawyer
Action Space
joint_positions
Environment
simulationlab
Task Types
locomotionmanipulationpick_and_placeobject_manipulationkitchen_tasks
Data Format
NPZ
Annotation Types
action_labels
License
MIT
Part of the DMPO family

Access

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