DAVIAN-Robotics/DiscoDemo-RawStates-StackCube

DiscoDemo raw states: StackCube

Camera-free simulator state trajectories of the generated demonstrations for the StackCube task ("stack the red cube on the blue cube") on a real-to-sim Franka FR3 workcell in Isaac Sim, from DiscoDemo. Each file holds the 3,000 successful, safety-filtered trajectories of one demonstration generator. Use them to analyze or re-render the demonstrations without running the generators (object and end-effector trajectories, diversity and coverage analyses).

File	Generator	Trajectories	Steps (median / max)
discodemo.h5	DiscoDemo generator (diversity weight alpha = 0.3)	3,000	163 / 598
prfcl.h5	P-RFCL baseline (alpha = 0)	3,000	155 / 259

Format

One HDF5 file per generator, trajectories traj_0 ... traj_2999, recorded at 20 Hz:

traj_<i>/
  actions                    (T, 8)    absolute FR3 joint position targets for joints 1-7 in the DROID
                                       frame (joint 7 offset by -pi/4) and the binary gripper command (1 = close)
  success                    (T+1,)    task success predicate at each state
  states/
    robot/joint_pos          (T+1, 9)  7 arm joints + 2 finger joints
    robot/joint_vel          (T+1, 9)
    objects/
      cube_blue/root_pose  (T+1, 7)   position (env frame) + quaternion (w, x, y, z)
      cube_blue/root_vel   (T+1, 6)   linear + angular velocity (world frame)
      cube_red/root_pose  (T+1, 7)   position (env frame) + quaternion (w, x, y, z)
      cube_red/root_vel   (T+1, 6)   linear + angular velocity (world frame)
  skill_z                    (3,)      skill latent sampled for the episode (discodemo.h5 only)

The root attributes give the language instruction, the task definition file in the code repository and the recording rate. End-effector poses can be recovered from joint_pos with forward kinematics of the FR3 model in the code repository.

Related resources

• Code (environments, generators, data pipeline, analysis): https://github.com/DAVIAN-Robotics/DiscoDemo
• Models and datasets: https://huggingface.co/collections/DAVIAN-Robotics/discodemo-6ac696e70d028fddf0c3dfeb

Citation

@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}
}