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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+tags:
+- robotics
+- LeRobot
+- discodemo
+- franka
+- simulation
+---
+
+# DiscoDemo-Stage2_GenData-PnP_Banana
+
+Demonstrations for the **PnP-Banana** task (pick up a banana and place it in a bowl), generated in simulation by
+the DiscoDemo generator (diversity weight α = 0.3) of [DiscoDemo](https://davian-robotics.github.io/DiscoDemo/). Only successful, safety-filtered episodes are kept.
+
+| Stage | Repository |
+|---|---|
+| Generator (RL policy) | [`DAVIAN-Robotics/DiscoDemo-Stage1_RL-PnP_Banana`](https://huggingface.co/DAVIAN-Robotics/DiscoDemo-Stage1_RL-PnP_Banana) |
+| Generated dataset | [`DAVIAN-Robotics/DiscoDemo-Stage2_GenData-PnP_Banana`](https://huggingface.co/datasets/DAVIAN-Robotics/DiscoDemo-Stage2_GenData-PnP_Banana) (this repository) |
+| Imitation policy (π0.5) | [`DAVIAN-Robotics/DiscoDemo-Stage3_SFT-PnP_Banana`](https://huggingface.co/DAVIAN-Robotics/DiscoDemo-Stage3_SFT-PnP_Banana) |
+
+## Contents
+
+| | |
+|---|---|
+| Format | [LeRobot](https://github.com/huggingface/lerobot) v3.0 |
+| Episodes | 3,000 |
+| Frames | 512,817 |
+| Rate | 20 Hz |
+| Cameras | `over_shoulder_left_camera`, `wrist_cam` (480 × 640 RGB) |
+| Language instruction | "Pick up the banana and place it in the bowl" |
+
+- `action` (8): absolute joint-position targets for the 7 arm joints and a binary gripper command (0 open, 1 close).
+- `observation.state` (8): the 7 arm joint positions and the gripper state.
+- `observation.velocity` (8): the corresponding velocities.
+- `observation.skill_z` (3): the skill vector the generator was conditioned on for the episode.
+
+## Usage
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("DAVIAN-Robotics/DiscoDemo-Stage2_GenData-PnP_Banana", revision="v3.0")
+```
+
+## Citation
+
+```bibtex
+@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}
+}
+```

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