DAVIAN Robotics

Model · Reinforcement learning

DiscoDemo-Stage1_RL-FMB_Round-alpha0

DAVIAN Robotics

The data generator of DiscoDemo for the FMB-Round task (insert a cylindrical peg into its hole on the FMB board): a state-based reinforcement-learning policy trained in simulation — the P-RFCL baseline generator (α = 0: the same reverse-curriculum RL without the diversity reward). Rolling it out generates demonstrations such as those in the Stage2 dataset below. Only what is needed to roll the policy out is released; the critic and other training-only state are omitted. Loading requires the DiscoDemo training code: https://github.com/DAVIAN-Robotics/DiscoDemo.

Model · Reinforcement learning

DiscoDemo-Stage1_RL-FMB_SqCircle-alpha0

DAVIAN Robotics

The data generator of DiscoDemo for the FMB-SqCircle task (insert a two-pronged (cylinder and square) peg into its hole on the FMB board): a state-based reinforcement-learning policy trained in simulation — the P-RFCL baseline generator (α = 0: the same reverse-curriculum RL without the diversity reward). Rolling it out generates demonstrations such as those in the Stage2 dataset below. Only what is needed to roll the policy out is released; the critic and other training-only state are omitted. Loading requires the DiscoDemo training code: https://github.com/DAVIAN-Robotics/DiscoDemo.

Model · Reinforcement learning

DiscoDemo-Stage1_RL-FMB_SqCircle

DAVIAN Robotics

The data generator of DiscoDemo for the FMB-SqCircle task (insert a two-pronged (cylinder and square) peg into its hole on the FMB board): a state-based reinforcement-learning policy trained in simulation — the DiscoDemo generator (diversity weight α = 0.3). Rolling it out generates demonstrations such as those in the Stage2 dataset below. Only what is needed to roll the policy out is released; the critic and other training-only state are omitted. The actor is conditioned on a skill vector z sampled once per episode from a standard normal distribution. Loading requires the DiscoDemo training code: https://github.com/DAVIAN-Robotics/DiscoDemo.

Model · Reinforcement learning

DiscoDemo-Stage1_RL-FMB_Round

DAVIAN Robotics

The data generator of DiscoDemo for the FMB-Round task (insert a cylindrical peg into its hole on the FMB board): a state-based reinforcement-learning policy trained in simulation — the DiscoDemo generator (diversity weight α = 0.3). Rolling it out generates demonstrations such as those in the Stage2 dataset below. Only what is needed to roll the policy out is released; the critic and other training-only state are omitted. The actor is conditioned on a skill vector z sampled once per episode from a standard normal distribution. Loading requires the DiscoDemo training code: https://github.com/DAVIAN-Robotics/DiscoDemo.