RoboDisco

About

Embodied World Model Learning

RoboDisco (Robot Model Discovery Benchmark) is a benchmark suite for embodied world-model learning and causal discovery. It targets agents that must autonomously discover how their environment works — learning predictive models, identifying causal relationships between actions and outcomes, and forming abstractions that support planning and generalization.

The benchmark is developed as part of the MARA (Modeling, Abstraction, Reasoning, and Action) project, which aims to build agents capable of scientific reasoning about novel environments.

The suite comprises a diverse set of 3D robotic manipulation environments built on PyBullet, each presenting distinct challenges for world model learning. A Fetch robot must interact with various objects — from stacking blocks and pouring liquids to completing circuits and redirecting lasers — requiring agents to discover diverse physical and causal phenomena such as contact mechanics, fluid dynamics, electrical connectivity, and chain reactions.

Environments

Task Suite

Ants

Sort food by separating those that attract ants from those that do not

Balance

Activate the balance machine by pressing the button when the blocks on both sides are equal

Barrier

Barriers that can rise and fall

Blocks

Stack blocks into specified configurations

Boil

Boil jugs of water

Circuit

Light up the bulb by completing the electrical circuit

Coffee

Fill the cups with coffee by plugging in the power cord, filling the jug with coffee and pouring

Cover

Pick and place blocks onto target regions

Domino

Hit the red targets by pushing green blocks and strategically placing blue blocks and yellow pivots

Fan

Guide the ball to the target by controlling the fans

Float

Retrieve the floating block by raising the water level using heavy blocks

Grow

Grow plants in pots by pouring fertilizer from jugs of the same color

Laser

Hit the red targets with the laser by placing mirrors that can either reflect or reflect + pass the beam

Magic Bin

A magic bin that can make objects inside disappear

Switch

The effect of a switch changes depend on some hidden state