# D3 Skill Discovery — README Reference > A field manual for a robot dog: a whiteboard diagram beside four lab photos, an emoji signpost row, and every heavy chapter folded away in drawers. **Theme:** light Read from `README.md` on the default branch `main` of github.com/leggedrobotics/d3-skill-discovery (last commit touching the file e8c1137, 2026-01-09; captured 2026-10-28). Evidence is the raw Markdown, the HTML that GitHub's API returns for it, a 1440×900 first-screen capture and a 2700px tall capture of the light theme, with the README column 920px wide (856px content width). The figure size and its box colors come from `docs/overview_fig.png` fetched from the repo. GitHub sets the type (its system stack, Segoe UI in the Windows captures), the 16px body size and the heading rules; nothing in the README overrides them. ## Overview This README is left-aligned where most paper repos are centred. A plain `#` title "D3: Divide, Discover, Deploy" with GitHub's grey rule and a `###` subtitle sit at the left edge; the only centred elements are the full-width method figure (a diagram of factorized skill discovery on the left and a 2×2 grid of ANYmal robot photos tagged z1 to z4 on the right, 856×304 rendered) and a row of five bold emoji links joined by " • ". There are no badges, no author list and no venue line in the header; the venue (CoRL 2025) first appears in bold in the Overview paragraph. The body is twelve `##` sections, every heading led by an emoji, separated by `---` rules, with a two-level emoji table of contents near the top. Long material (prerequisites, the whole Docker section, the directory tree, CLI arguments, sweeps, monitoring backends, tips, troubleshooting, third-party licenses) is folded into fifteen `
` blocks, so the tall capture shows a column of headings and summary triangles rather than walls of code. ## Header Block Rendered positions are y values in the 1440×900 capture (the README box starts at y≈25 with its "README.md" file bar; content starts at y≈80). 1. **Title** (y≈116): `# D3: Divide, Discover, Deploy`. GitHub h1, 2em (32px), weight 600, left-aligned, with the 1px grey rule under it across the 856px content width. 2. **Subtitle** (y≈182): `### Factorized Skill Learning with Symmetry and Style Priors`. GitHub h3, 1.25em (20px), weight 600, left-aligned, no rule. It appears in GitHub's outline menu as a heading. 3. **Method figure** (y≈216 to 520): `

Main figure of D3 paper

`. 2487×883 PNG on white, 856×304 at the 920px column; no link and no caption. 4. **Navigation row** (y≈548): `

` with five `EMOJI Label` links separated by ` •` at line ends: 🌐 Project Page (external), 📖 Overview, 📦 Installation, 💻 Usage, 📝 Citation (in-page anchors such as `#-overview`, where the emoji drops out of the slug and leaves a leading hyphen). Body size, bold, GitHub link blue. 5. **Rule** (y≈586): `---`, GitHub's 4px grey `

`. `## 📖 Overview` follows at y≈629, then the paragraph naming **CoRL 2025** and a `### ✨ Key Features` list, which run past the 900px fold. ## Badges There are no shields.io badges, no logos and no image links in the header. The only button-like row is the navigation paragraph. | Label | Message | Color (hex) | Style | Links to | |---|---|---|---|---| | (link row) | 🌐 **Project Page** • 📖 **Overview** • 📦 **Installation** • 💻 **Usage** • 📝 **Citation** | GitHub link blue | bold links with emoji, joined by " • " | leggedrobotics.github.io/d3-skill-discovery/, `#-overview`, `#-installation`, `#-usage`, `#-citation` | Colors visible on the page come from the method figure, not from badges. Pixel-sampled from `docs/overview_fig.png`: the state and skill boxes are keyed red fill #ffc6c6 (outline #ff8686), green fill #ccffaa (outline #7ac24a) and cyan fill #c6f4ff, on a white #ffffff ground with black #000000 serif math labels. The robot itself is red in the photos; the fourth photo tag (z4) is lavender. Both are photo colors and were not sampled to a single value. ## Section Outline | Level | Text | What it holds | |---|---|---| | h1 | D3: Divide, Discover, Deploy | title | | h3 | Factorized Skill Learning with Symmetry and Style Priors | subtitle; figure, navigation row and `---` follow | | h2 | 📖 Overview | one paragraph with **D3: Divide, Discover, Deploy** and **CoRL 2025** in bold; `### ✨ Key Features` with four bullets, each "emoji **Bold name**: description" | | h2 | 📋 Table of Contents | a nested bullet list of anchor links, two levels, every entry led by its heading's emoji | | h2 | 📦 Installation | `
` Prerequisites table; `### 1️⃣` to `### 4️⃣` keycap-numbered steps with `bash` blocks; a `
` "What does `install.sh` do?" with a ✅ list | | h2 | 🐳 Docker Installation (Alternative) | the entire section inside one `
` ("Using Docker for Easy Setup"), with its own `###` headings, a table, a tip callout and `bash` blocks | | h2 | 🏗️ Repository Structure | a `
` "Click to expand directory tree" around an untagged tree with `#` comments | | h2 | 🌍 Environments | one sentence; `### 🔬 Unsupervised Skill Discovery (USD)` with a four-column table and a `
` FAQ; `### 🎮 Downstream Tasks` with a three-column table | | h2 | 💻 Usage | five `###` subsections (training, high-level training, evaluation, interactive control, sweeps), each a sentence, a `bash` block and optional `
` or callout | | h3 | 📈 Monitoring Training | placed after its own `---` rule; two `
` blocks (WandB, TensorBoard) | | h2 | 🧠 Algorithm Details | `### 📚 Supported USD Algorithms` (table and two bold-led lists) and `### 🔀 Factorized USD` (a research-note callout and a `
` with `python` blocks) | | h2 | 📊 Performance & Training Tips | two `
` blocks holding hardware and timing tables and tuning tips | | h2 | 🐛 Troubleshooting | one `
` of **Problem** / **Solution** pairs separated by `---` | | h2 | 📝 Citation | one sentence and a `bibtex` `@inproceedings` block | | h2 | ⚖️ License | one sentence with **BSD-3-Clause License** in bold; a `
` third-party license table | The source has 16 `---` lines: 14 between sections and two inside the Troubleshooting `
`. Absent from the source: badges, author names and affiliations, a venue line in the header, news, results table, model zoo or checkpoint links, demo GIF or video, acknowledgements section. Present but unusual: the subtitle is an `###` with no rule under it; "📈 Monitoring Training" is an `###` that sits after a `---` as if it were a section, while the table of contents lists it under Usage; the License sentence's link text is "LICENSE" but its target is `LICENCE`; every heading at every level starts with an emoji, including keycap digits for steps. ## Components **Navigation row.** `

` holding `🌐 Project Page •` per line. The bullet " • " is the separator; the first link leaves the repo and the rest jump to in-page anchors. **Emoji headings.** Every `##` and `###` heading opens with one emoji (📖, 📦, 🐳, 🏗️, 🌍, 💻, 🧠, 📊, 🐛, 📝, ⚖️; ✨, 🔬, 🎮, 🎓, 🎨, 📈, 📚, 🔀). Ordered steps use keycap digits (`### 1️⃣ Install Isaac Lab`, `#### 1️⃣ Configure Sweep`). **Table of contents.** `## 📋 Table of Contents` with `- [📖 Overview](#-overview)` items and two-space-indented children. Anchors keep GitHub's emoji-stripped slugs (`#-overview`, `#️-repository-structure`). **Collapsible blocks.** Fifteen `

`, collapsed by default. The summary is usually `EMOJI Title` followed by a blank line, `
` and a blank line, so the opened content starts one line lower. Some summaries are plain text ("Click to expand directory tree") or contain a linked inline-code filename. **Requirement tables.** Two columns with `|------------|-----------------|` delimiters and no alignment colons; the left column is bold (`| **Python** | 3.10+ |`). **Task tables.** Four columns (Environment, Description, Task ID, Config File) with the first cell bold and emoji-led (`**🦿 Low-Level USD**`), the task ID in inline code and the config file as an inline-code link. **Callouts.** Blockquotes with a bold emoji lead: `> **💡 Tip**: ...`, `> **⚠️ Important**: ...`, `> **🔬 Research Note**: ...`. Six in all. GitHub renders them with a grey left bar and grey text; they are not GitHub's `[!TIP]` alert syntax. **Code blocks.** `bash` for commands, with `\` line continuations and one flag per line; `python` for the algorithm template and configs; `yaml` for sweep files; the directory tree in an untagged fence. **Troubleshooting pairs.** A `**Problem**:` line with the error message in inline code, then a `**Solution**:` line with a `bash` block or bullets, each pair separated by `---` inside the `
`. **Citation and license.** "If you use this code in your research, please cite our paper:" then `@inproceedings{cathomen2025d3, ...}`; license is one bold-named sentence plus a collapsed three-column third-party table. ## Imagery | Image | Type | Source size | Markdown | Rendered at 920px | Placement | |---|---|---|---|---|---| | docs/overview_fig.png | PNG, RGB, white background | 2487×883 | `Main figure of D3 paper` in `

` | 856×304 | header, between the subtitle and the navigation row; no caption | The figure joins a schematic and photos in one strip. On the left, colored pairs of state and skill boxes (s1/z1 red, s2/z2 green, sN/zN cyan) feed a "Skill Discovery Rewards" box holding METRA and DIAYN clouds and matching r1, r2, rN boxes, which feed an "On-Policy RL Training with Symmetry" box; a small render of the robot and an r_style box close the loop with serif math labels. On the right, four photos of the red ANYmal robot each carry a tag z1 to z4 in the same box style, with white arrows marking the motion. It is the only image in the README; there is no `` pair, GIF or video, and the figure's white background makes it a light-theme image. ## Adapting to Other Content - **A library.** Keep the left-aligned `#` name and `###` one-line description, replace the method figure with a short code example, keep the bold emoji navigation row (Docs, Installation, Usage, Citation) and the `

` prerequisites table. - **A dataset.** Keep the header and replace Environments with a Dataset section using the same task-table shape (Split, Description, Size, Download link). - **A benchmark with scores.** Add a "📊 Results" section after Environments with numeric columns right-aligned (`| ---: |`) and the best value in bold, outside any `
` so it is visible; D3 has no such table, so this is an extension. - **A repo without a figure.** Let the navigation row follow the subtitle directly, then the `---` rule. - **A quieter version.** Drop emoji from `###` headings and keep them only on `##` headings and the navigation row; the folding pattern carries the page on its own. ## Do's and Don'ts | Do | Don't | |---|---| | Fold optional or alternative paths (Docker, sweeps, troubleshooting) into `
` with a bold summary | Fold the main install steps or the first training command | | Keep the figure at `width="100%"` directly under the subtitle | Put a separate badge row between the title and the figure | | Use one emoji per heading and keep the same emoji in the TOC and navigation row | Add a second emoji or decorative emoji inside body sentences | | Write step headings with keycap digits in order (1️⃣ to 4️⃣) | Mix keycap and plain numbers in one sequence | | Lead each callout with a bold emoji label (💡 Tip, ⚠️ Important) | Use callouts for content that belongs in the main text | | Check that link text matches its target file | Label a link "LICENSE" when it points to `LICENCE` | ## Agent Prompt Guide 1. "Write a left-aligned GitHub README header: `# Name: Expanded Name`, then `### One-line paper subtitle`, then a centred `width="100%"` method figure on white, then a centred row of five bold emoji links separated by ' • ' (🌐 Project Page, 📖 Overview, 📦 Installation, 💻 Usage, 📝 Citation) pointing to the project page and in-page anchors, then `---`. No badges and no author block; name the venue in bold in the first paragraph of `## 📖 Overview`." 2. "Write twelve `##` sections, each heading led by one emoji and each separated by `---`: 📖 Overview (with `### ✨ Key Features`), 📋 Table of Contents (nested anchor list), 📦 Installation (`### 1️⃣` to `### 4️⃣` steps with `bash` blocks), 🐳 Docker Installation (Alternative), 🏗️ Repository Structure, 🌍 Environments, 💻 Usage, 🧠 Algorithm Details, 📊 Performance & Training Tips, 🐛 Troubleshooting, 📝 Citation, ⚖️ License." 3. "Put prerequisites, the whole Docker section, the directory tree, CLI argument tables, troubleshooting and third-party licenses inside `
EMOJI Title` blocks with `
` after the summary. Write tips as `> **💡 Tip**: ...` blockquotes and tables with a bold first column." ## Similar Pages - **readme-snuhcc-dice-bench**: also uses emoji in headings and a left `#` title, but carries a badge row that D3 leaves out. - **readme-chuan-10-agile**: the same `#` name plus `###` subtitle pair, centred inside a `
` and followed by `for-the-badge` badges; D3 keeps the pair left-aligned with no badges. - **readme-seohongpark-ogbench**: another RL repo that uses `
`, with a centred logo and badge header in contrast to D3's figure-first header. ## Quick Start ````markdown # Name: Expanded Name ### One-Line Paper Subtitle

Main figure

🌐 Project Page • 📖 Overview • 📦 Installation • 💻 Usage • 📝 Citation

--- ## 📖 Overview This repository contains the official implementation of **Name**, presented at **Venue Year**. One sentence on what it does. ### ✨ Key Features - 🔀 **Feature**: description --- ## 📋 Table of Contents - [📖 Overview](#-overview) - [📦 Installation](#-installation) - [💻 Usage](#-usage) - [🎓 Training](#-training) - [📝 Citation](#-citation) --- ## 📦 Installation
📋 Prerequisites
| Requirement | Version/Details | |------------|-----------------| | **Python** | 3.10+ |
### 1️⃣ First Step ```bash command one ``` ### 2️⃣ Second Step ```bash command two ``` --- ## 💻 Usage ### 🎓 Training ```bash python scripts/train.py \ --task Task-ID \ --headless ``` > **💡 Tip**: one practical tip. --- ## 🐛 Troubleshooting
Common Issues and Solutions
**Problem**: `error message` **Solution**: what to do.
--- ## 📝 Citation If you use this code in your research, please cite our paper: ```bibtex @inproceedings{key2025, title = {...}, year = {2025}, } ``` --- ## ⚖️ License This project is licensed under the **License Name**. See [LICENSE](LICENSE) for details. ```` ## Provenance - Repo: https://github.com/leggedrobotics/d3-skill-discovery (`README.md`, branch `main`, last README commit e8c1137 on 2026-01-09). - Paper: "Divide, Discover, Deploy: Factorized Skill Learning with Symmetry and Style Priors", CoRL 2025; first author Rafael Cathomen. Project page https://leggedrobotics.github.io/d3-skill-discovery/. - Selection: a distinct left-aligned style that combines a method diagram with robot photos and an icon-led table of contents, and puts prerequisites, Docker setup and the directory tree in collapsible blocks so the page stays scannable, though the emoji are heavy. - Evidence: raw Markdown and GitHub-rendered HTML (saved 2026-10-28, including the generated heading anchors), 1440×900 and 2700px captures at a 920px README column, and `docs/overview_fig.png` fetched from the repo for its size and box colors. - Written 2026-10-28.