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README.md

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+# DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation
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+Official implementation of the RSS 2026 paper:
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+**DISC: Decoupling Instruction from State-Conditioned Control via Policy Generation**
+
+> Hanxiang Ren, Pei Zhou, Xunzhe Zhou, and Yanchao Yang  
+> Robotics: Science and Systems (RSS), 2026
+
+## Overview
+
+DISC is a policy-generation framework that decouples high-level language instructions from state-conditioned low-level control. This repository provides training, evaluation, and test-time training code for reproducing the results reported in the paper.
+
+## Content
+
+The repo currently contains two checkpoints to reproduce the results reported in the paper. 
+
+- `DISC-libero90.ckpt` contains the model trained on LIBERO-90 dataset (Table 1)
+
+- `DISC-libero_cotrain_spatial_object_goal.ckpt` contains the model cotrained on LIBERO-sptial, LIBERO-object, LIBERO-goal. (Table 2)
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+More checkpoints will be uploaded later.