CLARU
angledusgar2026apache-2.0

Forge v1

Expert demonstrations for three Isaac Lab FORGE contact-rich manipulation tasks (peg insertion, gear meshing, nut threading) collected from trained PPO policies, featuring wrist force/torque signals to resolve sub-pixel contact dynamics.

Downloads130
Episodes2968
Hours16.445

Technical Profile

Modalities
rgbforce_torqueproprioception
Robot Embodiments
Franka Panda
Environment
simulation
Task Types
manipulationpeg_insertiongear_meshingnut_threading
Episodes
2968
Total Hours
16.445
Data Format
LeRobot
License
apache-2.0
Part of the Forge v1 family

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