CLARU
bhe10042026apache-2.0

FIRe-VLA-GR00T-PegInsert-Real

Demonstration dataset for the Peg insertion contact-rich robotic assembly task in the real domain, formatted for GR00T training. Part of the FIRe dataset suite.

Downloads81
Episodes30
Hours0.0711

Technical Profile

Modalities
rgb
Robot Embodiments
Franka Emika Panda
Action Space
7-DoF: dx, dy, dz, drx, dry, drz, gripper_close
Environment
lab
Task Types
peg_insertmanipulationassembly
Episodes
30
Total Hours
0.0711
Data Format
LeRobot
License
apache-2.0
Part of the FIRe-VLA-GR00T-PegInsert-Real family

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