CLARU
bhe10042026apache-2.0

FIRe-VLA-GR00T-PegInsert-Sim

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

Downloads87
Episodes128
Hours0.2086

Technical Profile

Modalities
rgb
Robot Embodiments
Franka Emika Panda
Action Space
7-DoF: dx, dy, dz, drx, dry, drz, gripper_close
Environment
simulation
Task Types
peg_insertmanipulationassembly
Episodes
128
Total Hours
0.2086
Data Format
LeRobot
License
apache-2.0
Part of the FIRe-VLA-GR00T-PegInsert-Sim family

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