CLARU
DAVIAN-Robotics2026apache-2.0

FR3 Peg-Insert Round METRA A0P03

RL rollouts collected in simulation from a reverse-curriculum RL policy (RFCL x FlashSAC) on the FR3 peg-insert round task in Isaac Lab, with METRA skill-diversity intrinsic reward at alpha=0.03. Contains 3000 successful episodes at 20 Hz from a Franka FR3 robot with stock panda hand.

Downloads53
Episodes3000
Hours3.0185

Technical Profile

Modalities
proprioceptionrgb
Robot Embodiments
Franka FR3
Action Space
8-DoF
Environment
simulation
Task Types
manipulationpick_and_place
Episodes
3000
Total Hours
3.0185
Data Format
LeRobot
License
apache-2.0
Part of the FR3 Peg-Insert Round METRA A0P03 family

Access

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