CLARU
DAVIAN-Robotics2026apache-2.0

FR3 Peg-Insert Round (METRA a0p1)

RL rollouts collected in simulation from a reverse-curriculum RL policy on the FR3 peg-insert round task in Isaac Lab, with skill diversity intrinsic rewards. Contains 3000 successful episodes at 20 Hz from a Franka FR3 manipulator.

Downloads53
Episodes3000
Hours3.2308

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
Franka FR3
Action Space
8-DoF
Environment
simulation
Task Types
manipulationpeg-insertion
Episodes
3000
Total Hours
3.2308
Data Format
LeRobot
License
apache-2.0
Part of the FR3 Peg-Insert Round (METRA a0p1) family

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