DAVIAN-Robotics2026apache-2.0

FR3 Insertion Round METRA

Name: FR3 Insertion Round METRA
Creator: DAVIAN-Robotics
Published: 2026-01-01
License: https://www.apache.org/licenses/LICENSE-2.0
Keywords: rgb, proprioception, action, manipulation, pick_and_place, peg_insertion, simulation

Simulated Franka FR3 manipulation demonstrations for peg-in-hole insertion task (FMB-Round), generated by METRA skill-discovery policy with diversity weight alpha=0.3 in Isaac Sim.

Downloads44
Episodes3000
Hours5.2024

Technical Profile

Modalities: rgbproprioceptionaction
Robot Embodiments: Franka FR3
Action Space: 8-DoF
Environment: simulation
Task Types: manipulationpick_and_placepeg_insertion
Episodes: 3000
Total Hours: 5.2024
Data Format: LeRobot
License: apache-2.0

Part of the FR3 Insertion Round METRA family

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