DAVIAN-Robotics2026apache-2.0
FR3 Peg-Insert Round METRA Alpha Sweep
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. This dataset contains 3000 successful episodes at 20 Hz from the forward phase of training, generated by the DAVIAN Robotics dg-rl pipeline.
Downloads48
Episodes3000
Hours4.3137
Technical Profile
- Modalities
- rgbproprioceptionjoint_positionsjoint_velocities
- Robot Embodiments
- Franka FR3
- Action Space
- 8-DoF
- Environment
- simulation
- Task Types
- manipulationpick_and_placepeg_insertion
- Episodes
- 3000
- Total Hours
- 4.3137
- Data Format
- LeRobot
- License
- apache-2.0
Access
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