DAVIAN-Robotics2026apache-2.0
FR3 Peg-Insert Square Circle (METRA a0p1) RL Rollouts
3000 successful simulation episodes of RL rollouts from a reverse-curriculum policy (RFCL x FlashSAC) trained with METRA skill-diversity intrinsic reward on the FR3 peg-insert task in Isaac Lab. This dataset is part of an alpha sweep studying how skill diversity in RL teachers affects downstream behavior-cloning performance.
Downloads62
Episodes3000
Hours3.2186
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Franka FR3
- Action Space
- 8-DoF
- Environment
- simulation
- Task Types
- manipulationpeg_insertion
- Episodes
- 3000
- Total Hours
- 3.2186
- Data Format
- LeRobot
- License
- apache-2.0
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