DAVIAN-Robotics2026apache-2.0
FR3 Peg-Insert Square Circuit (METRA a1p0)
RL rollouts collected in simulation from a reverse-curriculum RL policy (RFCL x FlashSAC) on the FR3 peg-insert square circuit task in Isaac Lab, trained with METRA skill-diversity intrinsic reward. Dataset contains 3000 successful episodes at 20 Hz from a Franka FR3 robot with joint-space relative action commands.
Downloads54
Episodes3000
Hours5.3455
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Franka FR3
- Action Space
- 8-DoF
- Environment
- simulation
- Task Types
- manipulationpeg_insertion
- Episodes
- 3000
- Total Hours
- 5.3455
- Data Format
- LeRobot
- License
- apache-2.0
Access
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