Datasetpublic

DAVIAN-Robotics/fr3-ins-sqcirc-v4-metra-a1p0-s0-F1cm-3000-merged

This dataset was created using LeRobot. Dataset Description RL rollouts collected in simulation from a reverse-curriculum RL policy (RFCL x FlashSAC) on the FR3 peg-insert sqcirc (FMB-derived assets) task in Isaac Lab. The policy was trained with a METRA skill-diversity intrinsic reward at alpha=a1p0; this dataset is one cell of an alpha sweep used to study how skill diversity in the RL teacher changes downstream behaviour-cloning performance. 3000 successful episodes, 20 Hz… See the full description on the dataset page: https://huggingface.co/datasets/DAVIAN-Robotics/fr3-ins-sqcirc-v4-metra-a1p0-s0-F1cm-3000-merged.

sourceHugging Faceapache-2.0updated 5d agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

RL rollouts collected in simulation from a reverse-curriculum RL policy (RFCL x FlashSAC) on the FR3 peg-insert sqcirc (FMB-derived assets) task in Isaac Lab. The policy was trained with a METRA skill-diversity intrinsic reward at alpha=a1p0; this dataset is one cell of an alpha sweep used to study how skill diversity in the RL teacher changes downstream behaviour-cloning performance.

—3000 successful episodes, 20 Hz, Franka FR3 with the stock panda hand.
—Actions are joint-space relative commands, rate-capped from human teleoperation quantiles.
—Collected from the forward phase of training (success-hold filtered).
—meta/provenance.json records the exact policy checkpoint this was rolled out from.

Generated by the DAVIAN Robotics dg-rl pipeline.

Visualize

Open in the LeRobot dataset visualizer

—Homepage: [More Information Needed]
—Paper: [More Information Needed]
—License: apache-2.0

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "unknown",
    "total_episodes": 3000,
    "total_frames": 384873,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:3000"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "j0",
                    "j1",
                    "j2",
                    "j3",
                    "j4",
                    "j5",
                    "j6",
                    "gripper"
                ]
            },
            "fps": 20
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "motors": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "joint_7"
                ]
            },
            "fps": 20
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": null,
            "fps": 20
        },
        "observation.skill_z": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": null,
            "fps": 20
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null,
            "fps": 20
        },
        "observation.images.over_shoulder_left_camera": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20.0,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20.0,
                "video.channels": 3,
                "has_audio": false
            }
        }
    }
}

Citation

BibTeX:

bibtex

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