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.