angledusgar/forge-v1

Forge v1 — contact-rich manipulation with force/torque, 3 tasks Expert demonstrations for the three Isaac Lab FORGE tasks, collected from trained rl_games PPO policies. Successful episodes only; the failures from the same collection are published separately as angledusgar/forge-failure-v1. Beyond the usual LIBERO-shaped fields this dataset carries the wrist force/torque signal, which is what makes contact-rich insertion legible: the peg/hole clearance is 0.114 mm, far below what… See the full description on the dataset page: https://huggingface.co/datasets/angledusgar/forge-v1.