EXOKERN/contactbench-forge-peginsert-v0.1

EXOKERN ContactBench v0.1 - Peg Insertion with Domain Randomization and Force/Torque

contactbench-forge-peginsert-v0.1 is the first domain-randomized release in the EXOKERN ContactBench series. It is kept as a historical reference release; for stable downstream references, prefer v0.1.1.

Quick Facts

Item	Value
Episodes	5,000
Frames	745,000
Control frequency	20 Hz
Format	LeRobot v3.0-compatible parquet
Robot	Franka FR3
Simulator	NVIDIA Isaac Lab
Access	Gated download on the Hugging Face Hub
Status	Legacy first DR release

Release Role

v0.1 expanded the baseline v0 dataset from mostly fixed conditions to a multi-layer domain-randomized collection regime. It is useful if you need continuity with earlier experiments or citations, but new work should target v0.1.1 as the semantic-versioned reference release.

Release	Episodes	Frames	Role
v0	2,221	330,929	Fixed-condition baseline
v0.1	5,000	745,000	First DR release
v0.1.1	5,000	745,000	Stable reference release

Data Schema

Field	Shape	Description
observation.state	(24,)	Collapsed policy state vector exported by the collection task
observation.wrench	(6,)	End-effector wrench [Fx, Fy, Fz, Mx, My, Mz] in N / N*m
action	(7,)	Normalized controller action recorded during data collection
timestamp	scalar	Per-frame timestamp in seconds
frame_index	scalar	Frame index within an episode
episode_index	scalar	Episode identifier
index	scalar	Global frame index
task_index	scalar	LeRobot task mapping index

The schema matches v0.1.1. The wrench column duplicates the force/torque slice stored inside observation.state.

Domain Randomization Stack

Layer	Parameter	Range	Mode
Geometric init	Peg x/y offset	[-8 mm, +8 mm]	Per reset
Geometric init	Peg z offset	[-3 mm, +5 mm]	Per reset
Geometric init	Peg roll/pitch	[-5 deg, +5 deg]	Per reset
Geometric init	Peg yaw	[-10 deg, +10 deg]	Per reset
Object physics	Peg mass scale	[0.7, 1.3]	Reset / startup
Contact materials	Static friction	[0.2, 1.2]	Per reset
Contact materials	Dynamic friction	[0.15, 0.9]	Per reset
Contact materials	Restitution	[0.0, 0.3]	Per reset
Robot dynamics	Stiffness scale	[0.8, 1.2]	Per reset
Robot dynamics	Damping scale	[0.7, 1.3]	Per reset
Runtime noise	Observation / action noise	Active in run config	Runtime

QC Snapshot

Metric	Value
Episodes with wrench data	5000 / 5000
Contact-like episodes	4298 / 5000
Contact-like threshold	`max(
Peak force quantiles (0/50/90/99/100%)	0.04 / 8.25 / 11.98 / 14.91 / 24.26 N
Mean force quantiles (0/50/90/99/100%)	0.02 / 1.65 / 5.69 / 7.78 / 9.14 N

This QC signal is a consistency check, not a success label.

Loading

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("EXOKERN/contactbench-forge-peginsert-v0.1")
print(ds.num_episodes, len(ds))

frame = ds[0]
print(frame["observation.state"].shape, frame["observation.wrench"].shape)

from datasets import load_dataset

ds = load_dataset("EXOKERN/contactbench-forge-peginsert-v0.1", split="train")
print(ds[0].keys())

Related Work

• FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
• Factory: Fast Contact for Robotic Assembly
• IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Citation

@dataset{exokern_contactbench_peginsert_v01_2026,
  title   = {EXOKERN ContactBench v0.1: Peg Insertion with Domain Randomization and Force/Torque},
  author  = {{EXOKERN}},
  year    = {2026},
  url     = {https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0.1},
  license = {CC-BY-NC-4.0}
}

Intended Use

• Robust imitation learning on contact-rich insertion
• Force-aware versus state-only policy comparisons
• Stress-testing policy behavior under randomized physical conditions

Limitations

• Simulation only. The dataset is not a real-robot capture.
• This repo is a historical release; prefer v0.1.1 for stable downstream references.
• The task scope is a single peg-insertion setup.
• Access is gated on the Hub.

Related Resources

• Stable successor: EXOKERN/contactbench-forge-peginsert-v0.1.1
• Paired model release: EXOKERN/skill-forge-peginsert-v0.1.1
• Organization page: huggingface.co/EXOKERN