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 It is kept as a historical reference release; for stable downstream references, prefer v0.1.1.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… See the full description on the dataset page: https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0.1.