Dataset · Hugging Face

bhe1004/FIRe-VLA-GR00T-PegInsert-Sim

Name: FIRe-VLA-GR00T-PegInsert-Sim
Creator: bhe1004
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:n<1K, modality:video, library:datasets, library:mlcroissant, region:us, robotics, gr00t, peg_insert, sim, lerobot

FIRe-VLA-GR00T-PegInsert-Sim Demonstration dataset for the Peg insertion contact-rich robotic assembly task (Sim domain), formatted for GR00T training. Part of the FIRe dataset suite. Framework: GR00T Task: Peg insertion (peg_insert) Domain: Sim Format: LeRobot Episodes: 128 Frames: 11264 FPS: 15.0 Robot: franka_emika_panda Loading from lerobot.common.datasets.lerobot_dataset import LeRobotDataset ds = LeRobotDataset("bhe1004/FIRe-VLA-GR00T-PegInsert-Sim")

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Author / organization	bhe1004
License (as declared)	apache-2.0
Downloads	254 (as reported by Hugging Face)
Likes	0
Created	2 July 2026
Last updated at source	2 July 2026

roboticsgr00tpeg_insertsimlerobot

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