Dataset · Hugging Face

lukasskellijs/assembly_bench_rewards_potential

Name: assembly_bench_rewards_potential
Creator: lukasskellijs
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:10K<n<100K, format:parquet, modality:tabular, modality:timeseries, modality:video, library:datasets, library:pandas, library:polars, library:mlcroissant, library:lerobot, region:us, LeRobot, robotics

This dataset was created using LeRobot. assembly_bench_rewards_potential Contact-rich assembly demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK expert in NVIDIA Isaac Lab (Arena). Actions are the native DROID joint-position command (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly. Robot: Franka Panda + Robotiq 2F-85 (DROID platform); expert drives a DifferentialIKController (dls) into stiff PD… See the full description on the dataset page: https://huggingface.co/datasets/lukasskellijs/assembly_bench_rewards_potential.

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Author / organization	lukasskellijs
License (as declared)	apache-2.0
Downloads	125 (as reported by Hugging Face)
Likes	0
Created	22 July 2026
Last updated at source	24 July 2026

LeRobotroboticsisaac-simassemblymanipulation

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