EXOKERN/contactbench-forge-peginsert-v0

EXOKERN ContactBench v0 - Peg Insertion with Force/Torque

contactbench-forge-peginsert-v0 is the fixed-condition baseline dataset in the EXOKERN ContactBench series. It is designed for clean ablations of force/torque sensing before adding domain randomization.

Quick Facts

Item	Value
Episodes	2,221
Frames	330,929
Control frequency	20 Hz
Format	LeRobot v3.0-compatible parquet
Robot	Franka Emika Panda
Simulator	NVIDIA Isaac Lab
Task	Isaac-Forge-PegInsert-Direct-v0
Access	Gated download on the Hugging Face Hub

Why This Release Exists

Most open manipulation datasets focus on geometry and vision while leaving contact dynamics implicit. v0 exists as a controlled reference dataset where the wrench signal is explicit and the environment is mostly fixed, making it easier to isolate the effect of force/torque input during policy training.

This dataset is the paired data source for EXOKERN/skill-forge-peginsert-v0.

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

State Tensor Semantics

The observation.state vector is a 24D flat tensor exported by the FORGE collection pipeline. The current mapping is:

Index Range	Field	Dim	Unit
0:3	fingertip_pos	3	m
3:6	fingertip_pos_rel_fixed	3	m
6:10	fingertip_quat	4	unitless
10:13	ee_linvel	3	m/s
13:16	ee_angvel	3	rad/s
16:22	force_sensor_smooth	6	N / N*m
22	force_threshold	1	N
23	ema_factor	1	unitless

observation.wrench duplicates observation.state[16:22] as a dedicated column for direct access.

Wrench Convention

Property	Value
Frame	End-effector body frame
Order	[Fx, Fy, Fz, Mx, My, Mz]
Force unit	Newtons
Torque unit	Newton-meters

Why v0 Is Useful

• It is the cleanest EXOKERN release for force/torque ablations.
• The collection regime is simple enough that contact-quality differences are easy to interpret.
• It pairs directly with a public baseline model repo.

Reference benchmark from EXOKERN/skill-forge-peginsert-v0:

Condition	Success Rate	Avg Contact Force (N)
no_ft	100.0	5.2
full_ft	100.0	3.2

Figure: representative wrench trace plus episode-wise mean and peak force coverage computed from the published parquet rollout data.

Loading

from lerobot.datasets.lerobot_dataset import LeRobotDataset

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

frame = ds[0]
state = frame["observation.state"]
wrench = frame["observation.wrench"]
action = frame["action"]

print(state.shape, wrench.shape, action.shape)

from datasets import load_dataset

ds = load_dataset("EXOKERN/contactbench-forge-peginsert-v0", 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
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Citation

@dataset{exokern_contactbench_peginsert_v0_2026,
  title   = {EXOKERN ContactBench v0: Peg Insertion with Force/Torque},
  author  = {{EXOKERN}},
  year    = {2026},
  url     = {https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0},
  license = {CC-BY-NC-4.0}
}

Limitations

• Simulation only. The dataset is not a real-robot capture.
• This is a mostly fixed-condition release, so it is not the right dataset for robustness claims under large physical variation.
• The task scope is a single peg-insertion setup.
• Access is gated on the Hub.

Related Resources

• Baseline model: EXOKERN/skill-forge-peginsert-v0
• Domain-randomized successor: EXOKERN/contactbench-forge-peginsert-v0.1.1
• Organization page: huggingface.co/EXOKERN