---
pretty_name: "EXOKERN ContactBench v0.1 - Peg Insertion with Domain Randomization and Force/Torque"
license: cc-by-nc-4.0
language:
  - en
task_categories:
  - robotics
size_categories:
  - 1K<n<10K
tags:
  - robotics
  - force-torque
  - contact-rich
  - manipulation
  - insertion
  - lerobot
  - domain-randomization
  - sim-to-real
  - isaac-lab
  - franka
  - simulation
  - benchmark
configs:
  - config_name: default
    data_files:
      - split: train
        path: "data/**/*.parquet"
dataset_info:
  features:
    - name: observation.state
      dtype: float32
      shape: [24]
    - name: observation.wrench
      dtype: float32
      shape: [6]
    - name: action
      dtype: float32
      shape: [7]
    - name: timestamp
      dtype: float32
    - name: frame_index
      dtype: int64
    - name: episode_index
      dtype: int64
    - name: index
      dtype: int64
    - name: task_index
      dtype: int64
  splits:
    - name: train
      num_examples: 745000
---

# 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 It is kept as a historical reference release; for stable downstream references, prefer [v0.1.1](https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0.1.1).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](https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0) | 2,221 | 330,929 | Fixed-condition baseline |
| `v0.1` | 5,000 | 745,000 | First DR release |
| [v0.1.1](https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-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(||F_xyz||) > 2.0 N` |
| 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

```python
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)
```

```python
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](https://arxiv.org/abs/2408.04587)
- Factory: [Fast Contact for Robotic Assembly](https://arxiv.org/abs/2205.03532)
- IndustReal: [Transferring Contact-Rich Assembly Tasks from Simulation to Reality](https://arxiv.org/abs/2305.17110)
- Diffusion Policy: [Visuomotor Policy Learning via Action Diffusion](https://arxiv.org/abs/2303.04137)

## Citation

```bibtex
@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](https://huggingface.co/datasets/EXOKERN/contactbench-forge-peginsert-v0.1.1)
- Paired model release: [EXOKERN/skill-forge-peginsert-v0.1.1](https://huggingface.co/EXOKERN/skill-forge-peginsert-v0.1.1)
- Organization page: [huggingface.co/EXOKERN](https://huggingface.co/EXOKERN)