Hugging Face model: EXOKERN/skill-forge-peginsert-v0
Author: EXOKERN
Created: 2026-03-01 20:52:08
Last modified: 2026-06-05 14:53:12
Pipeline: robotics
Library: pytorch
Likes: 1 | Downloads: 2
Tags: pytorch, robotics, diffusion-policy, force-torque, contact-rich, manipulation, insertion, isaac-lab, forge, franka, panda, simulation, imitation-learning, lerobot, dataset:EXOKERN/contactbench-forge-peginsert-v0, arxiv:2408.04587, arxiv:2303.04137, arxiv:2205.03532, license:cc-by-nc-4.0, model-index, region:us
Card metadata:
pretty_name: EXOKERN Skill v0 - Peg Insertion with Force/Torque
license: cc-by-nc-4.0
pipeline_tag: robotics
library_name: pytorch
tags: robotics, diffusion-policy, force-torque, contact-rich, manipulation, insertion, isaac-lab, forge, franka, panda, simulation, imitation-learning, lerobot
datasets: EXOKERN/contactbench-forge-peginsert-v0
metrics: success_rate, avg_contact_force_n, peak_contact_force_n