We demonstrate loss-free generation of 3 mJ, 1 kHz, few-cycle (5 fs at 750 nm central wavelength) double pulses with a pulse peak separation from 10 to 100 fs, using a helium-filled hollow core fiber (HCF) and chirped mirror compressor. Crucial to our scheme are simulation-based modifications to the spectral phase and amplitude of the oscillator seed pulse to eliminate the deleterious effects of self-focusing and nonlinear phase pickup in the chirped pulse amplifier. The shortest pulse separations are enabled by tunable nonlinear pulse splitting in the HCF compressor.