  We discover magnetic phases hosting highly-elusive and technologically
important antiferromagnetic skyrmion quasiparicles in a model for
Rashba-coupled Hund's insulator. The results are based on unbiased simulations
of a classical superexchange model derived, in this work, from a realistic
microscopic electronic Hamiltonian. We also discover a novel skyrmion density
wave groundstate characterized by a ($Q,Q$) modulation in the local skyrmion
density map. A unique inhomogeneous state characterized by a circular pattern
in spin structure factor and filamentary real-space textures is identified as
the parent of sparse antiferromagnetic skyrmions. We predict that the magnetic
states reported here can be realized in thin films of multiorbital systems
involving $4d$ or $5d$ transition metals.
