omnireset
omnireset-easyahomegr00t_data_omnireset
GR00T 数据集:OmniReset 插孔(peg-insertion)· 可直接微调
用 OmniReset
的状态版 RL 专家(oracle) 在 Isaac Sim 里跑出的 UR5e + Robotiq-2F85 插孔演示,
已打包成 GR00T 版 LeRobot v2.1 格式,可直接喂给 NVIDIA GR00T N1.7 微调。
1000 条成功演示 · 复位状态按 40 / 30 / 20 / 10 配方 · 3 路相机(224×224)· 10 fps ·
~98% 真实"搬运+插入" · 固定光照 · 物体颜色固定(适合 color-conditioned VLA)。
目录结构
.
├── README.md # 本文件
├── state_distribution.png # 状态分布 + peg 起始距离图
├── omnireset_peg_insertion/ # ★ 数据集(LeRobot v2.1)
│ ├──… See the full description on the dataset page: https://huggingface.co/datasets/yqi19/gr00t_data_omnireset.omnireset-easybhome-demos
OmniReset easyBhome expert demonstrations
Success-only expert demonstrations for three OmniReset
insertion tasks under the easyBhome reset variant, plus the recorded
reset-state datasets that define the variant. Collected 2026-08-18 with the
officially released stage-2 (finetuned) state experts (seed 42,
deterministic mean actions), recorded with Isaac Lab's
DatasetExportMode.EXPORT_SUCCEEDED_ONLY — every episode ends in task
success.
Tasks
task
insertive… See the full description on the dataset page: https://huggingface.co/datasets/knightnemo/omnireset-easybhome-demos.omnireset-ur5e-delto-reset-states
OmniReset UR5e + Tesollo DELTO — Reset-State Banks
Reset-state banks for the threaded table-leg insertion task (OmniReset "Leg Twisting"),
on a UR5e arm + Tesollo DELTO DG-5F 20-DOF hand. Policy action space is 26-D (6 arm + 20 hand).
These are the MultiResetManager banks consumed by Stage-1 state-based RL. They are expensive to
regenerate (multi-hour policy rollouts), which is why they are published.
Leg variant: SquareTableLeg200mmSdf — whole-part SDF collider at resolution… See the full description on the dataset page: https://huggingface.co/datasets/RubetekRobotics/omnireset-ur5e-delto-reset-states.omnireset_packaging_stage_object_in_box_off_v2
OmniReset Box-Assembly — stage object_in_box, overlap off
Reset-state dataset for the UR5e + Robotiq 2F-85 box-assembly task in
UWLab's OmniReset framework (Isaac Sim 5.1).
Stage object_in_box: insertive mid → receptive bottom (pair Bottom__Mid), overlap off.
Contents
Resets/Bottom__Mid/resets_ObjectAnywhereEEAnywhere.pt
Resets/Bottom__Mid/resets_ObjectAnywhereEEGrasped.pt
Resets/Bottom__Mid/resets_ObjectPartiallyAssembledEEGrasped.pt… See the full description on the dataset page: https://huggingface.co/datasets/domrachev03/omnireset_packaging_stage_object_in_box_off_v2.omnireset_packaging_stage_box_center_off_v2
OmniReset Box-Assembly — stage box_center, overlap off
Reset-state dataset for the UR5e + Robotiq 2F-85 box-assembly task in
UWLab's OmniReset framework (Isaac Sim 5.1).
Stage box_center: insertive bottom → receptive target (pair Bottom__TableCenterTarget), overlap off.
Contents
Resets/Bottom__TableCenterTarget/resets_ObjectAnywhereEEAnywhere.pt
Resets/Bottom__TableCenterTarget/resets_ObjectAnywhereEEGrasped.pt… See the full description on the dataset page: https://huggingface.co/datasets/domrachev03/omnireset_packaging_stage_box_center_off_v2.