yqi19/gr00t_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.

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