--- title: Omnivta canonical_url: "https://www.modelscope.cn/datasets/zangyujie/Omnivta" md_url: "https://www.modelscope.cn/datasets/zangyujie/Omnivta.md" repository: zangyujie/Omnivta last_updated: 2026-10-25 license: cc-by-nc-4.0 storage_size: "487 GB" downloads: 2185 stars: 0 --- # Omnivta > Omnivta - zangyujie 在 ModelScope 开源的数据集。omnivta zangyujie/Omnivta 是 ModelScope 魔搭社区上的数据集，存储大小 487 GB，采用 cc-by-nc-4.0 许可。 - **Repository**: zangyujie/Omnivta - **License**: cc-by-nc-4.0 - **Storage size**: 487 GB - **Downloads**: 2185 - **Stars**: 0 - **Last updated**: 2026-10-25 Source: https://www.modelscope.cn/datasets/zangyujie/Omnivta --- # Omnivta Selected complete episodes from [tars-robotics/OmniVitac](https://huggingface.co/datasets/tars-robotics/OmniVitac), source revision `060e506ca3cc49571e7ba4db4fc97e24d7711c0d`. Original paper: [OmniVTA](https://arxiv.org/abs/2603.19201). Source license **CC BY-NC 4.0** applies to this derived subset. Prepared by Yujie Zang, TARS Robotics; contact zangyujie@u.nus.edu. ## Release 0.1.2-prerelease — 2026-10-25 837 trajectories, 411,355 aligned frames, 10 task instructions, 17 Zarr ZIPs. Adjustment, Assembly, Cutting, Grasping and Wiping are included; Peeling is excluded. This is a selected subset, not the full upstream dataset. ## Layout `Omnivta//.zarr.zip` Each subdataset directory groups archives with the same task instruction. Unzip to obtain a Zarr v2 `.zarr` directory. The public repository contains data ZIPs and this README, plus the Git LFS configuration file. Submission materials and QC working files are maintained separately. ## FTP-1 data contract - `data/sub_task_instruction`: per-frame task text; renamed from `instruction`, with values unchanged. - `data/right_wrist_pose`: XYZ position in metres and rotation vector in radians. Every subset applies **R_new = R_previous @ Rz(-90 degrees)**; positions are bitwise unchanged. This is a local TCP orientation correction, not a rotation of world positions. The reviewer's convention is x down, y left, z forward in the wrist camera view, verified by the reviewer on insert_usb and cut_the_chilli. Source robot poses remain in `source_eef_pose_mm_xyz_euler_rad`. - Single xArm arm/gripper represented in canonical `right_*` slots. `right_wrist_camera_rgb` is camera1; `camera_main_rgb` is external camera2; `camera_aux_3_rgb` is present where recorded. Environment RGB is 320x240, aligned at 30Hz with original source timestamps/indices retained. - `right_hand_joints`, index28: nominal aperture in metres, 0 to 0.08. User-specified mapping: -5 closed, 0 open; raw120 replaced with -2.5 (imputed4cm). Raw scalars and imputation flags are retained. This is not an independent physical aperture calibration. - Two Xense Photon pads, native 700x400 RGB and 35x20x3 deformation maps; channels0/1 preserve source tactile1/tactile2 order. Native deformation units remain unverified. No force sensor or fabricated force streams. - Camera extrinsics are unavailable. The TCP-axis correction does not establish camera calibration. - Submission metadata code_trigger is `FTP_1_Source`. ## QC and retained limitations The preceding release excluded52 source length/timestamp mismatches and8 independently confirmed frozen tactile2 episodes. This revision adds no exclusions. Current pose matrices, unchanged positions, instruction values and episode boundaries were checked across all411,355 frames; unchanged archive members retain their payload CRC and size, with sampled output image/tactile/gripper payload comparisons. Hosted ZIP hashes and actual metadata/pose byte ranges are verified. Earlier Qwen review used corrected spatial tactile rendering:81/85 pages returned verdicts and4 were provider-blocked; group flags were6 warning and11 fail. The contributor reported no issue after reviewing the supplied input/evidence. Flags are not proven episode failures, and no full-trajectory success certification is claimed. This schema/axis revision does not rerun paid VLM calls or relabel previous results. ## Data archives and SHA256 | Archive | Bytes | SHA256 | |---|---:|---| | [Omnivta/adjust_the_white_rectangular_prism_and_insert_it_into_the_corresponding_slot/adjustment_adjustment_gello_adjust_the_white_rectangular_prism_and_insert_it_into_the_corresponding_slot_150__166e97de70.zarr.zip](Omnivta/adjust_the_white_rectangular_prism_and_insert_it_into_the_corresponding_slot/adjustment_adjustment_gello_adjust_the_white_rectangular_prism_and_insert_it_into_the_corresponding_slot_150__166e97de70.zarr.zip) | 112519630304 | `5486118264d81976172bcdba3c3aa6581ce73fb3a30115445329feae7147fd33` | | [Omnivta/cut_the_banana/cutting_cutting_kinesthetic_cut_the_banana_12__f4c1c3c16a.zarr.zip](Omnivta/cut_the_banana/cutting_cutting_kinesthetic_cut_the_banana_12__f4c1c3c16a.zarr.zip) | 6302569080 | `9fb7bd941d390018a24fe60a0433faddff0b2165ff9124c45a8cb18662ee0769` | | [Omnivta/cut_the_banana/cutting_cutting_kinesthetic_cut_the_banana_25__f4c1c3c16a.zarr.zip](Omnivta/cut_the_banana/cutting_cutting_kinesthetic_cut_the_banana_25__f4c1c3c16a.zarr.zip) | 18278209319 | `55dff5d2974e879454b3d152e5e0c7b2ab9faef8758350348f07361557755672` | | [Omnivta/cut_the_carrot/cutting_cutting_kinesthetic_cut_the_carrot_20__f4c1c3c16a.zarr.zip](Omnivta/cut_the_carrot/cutting_cutting_kinesthetic_cut_the_carrot_20__f4c1c3c16a.zarr.zip) | 13819347987 | `5b64c54dd3ebed36d9dbf2e7735f6065627284a8071aedb96d4d6f1affe432c5` | | [Omnivta/cut_the_carrot/cutting_cutting_kinesthetic_cut_the_carrot_67__f4c1c3c16a.zarr.zip](Omnivta/cut_the_carrot/cutting_cutting_kinesthetic_cut_the_carrot_67__f4c1c3c16a.zarr.zip) | 23845720902 | `0b8ecc1bda917c53645b680038869c5e319cd26d9cbc147b3eb1f98222aa7b7f` | | [Omnivta/cut_the_chilli/cutting_cutting_kinesthetic_cut_the_chilli_20__f4c1c3c16a.zarr.zip](Omnivta/cut_the_chilli/cutting_cutting_kinesthetic_cut_the_chilli_20__f4c1c3c16a.zarr.zip) | 13243456052 | `4dc1b597ef868d59e480e41bc7a189466d0a44afb6676c4b63cc35b98b6505a7` | | [Omnivta/cut_the_chilli/cutting_cutting_kinesthetic_cut_the_chilli_50__f4c1c3c16a.zarr.zip](Omnivta/cut_the_chilli/cutting_cutting_kinesthetic_cut_the_chilli_50__f4c1c3c16a.zarr.zip) | 2213267848 | `ce950165992c92b0a2d9a53e2a465aec19834ff249dcdab879ebbba959343bbf` | | [Omnivta/flip_the_switch_box_open_to_the_left/grasping_grasping_gello_flip_the_switch_box_open_to_the_left_100__f4c1c3c16a.zarr.zip](Omnivta/flip_the_switch_box_open_to_the_left/grasping_grasping_gello_flip_the_switch_box_open_to_the_left_100__f4c1c3c16a.zarr.zip) | 68860694566 | `3af4107f83c535eba6f21e9af1fb8c5401ff61b43c5369f4ea7e95218c3ebccd` | | [Omnivta/flip_the_switch_box_open_to_the_right/grasping_grasping_gello_flip_the_switch_box_open_to_the_right_100__f4c1c3c16a.zarr.zip](Omnivta/flip_the_switch_box_open_to_the_right/grasping_grasping_gello_flip_the_switch_box_open_to_the_right_100__f4c1c3c16a.zarr.zip) | 36301517572 | `8e5dd56d8f01f714386d40d52f982b7cffe3969faad064752e9df9803c2b7340` | | [Omnivta/insert_the_usb_drive/assembly_assembly_gello_insert_the_usb_drive_100__91957923ff.zarr.zip](Omnivta/insert_the_usb_drive/assembly_assembly_gello_insert_the_usb_drive_100__91957923ff.zarr.zip) | 69686207870 | `7ff6352f31d7f923b32e3737422d74d005acb66e469ef4cbe17c474ac4f9ba8c` | | [Omnivta/plug_the_black_usb_drive_into_the_adapter/assembly_assembly_gello_plug_the_black_usb_drive_into_the_adapter_100__166e97de70.zarr.zip](Omnivta/plug_the_black_usb_drive_into_the_adapter/assembly_assembly_gello_plug_the_black_usb_drive_into_the_adapter_100__166e97de70.zarr.zip) | 48703553604 | `f78ff382db277d579cb72df9d86922a96527d95b189feb1d06afdd2744c0ae8d` | | [Omnivta/wipe_plate_a/wiping_wiping_kinesthetic_wipe_plate_a_50_2__f4c1c3c16a.zarr.zip](Omnivta/wipe_plate_a/wiping_wiping_kinesthetic_wipe_plate_a_50_2__f4c1c3c16a.zarr.zip) | 19826901867 | `e840d887757e6da74b5575013dd5bb56036a1980b4f115a713e6ce7b43a233c2` | | 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