Upload README.md

README.md

@@ -1,3 +1,267 @@
----
-license: apache-2.0
----
+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - lerobot
+  - underwater-robotics
+  - simulation
+  - vla
+  - manipulation
+  - navigation
+pretty_name: USIM
+size_categories:
+  - 100K<n<1M
+---
+
+# USIM: Underwater Simulation Dataset for Vision-Language-Action Models
+
+[![Paper](https://img.shields.io/badge/arXiv-2510.07869-B31B1B.svg)](https://arxiv.org/abs/2510.07869)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+## TL;DR
+
+USIM is a large-scale underwater robot manipulation and navigation dataset collected in the [Stonefish](https://github.com/patrykcieslak/stonefish) physics simulator. It contains **2,275 episodes** (1,750 train + 525 test) across **20 tasks** in 9 underwater scenarios, formatted in [LeRobot v2.1](https://github.com/huggingface/lerobot) format with dual-camera video recordings.
+
+## Dataset Description
+
+USIM is introduced in the paper **"USIM and U0: A Vision-Language-Action Dataset and Model for General Underwater Robots"**. It is designed to train and evaluate Vision-Language-Action (VLA) models for autonomous underwater robots operating in diverse subsea environments.
+
+### Key Features
+
+- **Diverse underwater scenarios**: shallow ocean, underwater factory, industrial pool, subsea pipeline, shipwreck sites, lake environments, and open sea
+- **Dual-camera observation**: ego (front-facing) and wrist (end-effector) camera views at 240×320 resolution
+- **Rich proprioceptive state**: 29-dimensional state vector including joint positions, thruster PWM, velocities, IMU data, DVL, and pressure readings
+- **20 tasks** spanning grasping, navigation, tracking, and transporting
+
+### Robot Platform
+
+The robot used is a BlueROV2 underwater vehicle equipped with a 4-DOF robotic arm and a scaled-down Robotiq gripper, simulated in the [Stonefish](https://github.com/patrykcieslak/stonefish) physics engine.
+
+## Dataset Structure
+
+This repository contains two independent LeRobot v2.1 datasets:
+
+```
+usim/
+├── train/                    # Training split (1,750 episodes)
+│   ├── meta/
+│   │   ├── info.json
+│   │   ├── tasks.jsonl
+│   │   ├── episodes.jsonl
+│   │   ├── episodes_stats.jsonl
+│   │   └── modality.json
+│   ├── data/
+│   │   ├── chunk-000/
+│   │   └── chunk-001/
+│   └── videos/
+│       ├── chunk-000/
+│       │   ├── observation.images.ego/
+│       │   └── observation.images.wrist/
+│       └── chunk-001/
+│           ├── observation.images.ego/
+│           └── observation.images.wrist/
+├── test/                     # Test split (525 episodes)
+│   ├── meta/
+│   ├── data/
+│   │   └── chunk-000/
+│   └── videos/
+│       └── chunk-000/
+│           ├── observation.images.ego/
+│           └── observation.images.wrist/
+└── README.md
+```
+
+## Supported Tasks
+
+The dataset covers 20 tasks and 9 language instructions grouped into 4 categories:
+
+### Grasping
+| Task Code | Instruction | Scenario |
+|-----------|-------------|----------|
+| pick_pipe0_shallow | Pick up the pipe | Shallow ocean |
+| pick_pipe1_shallow | Pick up the pipe | Shallow ocean |
+| pick_pipe0_factory | Pick up the pipe | Underwater factory |
+| pick_pipe1_factory | Pick up the pipe | Underwater factory |
+| pick_red_shallow | Pick up the red cylinder | Shallow ocean |
+| pick_redx_shallow | Pick up the red cylinder | Shallow ocean (multi-blue distractors) |
+| pick_red_factory | Pick up the red cylinder | Underwater factory |
+| pick_redx_factory | Pick up the red cylinder | Underwater factory (multi-blue distractors) |
+| pick_blue_shallow | Pick up the blue cylinder | Shallow ocean |
+| pick_bluex_shallow | Pick up the blue cylinder | Shallow ocean (multi-red distractors) |
+| pick_blue_factory | Pick up the blue cylinder | Underwater factory |
+| pick_bluex_factory | Pick up the blue cylinder | Underwater factory (multi-red distractors) |
+
+### Navigation
+| Task Code | Instruction | Scenario |
+|-----------|-------------|----------|
+| goto_charge_station | Go to the charge station | Lake with equipment |
+| goto_water_tower | Go to the water tower | Lake with rocks |
+| scan_ship_modern | Scan the ship | Modern shipwreck |
+| scan_ship_ancient | Scan the ship | Ancient shipwreck |
+| inspect_pipeline_pool | Inspect the pipeline | Industrial pool with pipelines |
+| inspect_pipeline_sea | Inspect the pipeline | Subsea pipeline |
+
+### Tracking
+| Task Code | Instruction | Scenario |
+|-----------|-------------|----------|
+| follow_boat | Follow the boat | Open sea |
+
+### Transporting
+| Task Code | Instruction | Scenario |
+|-----------|-------------|----------|
+| transfer_red_shallow | Pick up the red cylinder and transfer it to the box | Shallow ocean |
+
+## Data Statistics
+
+### Overall
+
+| Metric | Train | Test | Total |
+|--------|-------|------|-------|
+| Episodes | 1,750 | 525 | 2,275 |
+| Frames | 696,990 | 208,605 | 905,595 |
+| Videos | 3,500 | 1,050 | 4,550 |
+
+### Per-Task Breakdown
+
+| Task | Train Episodes | Train Frames | Test Episodes | Test Frames |
+|------|---------------|--------------|---------------|-------------|
+| follow_boat | 50 | 18,061 | 15 | 5,026 |
+| goto_charge_station | 100 | 13,371 | 30 | 4,437 |
+| goto_water_tower | 100 | 29,505 | 30 | 9,084 |
+| inspect_pipeline_pool | 50 | 29,609 | 15 | 8,828 |
+| inspect_pipeline_sea | 50 | 33,884 | 15 | 10,156 |
+| pick_blue_factory | 100 | 38,038 | 30 | 11,857 |
+| pick_blue_shallow | 100 | 35,953 | 30 | 11,371 |
+| pick_bluex_factory | 100 | 38,461 | 30 | 11,505 |
+| pick_bluex_shallow | 100 | 38,486 | 30 | 10,843 |
+| pick_pipe0_factory | 100 | 38,683 | 30 | 10,942 |
+| pick_pipe0_shallow | 100 | 37,205 | 30 | 11,411 |
+| pick_pipe1_factory | 100 | 36,997 | 30 | 11,113 |
+| pick_pipe1_shallow | 100 | 37,025 | 30 | 10,963 |
+| pick_red_factory | 100 | 37,829 | 30 | 11,645 |
+| pick_red_shallow | 100 | 36,914 | 30 | 10,990 |
+| pick_redx_factory | 100 | 38,455 | 30 | 11,433 |
+| pick_redx_shallow | 100 | 36,428 | 30 | 10,398 |
+| scan_ship_ancient | 50 | 37,046 | 15 | 11,008 |
+| scan_ship_modern | 50 | 33,868 | 15 | 10,285 |
+| transfer_red_shallow | 100 | 51,172 | 30 | 15,310 |
+| **Total** | **1,750** | **696,990** | **525** | **208,605** |
+
+## Data Schema
+
+Both `train/` and `test/` follow the [LeRobot v2.1](https://github.com/huggingface/lerobot) format. Each episode is stored as a Parquet file with the following features:
+
+### Observation
+
+| Feature | Dtype | Shape | Description |
+|---------|-------|-------|-------------|
+| `observation.images.ego` | video | (240, 320, 3) | Front-facing ego camera RGB video |
+| `observation.images.wrist` | video | (240, 320, 3) | Wrist-mounted end-effector camera RGB video |
+| `observation.state` | float32 | (29,) | Robot proprioceptive state vector |
+
+#### State Vector Breakdown (29-dim)
+
+| Component | Indices | Dim | Description |
+|-----------|---------|-----|-------------|
+| `joint_pos` | 0–5 | 6 | Arm joint positions |
+| `pwm` | 5–13 | 8 | Thruster PWM values |
+| `joint_v` | 13–18 | 5 | Arm joint velocities |
+| `dvl_v` | 18–21 | 3 | Doppler Velocity Log velocity |
+| `imu_av` | 21–24 | 3 | IMU angular velocity |
+| `imu_la` | 24–27 | 3 | IMU linear acceleration |
+| `pressure` | 27–28 | 1 | Pressure sensor reading |
+| `dvl_h` | 28–29 | 1 | DVL altitude |
+
+### Action
+
+| Feature | Dtype | Shape | Description |
+|---------|-------|-------|-------------|
+| `action` | float32 | (13,) | Robot action command |
+
+#### Action Breakdown (13-dim)
+
+| Component | Indices | Dim | Description |
+|-----------|---------|-----|-------------|
+| `joint_pos` | 0–5 | 6 | Arm target joint positions |
+| `pwm` | 5–13 | 8 | Thruster PWM commands |
+
+### Additional Features
+
+| Feature | Dtype | Shape | Description |
+|---------|-------|-------|-------------|
+| `target_pos` | float32 | (6,) | Target pose in robot local frame (x, y, z, roll, pitch, yaw) |
+| `timestamp` | float32 | (1,) | Frame timestamp in seconds |
+| `frame_index` | int64 | (1,) | Frame index within episode |
+| `episode_index` | int64 | (1,) | Episode index |
+| `index` | int64 | (1,) | Global frame index |
+| `task_index` | int64 | (1,) | Task index (maps to `tasks.jsonl`) |
+
+### Video Metadata
+
+| Property | Value |
+|----------|-------|
+| Resolution | 240 × 320 |
+| Codec | AV1 |
+| Pixel Format | YUV420P |
+| FPS | 10 |
+| Channels | 3 (RGB) |
+| Audio | No |
+
+## Loading the Dataset
+
+### Using LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# Load the training split
+train_dataset = LeRobotDataset("Vincent2025hello/usim", root="train")
+
+# Load the test split
+test_dataset = LeRobotDataset("Vincent2025hello/usim", root="test")
+
+# Iterate through episodes
+for episode in train_dataset:
+    ego_image = episode["observation.images.ego"]       # (240, 320, 3) numpy array
+    wrist_image = episode["observation.images.wrist"]   # (240, 320, 3) numpy array
+    state = episode["observation.state"]                # (29,) numpy array
+    action = episode["action"]                          # (13,) numpy array
+    task_index = episode["task_index"]                  # scalar
+    print(f"Task: {train_dataset.meta.tasks[task_index]}")
+```
+
+### Using Hugging Face Datasets
+
+```python
+from datasets import load_dataset
+
+# Load from the repository
+dataset = load_dataset("Vincent2025hello/usim")
+```
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@misc{gu2025usimu0visionlanguageactiondataset,
+      title={USIM and U0: A Vision-Language-Action Dataset and Model for General Underwater Robots}, 
+      author={Junwen Gu and Zhiheng Wu and Pengxuan Si and Shuang Qiu and Yukai Feng and Luoyang Sun and Laien Luo and Lianyi Yu and Jian Wang and Zhengxing Wu},
+      year={2025},
+      eprint={2510.07869},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2510.07869}, 
+}
+```
+
+## License
+
+This dataset is released under the [Apache 2.0 License](https://opensource.org/licenses/Apache-2.0).
+
+## Acknowledgements
+
+- [Stonefish](https://github.com/patrykcieslak/stonefish) — Physics-based underwater simulator
+- [stonefish_ros](https://github.com/patrykcieslak/stonefish_ros) — ROS interface for Stonefish
+- [LeRobot](https://github.com/huggingface/lerobot) — Dataset format and loading utilities