| { |
| "@context": { |
| "@language": "en", |
| "@vocab": "https://schema.org/", |
| "citeAs": "cr:citeAs", |
| "column": "cr:column", |
| "conformsTo": "dct:conformsTo", |
| "cr": "http://mlcommons.org/croissant/", |
| "rai": "http://mlcommons.org/croissant/RAI/", |
| "data": { |
| "@id": "cr:data", |
| "@type": "@json" |
| }, |
| "dataType": { |
| "@id": "cr:dataType", |
| "@type": "@vocab" |
| }, |
| "dct": "http://purl.org/dc/terms/", |
| "examples": { |
| "@id": "cr:examples", |
| "@type": "@json" |
| }, |
| "extract": "cr:extract", |
| "field": "cr:field", |
| "fileProperty": "cr:fileProperty", |
| "fileObject": "cr:fileObject", |
| "fileSet": "cr:fileSet", |
| "format": "cr:format", |
| "includes": "cr:includes", |
| "isLiveDataset": "cr:isLiveDataset", |
| "jsonPath": "cr:jsonPath", |
| "key": "cr:key", |
| "md5": "cr:md5", |
| "parentField": "cr:parentField", |
| "path": "cr:path", |
| "recordSet": "cr:recordSet", |
| "references": "cr:references", |
| "regex": "cr:regex", |
| "repeated": "cr:repeated", |
| "replace": "cr:replace", |
| "sc": "https://schema.org/", |
| "separator": "cr:separator", |
| "source": "cr:source", |
| "subField": "cr:subField", |
| "transform": "cr:transform" |
| }, |
| |
| "@type": "Dataset", |
| "name": "SutureBot", |
| "citation": "Haworth, Jesse et al. SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing. Under review at NeurIPS 2025 Datasets and Benchmarks Track.", |
| "datePublished": "2025-05-15", |
| "version": "1.0.0", |
| "description": "Dataset of multi-view surgical robot demonstrations for end-to-end suturing, including synchronized RGB images and robot kinematics.", |
| "license": "https://creativecommons.org/licenses/by/4.0/", |
| "authors": [ |
| { |
| "name": "Juo-Tung Chen", |
| "email": "jchen396@jh.edu", |
| "affiliation": "Johns Hopkins University" |
| } |
| ], |
| "sources": [ |
| { |
| "name": "data", |
| "description": "All task folders under tissue_*/1_[task_name]/*/ contain image subfolders and CSV data", |
| "encodingFormat": "application/zip", |
| "distribution": { |
| "@type": "DataDownload", |
| "contentUrl": "https://huggingface.co/datasets/jchen396/suturebot" |
| } |
| } |
| ], |
| "features": [ |
| { |
| "name": "left_camera_image", |
| "description": "Left endoscope RGB image", |
| "source": "data", |
| "path": "**/left_img_dir/frame*_left.jpg", |
| "type": "image" |
| }, |
| { |
| "name": "right_camera_image", |
| "description": "Right endoscope RGB image", |
| "source": "data", |
| "path": "**/right_img_dir/frame*_right.jpg", |
| "type": "image" |
| }, |
| { |
| "name": "wrist_cam_left", |
| "description": "Left wrist (PSM2) RGB image", |
| "source": "data", |
| "path": "**/endo_psm2/frame*_psm2.jpg", |
| "type": "image" |
| }, |
| { |
| "name": "wrist_cam_right", |
| "description": "Right wrist (PSM1) RGB image", |
| "source": "data", |
| "path": "**/endo_psm1/frame*_psm1.jpg", |
| "type": "image" |
| }, |
| { |
| "name": "kinematics", |
| "description": "Robot end-effector kinematics and joint states for PSM1, PSM2, ECM, and SUJs.", |
| "source": "data", |
| "path": "**/ee_csv.csv", |
| "type": "table", |
| "features": [ |
| { |
| "name": "timestamp", |
| "type": "number", |
| "description": "Timestamp in seconds" |
| }, |
| { |
| "name": "psm1_pose_position", |
| "type": "vector", |
| "length": 3, |
| "description": "PSM1 end-effector position (x, y, z)" |
| }, |
| { |
| "name": "psm1_pose_orientation", |
| "type": "vector", |
| "length": 4, |
| "description": "PSM1 end-effector orientation quaternion (x, y, z, w)" |
| }, |
| { |
| "name": "psm1_jaw", |
| "type": "number", |
| "description": "PSM1 jaw opening angle" |
| }, |
| { |
| "name": "psm2_pose_position", |
| "type": "vector", |
| "length": 3, |
| "description": "PSM2 end-effector position (x, y, z)" |
| }, |
| { |
| "name": "psm2_pose_orientation", |
| "type": "vector", |
| "length": 4, |
| "description": "PSM2 end-effector orientation quaternion (x, y, z, w)" |
| }, |
| { |
| "name": "psm2_jaw", |
| "type": "number", |
| "description": "PSM2 jaw opening angle" |
| }, |
| { |
| "name": "ecm_pose_position", |
| "type": "vector", |
| "length": 3, |
| "description": "ECM camera position (x, y, z)" |
| }, |
| { |
| "name": "ecm_pose_orientation", |
| "type": "vector", |
| "length": 4, |
| "description": "ECM camera orientation quaternion (x, y, z, w)" |
| }, |
| { |
| "name": "psm1_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM1 joint angles" |
| }, |
| { |
| "name": "psm2_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM2 joint angles" |
| }, |
| { |
| "name": "psm3_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM3 joint angles" |
| }, |
| { |
| "name": "ecm_js", |
| "type": "vector", |
| "length": 4, |
| "description": "ECM joint angles" |
| }, |
| { |
| "name": "psm1_set_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM1 joint command (setpoint)" |
| }, |
| { |
| "name": "psm2_set_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM2 joint command (setpoint)" |
| }, |
| { |
| "name": "psm3_set_js", |
| "type": "vector", |
| "length": 6, |
| "description": "PSM3 joint command (setpoint)" |
| }, |
| { |
| "name": "ecm_set_js", |
| "type": "vector", |
| "length": 4, |
| "description": "ECM joint command (setpoint)" |
| } |
| ] |
| }]} |
|
|
