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- Ultrasound/balgrist/sonogym_open_h_us_guidance_l4/videos/chunk-000/observation.images.ultrasound/episode_000671.mp4 +3 -0
- Ultrasound/balgrist/sonogym_open_h_us_guidance_l4/videos/chunk-000/observation.images.ultrasound/episode_000691.mp4 +3 -0
- Ultrasound/balgrist/sonogym_open_h_us_guidance_l4/videos/chunk-000/observation.images.ultrasound/episode_000696.mp4 +3 -0
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- Ultrasound/balgrist/sonogym_open_h_us_guidance_l4/videos/chunk-000/observation.images.ultrasound/episode_000820.mp4 +3 -0
- Ultrasound/balgrist/sonogym_open_h_us_guidance_l4/videos/chunk-000/observation.images.ultrasound/episode_000929.mp4 +3 -0
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- Ultrasound/balgrist/ultrabones_lerobot_dataset_full_2/meta/episodes.jsonl +12 -0
Ultrasound/balgrist/sonogym_open_h_us_guidance_l2/meta/README.md
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| 1 |
+
<!--
|
| 2 |
+
Open-H Embodiment Dataset README Template (v1.0)
|
| 3 |
+
Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
|
| 4 |
+
This file helps others understand the context and details of your contribution.
|
| 5 |
+
-->
|
| 6 |
+
|
| 7 |
+
# SonoGym Probe Manipulation Lerobot Dataset_2 - README
|
| 8 |
+
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
## 📋 At a Glance
|
| 12 |
+
|
| 13 |
+
*Synthetic ultrasound probe manipulation to see L2 vertebra.*
|
| 14 |
+
|
| 15 |
+
---
|
| 16 |
+
|
| 17 |
+
## 📖 Dataset Overview
|
| 18 |
+
|
| 19 |
+
*This dataset contains 1024 trajectories of expert policies to move the probe to be above the target vertebra.*
|
| 20 |
+
|
| 21 |
+
| | |
|
| 22 |
+
| :--- | :--- |
|
| 23 |
+
| **Total Trajectories** | `[1024]` |
|
| 24 |
+
| **Total Hours** | `[]` |
|
| 25 |
+
| **Data Type** | `[ ] Clinical` `[] Ex-Vivo` `[ ] Table-Top Phantom` `[x] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
|
| 26 |
+
| **License** | CC BY 4.0 |
|
| 27 |
+
| **Version** | `[e.g., 1.0]` |
|
| 28 |
+
|
| 29 |
+
---
|
| 30 |
+
|
| 31 |
+
## 🎯 Tasks & Domain
|
| 32 |
+
|
| 33 |
+
### Domain
|
| 34 |
+
|
| 35 |
+
*Select the primary domain for this dataset.*
|
| 36 |
+
|
| 37 |
+
- [ ] **Surgical Robotics**
|
| 38 |
+
- [x] **Ultrasound Robotics**
|
| 39 |
+
- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`)
|
| 40 |
+
|
| 41 |
+
### Demonstrated Skills
|
| 42 |
+
|
| 43 |
+
- Navigate ultrasound prove to find a specific anatomy
|
| 44 |
+
|
| 45 |
+
---
|
| 46 |
+
|
| 47 |
+
## 🔬 Data Collection Details
|
| 48 |
+
|
| 49 |
+
### Collection Method
|
| 50 |
+
|
| 51 |
+
*How was the data collected?*
|
| 52 |
+
|
| 53 |
+
- [ ] **Human Teleoperation**
|
| 54 |
+
- [x] **Programmatic/State-Machine**
|
| 55 |
+
- [ ] **AI Policy / Autonomous**
|
| 56 |
+
- [ ] **Other** (Please specify: `[]`)
|
| 57 |
+
|
| 58 |
+
### Operator Details
|
| 59 |
+
|
| 60 |
+
| | Description |
|
| 61 |
+
| :--- | :--- |
|
| 62 |
+
| **Operator Count** | `[1]` |
|
| 63 |
+
| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[x] N/A` |
|
| 64 |
+
| **Collection Period** | From `[2025-03]` to `[2026-01]` |
|
| 65 |
+
|
| 66 |
+
### Recovery Demonstrations
|
| 67 |
+
|
| 68 |
+
*Does this dataset include examples of recovering from failure?*
|
| 69 |
+
|
| 70 |
+
- [ ] **Yes**
|
| 71 |
+
- [x] **No**
|
| 72 |
+
|
| 73 |
+
**If yes, please briefly describe the recovery process:**
|
| 74 |
+
|
| 75 |
+
---
|
| 76 |
+
|
| 77 |
+
## 💡 Diversity Dimensions
|
| 78 |
+
|
| 79 |
+
*Check all dimensions that were intentionally varied during data collection.*
|
| 80 |
+
|
| 81 |
+
- [x] **Camera Position / Angle**
|
| 82 |
+
- [ ] **Lighting Conditions**
|
| 83 |
+
- [x] **Target Object** (e.g., different phantom models, suture types)
|
| 84 |
+
- [x] **Spatial Layout** (e.g., placing the target suture needle in various locations)
|
| 85 |
+
- [ ] **Robot Embodiment** (if multiple robots were used)
|
| 86 |
+
- [ ] **Task Execution** (e.g., different techniques for the same task)
|
| 87 |
+
- [ ] **Background / Scene**
|
| 88 |
+
- [ ] **Other** (Please specify: `[Your Dimension]`)
|
| 89 |
+
|
| 90 |
+
*If you checked any of the above please briefly elaborate below.*
|
| 91 |
+
|
| 92 |
+
We start the ultrasound scan from various different initial positions. We scan multiple bone structures including vertebra L1-L5.
|
| 93 |
+
|
| 94 |
+
---
|
| 95 |
+
|
| 96 |
+
## 🛠️ Equipment & Setup
|
| 97 |
+
|
| 98 |
+
### Robotic Platform(s)
|
| 99 |
+
|
| 100 |
+
*List the primary robot(s) used.*
|
| 101 |
+
|
| 102 |
+
*Kuka med14*
|
| 103 |
+
|
| 104 |
+
|
| 105 |
+
### Sensors & Cameras
|
| 106 |
+
|
| 107 |
+
*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)*
|
| 108 |
+
|
| 109 |
+
| Type | Model/Details |
|
| 110 |
+
| :--- | :--- |
|
| 111 |
+
| **Primary Camera** | `[None]` |
|
| 112 |
+
| **Room/3rd Person Camera** | `[None]` |
|
| 113 |
+
| **Force/Torque Sensor** | `[None]` |
|
| 114 |
+
| **Medical Imager** | `[e.g., Synthetic ultrasound by GAN, B-Mode]` |
|
| 115 |
+
| **Other** | `[Specify]` |
|
| 116 |
+
|
| 117 |
+
---
|
| 118 |
+
|
| 119 |
+
## 🎯 Action & State Space Representation
|
| 120 |
+
|
| 121 |
+
*Describe how actions and robot states are represented in your dataset. This is crucial for understanding data compatibility and enabling effective policy learning.*
|
| 122 |
+
|
| 123 |
+
### Action Space Representation
|
| 124 |
+
|
| 125 |
+
**Primary Action Representation:**
|
| 126 |
+
- [ ] **Absolute Cartesian** (position/orientation relative to robot base)
|
| 127 |
+
- [x] **Relative Cartesian** (delta position/orientation from current pose)
|
| 128 |
+
- [ ] **Joint Space** (direct joint angle commands)
|
| 129 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 130 |
+
|
| 131 |
+
**Orientation Representation:**
|
| 132 |
+
- [x] **Quaternions** (x, y, z, w)
|
| 133 |
+
- [ ] **Euler Angles** (roll, pitch, yaw)
|
| 134 |
+
- [ ] **Axis-Angle** (rotation vector)
|
| 135 |
+
- [ ] **Rotation Matrix** (3x3 matrix)
|
| 136 |
+
- [ ] **Other** (Please specify: `None`)
|
| 137 |
+
|
| 138 |
+
**Reference Frame:**
|
| 139 |
+
- [ ] **Robot Base Frame**
|
| 140 |
+
- [x] **Tool/End-Effector Frame**
|
| 141 |
+
- [ ] **World/Global Frame**
|
| 142 |
+
- [ ] **Camera Frame**
|
| 143 |
+
- [ ] **Other** (Please specify: `[Your Frame]`)
|
| 144 |
+
|
| 145 |
+
**Action Dimensions:**
|
| 146 |
+
*List the action space dimensions and their meanings.*
|
| 147 |
+
```
|
| 148 |
+
action: [x, y, z, qw, qx, qy, qz]
|
| 149 |
+
- x, y, z: relative position in ultrasound image frame (meters) to next pose.
|
| 150 |
+
- qw, qx, qy, qz: quaternion rotation to the next frame
|
| 151 |
+
- Note that this 3D motion is along the surface of the training patient model. This may not align with the testing case.
|
| 152 |
+
```
|
| 153 |
+
|
| 154 |
+
|
| 155 |
+
**Example:**
|
| 156 |
+
```
|
| 157 |
+
action: [x, y, z, qx, qy, qz, qw, gripper]
|
| 158 |
+
- x, y, z: Absolute position in robot base frame (meters)
|
| 159 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 160 |
+
- gripper: Gripper opening angle (radians)
|
| 161 |
+
```
|
| 162 |
+
|
| 163 |
+
### State Space Representation
|
| 164 |
+
|
| 165 |
+
**State Information Included:**
|
| 166 |
+
- [x] **Joint Positions** (all articulated joints)
|
| 167 |
+
- [ ] **Joint Velocities**
|
| 168 |
+
- [x] **End-Effector Pose** (Cartesian position/orientation)
|
| 169 |
+
- [ ] **Force/Torque Readings**
|
| 170 |
+
- [ ] **Gripper State** (position, force, etc.)
|
| 171 |
+
- [ ] **Other** (Please specify: `[Your State Info]`)
|
| 172 |
+
|
| 173 |
+
**State Dimensions:**
|
| 174 |
+
*List the state space dimensions and their meanings.*
|
| 175 |
+
|
| 176 |
+
```
|
| 177 |
+
observation.state.ee_state: [x, y, z, qw, qx, qy, qz]
|
| 178 |
+
- x, y, z: Absolute position in base frame (meters)
|
| 179 |
+
- qw, qx, qy, qz: quaternion in base frame
|
| 180 |
+
observation.state.joint_state: [j1, j2, j3, j4, j5, j6, j7]
|
| 181 |
+
- Absolute joint positions for 7-DOF arm (radians)
|
| 182 |
+
```
|
| 183 |
+
|
| 184 |
+
|
| 185 |
+
**Example:**
|
| 186 |
+
```
|
| 187 |
+
observation.state: [j1, j2, j3, j4, j5, j6, j7, gripper_pos]
|
| 188 |
+
- j1-j7: Absolute joint positions for 7-DOF arm (radians)
|
| 189 |
+
- gripper_pos: Current gripper opening (meters)
|
| 190 |
+
```
|
| 191 |
+
|
| 192 |
+
### 📋 Recommended Additional Representations
|
| 193 |
+
|
| 194 |
+
*Even if not your primary action/state representation, we strongly encourage including these standardized formats for maximum compatibility:*
|
| 195 |
+
|
| 196 |
+
**Recommended Action Fields:**
|
| 197 |
+
- **`action.cartesian_absolute`**: Absolute Cartesian pose with absolute quaternions
|
| 198 |
+
```
|
| 199 |
+
[x, y, z, qx, qy, qz, qw, gripper_angle]
|
| 200 |
+
```
|
| 201 |
+
|
| 202 |
+
**Recommended State Fields:**
|
| 203 |
+
- **`observation.state.joint_positions`**: Absolute positions for all articulated joints
|
| 204 |
+
```
|
| 205 |
+
[joint_1, joint_2, ..., joint_n]
|
| 206 |
+
```
|
| 207 |
+
|
| 208 |
+
|
| 209 |
+
---
|
| 210 |
+
|
| 211 |
+
## ⏱️ Data Synchronization Approach
|
| 212 |
+
|
| 213 |
+
|
| 214 |
+
*Describe how you achieved proper data synchronization across different sensors, cameras, and robotic systems during data collection. This is crucial for ensuring temporal alignment of all modalities in your dataset.*
|
| 215 |
+
|
| 216 |
+
*The synchronization is ensured automatically through simulation*.
|
| 217 |
+
|
| 218 |
+
**Example:** *We collect joint kinematics from our Franka Research 3 and RGB-D frames from Intel RealSense D435 cameras, all running in ROS 2 Galactic on the same workstation clocked with ROS Time. Both drivers stamp their outgoing messages’ header.stamp fields with the shared system clock, and we record /joint_states, /camera/*/image_raw, and /camera/*/camera_info in a single rosbag2 session. During export to LeRobot, each data point’s ROS header.stamp is written verbatim into the timestamp attribute. Offline checks show inter-sensor skew stays below ±2 ms across a 2-minute capture.*
|
| 219 |
+
|
| 220 |
+
---
|
| 221 |
+
|
| 222 |
+
## 👥 Attribution & Contact
|
| 223 |
+
|
| 224 |
+
*Please provide attribution for the dataset creators and a point of contact.*
|
| 225 |
+
|
| 226 |
+
| | |
|
| 227 |
+
| :--- | :--- |
|
| 228 |
+
| **Dataset Lead** | `[Yunke Ao, Luohong Wu]` |
|
| 229 |
+
| **Institution** | `[Balgrist University Hospital]` |
|
| 230 |
+
| **Contact Email** | `[yunke.ao@balgrist.ch, luohong.wu@balgrist.ch, ...]` |
|
| 231 |
+
| **Citation (BibTeX)** | <pre><code>@misc{[Ultrabones100k_lerobot_2026],<br> author = {[Yunke Ao, Luohong Wu, Philipp Fuernstahl]},<br> title = {[Ultrabones100k Lerobot Dataset]},<br> year = {2026},<br> publisher = {Open-H-Embodiment},<br> note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}</code></pre> |
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Ultrasound/balgrist/sonogym_open_h_us_guidance_l2/meta/episodes.jsonl
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|
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|
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|
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|
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|
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|
| 1008 |
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|
| 1009 |
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|
| 1010 |
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|
| 1011 |
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|
| 1012 |
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|
| 1013 |
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|
| 1014 |
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|
| 1015 |
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|
| 1016 |
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|
| 1017 |
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|
| 1018 |
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|
| 1019 |
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| 1020 |
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|
| 1021 |
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| 1022 |
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|
| 1023 |
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|
| 1024 |
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|
Ultrasound/balgrist/sonogym_open_h_us_guidance_l2/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Ultrasound/balgrist/sonogym_open_h_us_guidance_l2/meta/info.json
ADDED
|
@@ -0,0 +1,151 @@
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|
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|
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|
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|
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|
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|
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|
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|
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:5516cb9b56602b30c91ed1e3b1583a786706c0f4f7210f7aa7af28f1f6ece711
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size 445402
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Ultrasound/balgrist/ultrabones_lerobot_dataset_full_2/meta/episodes.jsonl
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@@ -0,0 +1,12 @@
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{"episode_index": 0, "tasks": ["scanning fibula with ultrasound"], "length": 1792}
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{"episode_index": 1, "tasks": ["scanning fibula with ultrasound"], "length": 1795}
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{"episode_index": 2, "tasks": ["scanning fibula with ultrasound"], "length": 1923}
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{"episode_index": 3, "tasks": ["scanning tibia with ultrasound"], "length": 1898}
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| 5 |
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{"episode_index": 4, "tasks": ["scanning tibia with ultrasound"], "length": 1803}
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{"episode_index": 5, "tasks": ["scanning tibia with ultrasound"], "length": 1660}
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| 7 |
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{"episode_index": 6, "tasks": ["scanning fibula with ultrasound"], "length": 1734}
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| 8 |
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{"episode_index": 7, "tasks": ["scanning fibula with ultrasound"], "length": 1608}
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| 9 |
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{"episode_index": 8, "tasks": ["scanning fibula with ultrasound"], "length": 1638}
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| 10 |
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{"episode_index": 9, "tasks": ["scanning tibia with ultrasound"], "length": 1623}
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| 11 |
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{"episode_index": 10, "tasks": ["scanning tibia with ultrasound"], "length": 1508}
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{"episode_index": 11, "tasks": ["scanning tibia with ultrasound"], "length": 1686}
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