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- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/README.md +234 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes.jsonl +847 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes_stats.jsonl +0 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/info.json +347 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/tasks.jsonl +1 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000002.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000011.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000013.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000037.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000042.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000045.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000049.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000054.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000075.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000092.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000118.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000119.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000147.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000162.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000165.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000166.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000175.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000179.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000181.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000186.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000187.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000197.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000200.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000203.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000215.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000224.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000227.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000231.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000236.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000255.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000267.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000286.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000295.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000296.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000300.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000308.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000312.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000324.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000333.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000346.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000368.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000370.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000394.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_tumor_fishball_dataset/bmt_insertion_tumor_fishball_dataset/data/chunk-000/episode_000408.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/videos/chunk-000/observation.images.ultrasound/episode_000043.mp4 +3 -0
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/README.md
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| 1 |
+
<!--
|
| 2 |
+
Open-H Embodiment Dataset README Template (v1.0)
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| 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 |
+
# [Dataset Name] - README
|
| 8 |
+
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
## 📋 At a Glance
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| 12 |
+
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| 13 |
+
Static dual-arm in-plane needle insertion with interferences
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| 14 |
+
|
| 15 |
+
---
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| 16 |
+
|
| 17 |
+
## 📖 Dataset Overview
|
| 18 |
+
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| 19 |
+
*This dataset contains 2000 trajectories of a trained researcher using the dual-arm UR5e to perform needle insertion tasks on ex-vivo tissues include objects: mimicked vessel, different simulated tumors (grape, blueberry and fish ball), pork lean, bone ,liver, kidney.*
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| 20 |
+
<!-- It includes successful trials, failures, and recovery attempts to provide a robust dataset for training imitation learning policies.* -->
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| 21 |
+
|
| 22 |
+
| | |
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| 23 |
+
| :--- | :--- |
|
| 24 |
+
| **Total Trajectories** | `[2000]` |
|
| 25 |
+
| **Total Hours** | `[25]` |
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| 26 |
+
| **Data Type** | `[ ] Clinical` `[x] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
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| 27 |
+
| **License** | CC BY 4.0 |
|
| 28 |
+
| **Version** | `[1.0]` |
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| 29 |
+
|
| 30 |
+
---
|
| 31 |
+
|
| 32 |
+
## 🎯 Tasks & Domain
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| 33 |
+
|
| 34 |
+
### Domain
|
| 35 |
+
|
| 36 |
+
*Select the primary domain for this dataset.*
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| 37 |
+
|
| 38 |
+
- [ ] **Surgical Robotics**
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| 39 |
+
- [x] **Ultrasound Robotics**
|
| 40 |
+
- [ ] **Other Healthcare Robotics** (Please specify: `[Your Domain]`)
|
| 41 |
+
|
| 42 |
+
### Demonstrated Skills
|
| 43 |
+
|
| 44 |
+
*Autonomous dual-arm robotic needle insertion.*
|
| 45 |
+
|
| 46 |
+
<!-- ***Example:***
|
| 47 |
+
- Needle-insertion -->
|
| 48 |
+
|
| 49 |
+
---
|
| 50 |
+
|
| 51 |
+
## 🔬 Data Collection Details
|
| 52 |
+
|
| 53 |
+
### Collection Method
|
| 54 |
+
|
| 55 |
+
*How was the data collected?*
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| 56 |
+
|
| 57 |
+
- [ ] **Human Teleoperation**
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| 58 |
+
- [x] **Programmatic/State-Machine**
|
| 59 |
+
- [ ] **AI Policy / Autonomous**
|
| 60 |
+
- [ ] **Other** (Please specify: `[Your Method]`)
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| 61 |
+
|
| 62 |
+
### Operator Details
|
| 63 |
+
|
| 64 |
+
| | Description |
|
| 65 |
+
| :--- | :--- |
|
| 66 |
+
| **Operator Count** | `[1]` |
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| 67 |
+
| **Operator Skill Level** | `[ ] Expert (e.g., Surgeon, Sonographer)` <br> `[x] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
|
| 68 |
+
| **Collection Period** | From `[2025-12-26]` to `[2026-01-07]` |
|
| 69 |
+
|
| 70 |
+
### Recovery Demonstrations
|
| 71 |
+
|
| 72 |
+
*Does this dataset include examples of recovering from failure?*
|
| 73 |
+
|
| 74 |
+
- [ ] **Yes**
|
| 75 |
+
- [x] **No**
|
| 76 |
+
|
| 77 |
+
<!-- **If yes, please briefly describe the recovery process:**
|
| 78 |
+
|
| 79 |
+
*Example: For 250 demonstrations, demonstrations are initialized from a failed needle grasp position, the operator re-orients the robotic grippers and attempts to grasp the needle again from a different angle.* -->
|
| 80 |
+
|
| 81 |
+
---
|
| 82 |
+
|
| 83 |
+
## 💡 Diversity Dimensions
|
| 84 |
+
|
| 85 |
+
*Check all dimensions that were intentionally varied during data collection.*
|
| 86 |
+
|
| 87 |
+
- [ ] **Camera Position / Angle**
|
| 88 |
+
- [ ] **Lighting Conditions**
|
| 89 |
+
- [x] **Target Object** (e.g., different phantom models, suture types)
|
| 90 |
+
- [x] **Spatial Layout** (e.g., placing the target suture needle in various locations)
|
| 91 |
+
- [ ] **Robot Embodiment** (if multiple robots were used)
|
| 92 |
+
- [ ] **Task Execution** (e.g., different techniques for the same task)
|
| 93 |
+
- [ ] **Background / Scene**
|
| 94 |
+
- [ ] **Other** (Please specify: `[Your Dimension]`)
|
| 95 |
+
|
| 96 |
+
*If you checked any of the above please briefly elaborate below.*
|
| 97 |
+
|
| 98 |
+
After each demonstration, we adjust the initial position of at least one of the robotic arm, ultrasonic probe, and target object (phantom).
|
| 99 |
+
|
| 100 |
+
---
|
| 101 |
+
|
| 102 |
+
## 🛠️ Equipment & Setup
|
| 103 |
+
|
| 104 |
+
### Robotic Platform(s)
|
| 105 |
+
|
| 106 |
+
*List the primary robot(s) used.*
|
| 107 |
+
|
| 108 |
+
- **Robot 1:** `[UR5e]`
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| 109 |
+
- **Robot 2:** `[UR5e]`
|
| 110 |
+
|
| 111 |
+
### Sensors & Cameras
|
| 112 |
+
|
| 113 |
+
*List the sensors and cameras used. Specify model names where possible. (Add and remove rows as needed)*
|
| 114 |
+
|
| 115 |
+
| Type | Model/Details |
|
| 116 |
+
| :--- | :--- |
|
| 117 |
+
| **Room/3rd Person Camera** | `[Intel RealSense D435i @ 30fps]` |
|
| 118 |
+
| **Medical Imager** | `[Siemens ACUSON Juniper Ultrasound System with 12L3 Transducer, B-Mode]` |
|
| 119 |
+
<!-- | **Other** | `[Specify]` | -->
|
| 120 |
+
|
| 121 |
+
---
|
| 122 |
+
|
| 123 |
+
## 🎯 Action & State Space Representation
|
| 124 |
+
|
| 125 |
+
*Describe how actions and robot states are represented in your dataset. This is crucial for understanding data compatibility and enabling effective policy learning.*
|
| 126 |
+
|
| 127 |
+
### Action Space Representation
|
| 128 |
+
|
| 129 |
+
**Primary Action Representation:**
|
| 130 |
+
- [] **Absolute Cartesian** (position/orientation relative to robot base)
|
| 131 |
+
- [ ] **Relative Cartesian** (delta position/orientation from current pose)
|
| 132 |
+
- [x] **Joint Space** (direct joint angle commands)
|
| 133 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 134 |
+
|
| 135 |
+
**Orientation Representation:**
|
| 136 |
+
- [] **Quaternions** (x, y, z, w)
|
| 137 |
+
- [ ] **Euler Angles** (roll, pitch, yaw)
|
| 138 |
+
- [x] **Axis-Angle** (rotation vector)
|
| 139 |
+
- [ ] **Rotation Matrix** (3x3 matrix)
|
| 140 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 141 |
+
|
| 142 |
+
**Reference Frame:**
|
| 143 |
+
- [x] **Robot Base Frame**
|
| 144 |
+
- [ ] **Tool/End-Effector Frame**
|
| 145 |
+
- [ ] **World/Global Frame**
|
| 146 |
+
- [ ] **Camera Frame**
|
| 147 |
+
- [ ] **Other** (Please specify: `[Your Frame]`)
|
| 148 |
+
|
| 149 |
+
<!-- **Action Dimensions:**
|
| 150 |
+
*List the action space dimensions and their meanings.* -->
|
| 151 |
+
|
| 152 |
+
<!-- **Example:** -->
|
| 153 |
+
```
|
| 154 |
+
action: [j1, j2, j3, j4, j5, j6, j7, j8, j9, j10, j11, j12]
|
| 155 |
+
- 'L_Base', 'L_Shoulder', 'L_Elbow', 'L_Wrist1', 'L_Wrist2' 'L_Wrist3' 'R_Base', 'R_Shoulder', 'R_Elbow', 'R_Wrist1', 'R_Wrist2', 'R_Wrist3' : Absolute joint positions for two 6-DOF arms (radians)
|
| 156 |
+
action.left: [j1, j2, j3, j4, j5, j6]
|
| 157 |
+
- 'L_Base', 'L_Shoulder', 'L_Elbow', 'L_Wrist1', 'L_Wrist2' 'L_Wrist3' : Absolute joint positions for 6-DOF arm (radians)
|
| 158 |
+
action.right: [j1, j2, j3, j4, j5, j6]
|
| 159 |
+
- 'R_Base', 'R_Shoulder', 'R_Elbow', 'R_Wrist1', 'R_Wrist2', 'R_Wrist3' : Absolute joint positions for 6-DOF arm (radians)
|
| 160 |
+
```
|
| 161 |
+
<!-- - gripper: Gripper opening angle (radians) -->
|
| 162 |
+
|
| 163 |
+
### State Space Representation
|
| 164 |
+
|
| 165 |
+
**State Information Included:**
|
| 166 |
+
- [ ] **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 |
+
**Example:**
|
| 177 |
+
```
|
| 178 |
+
observation.state: ["left_x", "left_y", "left_z", "left_qx", "left_qy", "left_qz", "left_qw", "right_x", "right_y", "right_z", "right_qx", "right_qy", "right_qz", "right_qw"]
|
| 179 |
+
- left_x, left_y, left_z, right_x, right_y, right_z: Absolute position in left and right robot base frame (meters)
|
| 180 |
+
- left_qx, left_qy, left_qz, left_qw, right_qx, "right_qy, right_qz, right_qw: Absolute orientation as quaternion
|
| 181 |
+
observation.state.left: [x, y, z, qx, qy, qz, qw]
|
| 182 |
+
- x, y, z: Absolute position in left robot base frame (meters)
|
| 183 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 184 |
+
observation.state.right: [x, y, z, qx, qy, qz, qw]
|
| 185 |
+
- x, y, z: Absolute position in right robot base frame (meters)
|
| 186 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 187 |
+
```
|
| 188 |
+
|
| 189 |
+
### 📋 Recommended Additional Representations
|
| 190 |
+
**Step Information Included:**
|
| 191 |
+
- [x] **Step Labels**
|
| 192 |
+
|
| 193 |
+
**Example:**
|
| 194 |
+
```
|
| 195 |
+
observation.step_label: ["label"]
|
| 196 |
+
- label: step labels represent the robot motion state, for each trajectory includes 3 labels and 5 motion sequences ('hold - alignment - hold - insertion - hold').
|
| 197 |
+
```
|
| 198 |
+
<!-- ### 📋 Recommended Additional Representations
|
| 199 |
+
|
| 200 |
+
*Even if not your primary action/state representation, we strongly encourage including these standardized formats for maximum compatibility:*
|
| 201 |
+
|
| 202 |
+
**Recommended Action Fields:**
|
| 203 |
+
- **`action.cartesian_absolute`**: Absolute Cartesian pose with absolute quaternions
|
| 204 |
+
```
|
| 205 |
+
[x, y, z, qx, qy, qz, qw, gripper_angle]
|
| 206 |
+
```
|
| 207 |
+
|
| 208 |
+
**Recommended State Fields:**
|
| 209 |
+
- **`observation.state.joint_positions`**: Absolute positions for all articulated joints
|
| 210 |
+
```
|
| 211 |
+
[joint_1, joint_2, ..., joint_n]
|
| 212 |
+
``` -->
|
| 213 |
+
|
| 214 |
+
|
| 215 |
+
---
|
| 216 |
+
|
| 217 |
+
## ⏱️ Data Synchronization Approach
|
| 218 |
+
<!--
|
| 219 |
+
*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.* -->
|
| 220 |
+
|
| 221 |
+
*We collect joint kinematics from our UR5e, RGB-D frames from Intel RealSense D435 cameras and US images from Siemens Acuson Juniper with 12L3 transducer, all running in ROS 1 Noetic 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, /frame_grabber/us_img, /camera_top/color/image_raw, /right_tcp_pos, and /left_tcp_pos in a single rosbag 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 ±100 ms across a 2-minute capture.*
|
| 222 |
+
|
| 223 |
+
---
|
| 224 |
+
|
| 225 |
+
## 👥 Attribution & Contact
|
| 226 |
+
|
| 227 |
+
*Please provide attribution for the dataset creators and a point of contact.*
|
| 228 |
+
|
| 229 |
+
| | |
|
| 230 |
+
| :--- | :--- |
|
| 231 |
+
| **Dataset Lead** | `[Zhongyu Chen, Yunxi Tang, Tianqi Yang, Xiangyu Chu]` |
|
| 232 |
+
| **Institution** | `[Bioinspired Robotics and Medical Technology (BMT) Lab, Department of Mechanical and Automation Engineering (MAE), The Chinese University of Hong Kong (CUHK) ]` |
|
| 233 |
+
| **Contact Email** | `[zhongyuchen001@cuhk.edu.hk, 1155245457@link.cuhk.edu.hk, tianqiyang@cuhk.edu.hk, xychu@mae.cuhk.edu.hk]` |
|
| 234 |
+
<!-- | **Citation (BibTeX)** | <pre><code>@misc{[your_dataset_name_2025],<br> author = {[Your Name(s)]},<br> title = {[Your Dataset Title]},<br> year = {2025},<br> publisher = {Open-H-Embodiment},<br> note = {https://hrpp.research.virginia.edu/teams/irb-sbs/researcher-guide-irb-sbs/identifiers}<br>}</code></pre> | -->
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes.jsonl
ADDED
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|
| 742 |
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|
| 743 |
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{"episode_index": 742, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 978}
|
| 744 |
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|
| 745 |
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|
| 746 |
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|
| 747 |
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|
| 748 |
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|
| 749 |
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|
| 750 |
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|
| 751 |
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|
| 752 |
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|
| 753 |
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|
| 754 |
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|
| 755 |
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|
| 756 |
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{"episode_index": 755, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1108}
|
| 757 |
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{"episode_index": 756, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1271}
|
| 758 |
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|
| 759 |
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{"episode_index": 758, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1167}
|
| 760 |
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{"episode_index": 759, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 924}
|
| 761 |
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{"episode_index": 760, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1147}
|
| 762 |
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{"episode_index": 761, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1046}
|
| 763 |
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{"episode_index": 762, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 764 |
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{"episode_index": 763, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1021}
|
| 765 |
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{"episode_index": 764, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 988}
|
| 766 |
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{"episode_index": 765, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1132}
|
| 767 |
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{"episode_index": 766, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1003}
|
| 768 |
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|
| 769 |
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{"episode_index": 768, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1193}
|
| 770 |
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{"episode_index": 769, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 884}
|
| 771 |
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{"episode_index": 770, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 997}
|
| 772 |
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|
| 773 |
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|
| 774 |
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|
| 775 |
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|
| 776 |
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|
| 777 |
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|
| 778 |
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|
| 779 |
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|
| 780 |
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|
| 781 |
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{"episode_index": 780, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 942}
|
| 782 |
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{"episode_index": 781, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1060}
|
| 783 |
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|
| 784 |
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{"episode_index": 783, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1000}
|
| 785 |
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|
| 786 |
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{"episode_index": 785, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1126}
|
| 787 |
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{"episode_index": 786, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1160}
|
| 788 |
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{"episode_index": 787, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1262}
|
| 789 |
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|
| 790 |
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|
| 791 |
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|
| 792 |
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|
| 793 |
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|
| 794 |
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|
| 795 |
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|
| 796 |
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|
| 797 |
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|
| 798 |
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|
| 799 |
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{"episode_index": 798, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1051}
|
| 800 |
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{"episode_index": 799, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1141}
|
| 801 |
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{"episode_index": 800, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 935}
|
| 802 |
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{"episode_index": 801, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1007}
|
| 803 |
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{"episode_index": 802, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1055}
|
| 804 |
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{"episode_index": 803, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1112}
|
| 805 |
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{"episode_index": 804, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1150}
|
| 806 |
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{"episode_index": 805, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1137}
|
| 807 |
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{"episode_index": 806, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1183}
|
| 808 |
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{"episode_index": 807, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1063}
|
| 809 |
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{"episode_index": 808, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1204}
|
| 810 |
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{"episode_index": 809, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1328}
|
| 811 |
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{"episode_index": 810, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1103}
|
| 812 |
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{"episode_index": 811, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1145}
|
| 813 |
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{"episode_index": 812, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1192}
|
| 814 |
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{"episode_index": 813, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1019}
|
| 815 |
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{"episode_index": 814, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1120}
|
| 816 |
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{"episode_index": 815, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 977}
|
| 817 |
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{"episode_index": 816, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 818 |
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{"episode_index": 817, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1416}
|
| 819 |
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{"episode_index": 818, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1133}
|
| 820 |
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{"episode_index": 819, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1091}
|
| 821 |
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{"episode_index": 820, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1117}
|
| 822 |
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{"episode_index": 821, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 980}
|
| 823 |
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{"episode_index": 822, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1012}
|
| 824 |
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{"episode_index": 823, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1083}
|
| 825 |
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{"episode_index": 824, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1127}
|
| 826 |
+
{"episode_index": 825, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1080}
|
| 827 |
+
{"episode_index": 826, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1007}
|
| 828 |
+
{"episode_index": 827, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1147}
|
| 829 |
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{"episode_index": 828, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1049}
|
| 830 |
+
{"episode_index": 829, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 924}
|
| 831 |
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{"episode_index": 830, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1054}
|
| 832 |
+
{"episode_index": 831, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1002}
|
| 833 |
+
{"episode_index": 832, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1122}
|
| 834 |
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{"episode_index": 833, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 993}
|
| 835 |
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{"episode_index": 834, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 974}
|
| 836 |
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{"episode_index": 835, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1007}
|
| 837 |
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{"episode_index": 836, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1052}
|
| 838 |
+
{"episode_index": 837, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1082}
|
| 839 |
+
{"episode_index": 838, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 961}
|
| 840 |
+
{"episode_index": 839, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1207}
|
| 841 |
+
{"episode_index": 840, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 923}
|
| 842 |
+
{"episode_index": 841, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 898}
|
| 843 |
+
{"episode_index": 842, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1007}
|
| 844 |
+
{"episode_index": 843, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 941}
|
| 845 |
+
{"episode_index": 844, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 992}
|
| 846 |
+
{"episode_index": 845, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1141}
|
| 847 |
+
{"episode_index": 846, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1510}
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_dataset/bmt_insertion_dataset/meta/info.json
ADDED
|
@@ -0,0 +1,347 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "UR5e",
|
| 4 |
+
"total_episodes": 847,
|
| 5 |
+
"total_frames": 814451,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1694,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:130,163:323,364:448,469:692,748:827",
|
| 13 |
+
"val": "130:146,323:343,448:458,692:719,827:836",
|
| 14 |
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