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Surgical/ucsd/surgical_learning_dataset/meta/info.json

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Surgical/ucsd/surgical_learning_dataset/meta/modality.json

@@ -0,0 +1,18 @@
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Surgical/ucsd/surgical_learning_dataset/meta/relative_stats.json

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Surgical/ucsd/surgical_learning_dataset/meta/stats.json

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Surgical/ucsd/surgical_learning_dataset/meta/tasks.jsonl

@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "retraction"}
+{"task_index": 1, "task": "dissection"}

Surgical/ucsd/surgical_learning_dataset/readme.md

@@ -0,0 +1,227 @@
+# Retraction and Dissection Dataset
+
+---
+
+## 📋 At a Glance
+
+Teleoperated demonstrations of surgical retraction and tissue dissection tasks collected for learning-based robotic manipulation.
+
+---
+
+## 📖 Dataset Overview
+
+This dataset contains expert teleoperated demonstrations of **retraction** and **dissection**, two fundamental subtasks in surgical manipulation workflows.  
+The dataset is designed to support **imitation learning**, **policy learning**, and **multi-skill robotic manipulation** in contact-rich and constrained environments.
+
+Demonstrations include both successful executions and recovery behaviors from suboptimal states, enabling robust policy learning under realistic failure conditions.
+
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 1200 |
+| **Total Hours** | 18.5 |
+| **Data Type** | [ ] Clinical  [ ] Ex-Vivo  [x] Table-Top Phantom  [ ] Digital Simulation  [ ] Physical Simulation |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+
+---
+
+## 🎯 Tasks & Domain
+
+### Domain
+
+- [x] Surgical Robotics
+- [ ] Ultrasound Robotics
+- [ ] Other Healthcare Robotics
+
+### Demonstrated Skills
+
+This dataset focuses on two complementary surgical manipulation skills:
+
+- **Retraction**
+  - Grasping deformable tissue or surrogate material
+  - Maintaining stable and continuous tension
+  - Adjusting pulling direction to expose the target region
+
+- **Dissection**
+  - Tool alignment and approach
+  - Controlled cutting along tissue boundaries
+  - Coordinated motion between retraction and cutting tools
+
+---
+
+## 🔬 Data Collection Details
+
+### Collection Method
+
+- [x] Human Teleoperation
+- [ ] Programmatic / State-Machine
+- [ ] AI Policy / Autonomous
+
+### Operator Details
+
+| | Description |
+| :--- | :--- |
+| **Operator Count** | 2 |
+| **Operator Skill Level** | Intermediate (Trained Researcher) |
+| **Collection Period** | 2024-06-01 to 2024-08-30 |
+
+### Recovery Demonstrations
+
+- [x] Yes
+- [ ] No
+
+**Description:**  
+Recovery demonstrations include failed grasps, insufficient tissue tension, and misaligned cutting trajectories.  
+Operators re-orient tools, re-establish stable contact, and resume task execution from intermediate states.
+
+---
+
+## 💡 Diversity Dimensions
+
+- [x] Camera Position / Angle  
+- [ ] Lighting Conditions  
+- [x] Target Object  
+- [x] Spatial Layout  
+- [ ] Robot Embodiment  
+- [x] Task Execution  
+- [ ] Background / Scene  
+
+**Elaboration:**  
+Target tissue phantoms are placed at varying positions and orientations.  
+Operators employ different retraction directions and dissection strategies to encourage behavioral diversity.
+
+---
+
+## 🛠️ Equipment & Setup
+
+### Robotic Platform
+
+- da Vinci Research Kit (dVRK)
+
+### Sensors & Cameras
+
+| Type | Model / Details |
+| :--- | :--- |
+| Primary Camera | Endoscopic camera, 1920×1080 @ 30fps |
+| Room Camera | Fixed external RGB camera |
+| Force/Torque Sensor | Not available |
+| Other Sensors | Robot joint encoders |
+
+---
+
+## 🎯 Action & State Space Representation
+
+### Action Space Representation
+
+**Primary Action Representation:**
+- [ ] **Absolute Cartesian** (position/orientation relative to robot base)
+- [x] **Relative Cartesian** (delta position/orientation from current pose)
+- [ ] **Joint Space** (direct joint angle commands)
+- [ ] **Other**
+
+**Orientation Representation:**
+- [x] **Quaternions** (x, y, z, w)
+- [ ] **Euler Angles**
+- [ ] **Axis-Angle**
+- [ ] **Rotation Matrix**
+- [ ] **Other**
+
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [x] **Other** (Delta end-effector pose commands; reference frame not explicitly specified)
+
+**Action Dimensions:**
+```
+action: [
+  dPSM_RETRACTION_x,
+  dPSM_RETRACTION_y,
+  dPSM_RETRACTION_z,
+  dPSM_RETRACTION_qw,
+  dPSM_RETRACTION_qx,
+  dPSM_RETRACTION_qy,
+  dPSM_RETRACTION_qz,
+  dPSM_RETRACTION_gripper,
+  dPSM_CUTTER_x,
+  dPSM_CUTTER_y,
+  dPSM_CUTTER_z,
+  dPSM_CUTTER_qw,
+  dPSM_CUTTER_qx,
+  dPSM_CUTTER_qy,
+  dPSM_CUTTER_qz,
+  dPSM_CUTTER_gripper
+]
+```
+
+- 16-D float32 action vector per timestep  
+- Relative end-effector pose updates for two PSMs  
+- Quaternion-based orientation deltas  
+- Gripper control commands
+
+---
+
+### State Space Representation
+
+**State Information Included:**
+- [x] **Joint Positions**
+- [x] **Joint Velocities**
+- [x] **End-Effector Pose**
+- [ ] **Force/Torque Readings**
+- [x] **Gripper State**
+- [x] **Other** (joint efforts, dissection target points)
+
+**State Dimensions:**
+```
+observation.state: [
+  psm_retraction_joint_positions (6),
+  psm_retraction_joint_velocities (6),
+  psm_retraction_joint_efforts (6),
+  psm_retraction_gripper_state (2),
+  psm_cutter_joint_positions (6),
+  psm_cutter_joint_velocities (6),
+  psm_cutter_joint_efforts (6),
+  psm_cutter_gripper_state (2),
+  retraction_end_effector_pose (7),
+  cutter_end_effector_pose (7),
+  dissection_target_points (8)
+]
+```
+
+- 62-D float32 state vector  
+- Full kinematic + effort feedback for both PSMs  
+- End-effector poses as position + quaternion  
+- Four 2D dissection target points
+
+## ⏱️ Data Synchronization Approach
+
+All robot state signals, action commands, and stereo endoscopic video streams are synchronized using a shared system clock during data collection.  
+Each frame is timestamped at capture time and aligned at a fixed rate of **30 FPS**.
+
+Specifically:
+- Robot joint states, end-effector poses, gripper states, and action commands are recorded at the control loop frequency.
+- Stereo endoscopic videos (`observation.images.left` and `observation.images.right`) are captured at 30 FPS and timestamped using the same clock.
+- During dataset export, all modalities are aligned by timestamp to form per-frame observations stored in parquet files.
+
+This ensures consistent temporal correspondence between visual observations, robot kinematics, and control actions across the entire dataset.
+
+---
+
+## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Changwei Chen, Yinuo Yang, Xiao Liang, Michael Yip |
+| **Institution** | Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA |
+| **Contact Email** | {chc165, yiy124 ,x5liang, yip}@ucsd.edu |
+| **Citation (BibTeX)** | @misc{ucsd_openh_phantom_2026, author = {Chen, Changwei and Yang, Yinuo and Liang, Xiao and Yip, Michael}, title = {UC San Diego Phantom Surgical Robotics Dataset (Open-H Embodiment)}, year = {2026}, publisher = {Open-H Embodiment}, note = {Dataset will be released via Open-H Embodiment; link/DOI forthcoming. Contact: chc165@ucsd.edu}
+} |## 👥 Attribution & Contact
+
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Changwei Chen, Yinuo Yang, Xiao Liang, Michael Yip |
+| **Institution** | Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA |
+| **Contact Email** | {chc165, yiy124 ,x5liang, yip}@ucsd.edu |
+| **Citation (BibTeX)** | @misc{ucsd_openh_phantom_2026, author = {Chen, Changwei and Yang, Yinuo and Liang, Xiao and Yip, Michael}, title = {UC San Diego Phantom Surgical Robotics Dataset (Open-H Embodiment)}, year = {2026}, publisher = {Open-H Embodiment}, note = {Dataset will be released via Open-H Embodiment; link/DOI forthcoming. Contact: chc165@ucsd.edu}
+} |