Add files using upload-large-folder tool
Browse files- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000035.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000041.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000044.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000048.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000063.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000106.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000146.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000177.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000189.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000194.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000196.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000199.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000222.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000251.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000264.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000265.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000273.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000326.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000331.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000345.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000365.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000384.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000403.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000404.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000410.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000411.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000427.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000459.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000479.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000495.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000500.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000502.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000525.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000526.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000527.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000531.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000537.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000557.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000564.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000582.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000600.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000604.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000633.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000644.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000652.parquet +3 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/README.md +234 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/episodes.jsonl +665 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/episodes_stats.jsonl +0 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/info.json +347 -0
- Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/tasks.jsonl +1 -0
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000035.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1eefdea2ab2946d479bdfe7b512e5cc958dd4d0f9b43f5cc51ad5c72df10b340
|
| 3 |
+
size 278559
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000041.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1ab1034a6a2df9208fd92dda9fcab64aa11f7e96c24554517e89803b090bf69
|
| 3 |
+
size 277380
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000044.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b69c69454aae6cecf9629f835f9334fe70a19e73d013c1601ee350c562c9247c
|
| 3 |
+
size 282707
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000048.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a227903701c3f638e1b09c2a9144844e3eb002f43cfe70e855187a98849b6038
|
| 3 |
+
size 236564
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000063.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4523671d97ecebef38729c8eec79f4ffcaba757427a3baf352f9ccffe3e6900
|
| 3 |
+
size 291859
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000106.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8fca21fdeaab191eace6fd0b9fbfa89de57dd90ee600f80270976213fc1be35c
|
| 3 |
+
size 231178
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000146.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b3c8fe5b2dc2470e224a8437c469db9519fe685b6af49eb7ee9999f20467dd8
|
| 3 |
+
size 226472
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000177.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:14aa71d9556d1f98161babd2a7433989c1718a3227a7b9dfe66ed5dd919ec3e2
|
| 3 |
+
size 232947
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000189.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3866977af44887d73be7ab2150c9b4d0bc2cd2875f6897c603153750e3ea1a77
|
| 3 |
+
size 211883
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000194.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0c02e3d98665fff28fe3382da898b6f25a033e0e154296439f874066abbed6e1
|
| 3 |
+
size 220790
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000196.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ced5cf22943192a5052cbac1d1d7d9f3fa31d10bf00ac013650eac7b1d8d83b1
|
| 3 |
+
size 216287
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000199.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:65be3eb75210f84ac88a5ef69cfa8571eb0b19c1a33e930a3dc71765d2178ae0
|
| 3 |
+
size 217278
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000222.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb148e10ccfb17e8c05ef3f7d9ecafd7f91c4ecd310390c072e819b58f1f5695
|
| 3 |
+
size 209986
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000251.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd2435c13d0b026b3ba2a32efaccdd2bc82bb47d0b146afdfc9ebdfa45b9e3b8
|
| 3 |
+
size 241182
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000264.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:467312322689ba82a2a133821b149bb3ec66d220c95d02f08a3c2757f993069e
|
| 3 |
+
size 272695
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000265.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5fd5b43885ba534ccc9dd2dc512385ab5f689f69c4e75923f17049d383e2a90a
|
| 3 |
+
size 289105
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000273.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e89af6da168911aecc786e9564965a28793e608b2e5afa9a89fcacb2051c5cef
|
| 3 |
+
size 252480
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000326.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ad8216f7b38e74eac39e4d39c8f44f03f2058d2f6d4150d582e8b9789056df9d
|
| 3 |
+
size 199624
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000331.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6f04966b786f146761aa3e9748b8a325a01c9942662a62bf4a65c0af70606201
|
| 3 |
+
size 216512
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000345.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3e7e68e72c1083e10b8fd784c33dbd6c130b49bba5bf9fb4b585487ada7d579a
|
| 3 |
+
size 209808
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000365.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f2cfc920097fc63761e3fe0ce80a3bd9f9fea0471cf241890734f05d40fa5811
|
| 3 |
+
size 200260
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000384.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:09523b6f51adc66344a4fbbd16f2238a8f5dfbef916b0e1f320a56a223f542a9
|
| 3 |
+
size 234355
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000403.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e1fab7a43220e2868fa21c7828569732df0dee3c1217f37e9167978bdb0b2a98
|
| 3 |
+
size 265041
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000404.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca5fd141359a9fbfadec315aff1ee0874247a11565e6172261238e0f7f59f497
|
| 3 |
+
size 237333
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000410.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e51e418ab5bf26b99df3e7659c452639136e8d256ff47467a7b7b85acaaa6ba
|
| 3 |
+
size 193559
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000411.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2b163f7e4d68f5d28dac1bd39ad137db30caa8b14307c2128d3e187b2f822ba4
|
| 3 |
+
size 234561
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000427.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:541db2c0229879836a255db9d1f6dcdac71d6f7a01ec5f46a23c44c7d6753b7e
|
| 3 |
+
size 238238
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000459.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:736499894b484d5656ced4bb78102a7a3d57344f3800930042feb98546a77812
|
| 3 |
+
size 239941
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000479.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ecad61cfe64faf087438f820228d9c838cab407c802a2f8135261fcfbeb1b7e
|
| 3 |
+
size 219749
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000495.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:67140db0e5a30609bc83c672b4115f4a4a9db62d28de9d5932584fef8a597649
|
| 3 |
+
size 218138
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000500.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4c7e5556b60ba340575fe0e5c63d18cb5619f35dd14349395b8a8493c93330cb
|
| 3 |
+
size 217849
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000502.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f1bf04f4ecbb1a2c0475ee44ecf32efefeedb42f1d7e88529d511f13db83c29d
|
| 3 |
+
size 228311
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000525.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ca1bf917ea107dca14988a1d6f98c7f9f04193194b644d752bff472b31aa2b5
|
| 3 |
+
size 222607
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000526.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68076a2d8946788cab20ee383dfafc5c8d731b8369d396ec913de84b6576ae69
|
| 3 |
+
size 222898
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000527.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b6bf59661f093eac492192bf86ca5246707c90a6c529a3ccb46adc8e4b6c8023
|
| 3 |
+
size 220787
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000531.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5573b473525fe5f6a62917f0ac94d207550a8816d4c3ccab4e9997199d7c4554
|
| 3 |
+
size 227459
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000537.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:93457d03923b6ecd6d0f8039c56cda7b080e8593dc5f670d490062328de640a8
|
| 3 |
+
size 217246
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000557.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9cf170ef85835e07980127894c8f820ee4fb1d7a9d80d38073cd7a2b59badd7f
|
| 3 |
+
size 215392
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000564.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a516e68bdc07c6b024b370c652ca0eb8db0751ef1207691883f2b9c3dc283cbf
|
| 3 |
+
size 222718
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000582.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca608fdd0abb564e52b28a0895ca08db13796484f85ee85fc17017ca16464461
|
| 3 |
+
size 300196
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000600.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b7435f0095f9bf2843a8996b225e424218bc1acce524ae6ec4b198eed79e4ce
|
| 3 |
+
size 266372
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000604.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d396ff2a6135073becb36910e465ac28c208c3b4ddaa18a74487282c39e017db
|
| 3 |
+
size 208226
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000633.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:361451054e870816e5ae22a2c1c0d6b11d97648079558006b2393ac1967ff81e
|
| 3 |
+
size 199624
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000644.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94b9674581779d0958dddff98fcc47b2a0529b2582e59ff926d6f3a8dc37dfc6
|
| 3 |
+
size 259790
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/data/chunk-000/episode_000652.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c8d18e5f1faf555a399b643c39062797fca111d7115f4207e4ccfc86c8beb36
|
| 3 |
+
size 291362
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/README.md
ADDED
|
@@ -0,0 +1,234 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
# [Dataset Name] - README
|
| 8 |
+
|
| 9 |
+
---
|
| 10 |
+
|
| 11 |
+
## 📋 At a Glance
|
| 12 |
+
|
| 13 |
+
Static dual-arm in-plane needle insertion with interferences
|
| 14 |
+
|
| 15 |
+
---
|
| 16 |
+
|
| 17 |
+
## 📖 Dataset Overview
|
| 18 |
+
|
| 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.*
|
| 20 |
+
<!-- It includes successful trials, failures, and recovery attempts to provide a robust dataset for training imitation learning policies.* -->
|
| 21 |
+
|
| 22 |
+
| | |
|
| 23 |
+
| :--- | :--- |
|
| 24 |
+
| **Total Trajectories** | `[2000]` |
|
| 25 |
+
| **Total Hours** | `[25]` |
|
| 26 |
+
| **Data Type** | `[ ] Clinical` `[x] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation` `[ ] Physical Simulation` `[ ] Other (If checked, update "Other")` |
|
| 27 |
+
| **License** | CC BY 4.0 |
|
| 28 |
+
| **Version** | `[1.0]` |
|
| 29 |
+
|
| 30 |
+
---
|
| 31 |
+
|
| 32 |
+
## 🎯 Tasks & Domain
|
| 33 |
+
|
| 34 |
+
### Domain
|
| 35 |
+
|
| 36 |
+
*Select the primary domain for this dataset.*
|
| 37 |
+
|
| 38 |
+
- [ ] **Surgical Robotics**
|
| 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?*
|
| 56 |
+
|
| 57 |
+
- [ ] **Human Teleoperation**
|
| 58 |
+
- [x] **Programmatic/State-Machine**
|
| 59 |
+
- [ ] **AI Policy / Autonomous**
|
| 60 |
+
- [ ] **Other** (Please specify: `[Your Method]`)
|
| 61 |
+
|
| 62 |
+
### Operator Details
|
| 63 |
+
|
| 64 |
+
| | Description |
|
| 65 |
+
| :--- | :--- |
|
| 66 |
+
| **Operator Count** | `[1]` |
|
| 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]`
|
| 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 |
+
- [x] **Absolute Cartesian** (position/orientation relative to robot base)
|
| 131 |
+
- [ ] **Relative Cartesian** (delta position/orientation from current pose)
|
| 132 |
+
- [ ] **Joint Space** (direct joint angle commands)
|
| 133 |
+
- [ ] **Other** (Please specify: `[Your Representation]`)
|
| 134 |
+
|
| 135 |
+
**Orientation Representation:**
|
| 136 |
+
- [x] **Quaternions** (x, y, z, w)
|
| 137 |
+
- [ ] **Euler Angles** (roll, pitch, yaw)
|
| 138 |
+
- [ ] **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: ["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"]
|
| 155 |
+
- left_x, left_y, left_z, right_x, right_y, right_z: Absolute position in left and right robot base frame (meters)
|
| 156 |
+
- left_qx, left_qy, left_qz, left_qw, right_qx, "right_qy, right_qz, right_qw: Absolute orientation as quaternion
|
| 157 |
+
action.left: [x, y, z, qx, qy, qz, qw]
|
| 158 |
+
- x, y, z: Absolute position in left robot base frame (meters)
|
| 159 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 160 |
+
action.right: [x, y, z, qx, qy, qz, qw]
|
| 161 |
+
- x, y, z: Absolute position in right robot base frame (meters)
|
| 162 |
+
- qx, qy, qz, qw: Absolute orientation as quaternion
|
| 163 |
+
```
|
| 164 |
+
<!-- - gripper: Gripper opening angle (radians) -->
|
| 165 |
+
|
| 166 |
+
### State Space Representation
|
| 167 |
+
|
| 168 |
+
**State Information Included:**
|
| 169 |
+
- [x] **Joint Positions** (all articulated joints)
|
| 170 |
+
- [ ] **Joint Velocities**
|
| 171 |
+
- [ ] **End-Effector Pose** (Cartesian position/orientation)
|
| 172 |
+
- [ ] **Force/Torque Readings**
|
| 173 |
+
- [ ] **Gripper State** (position, force, etc.)
|
| 174 |
+
- [ ] **Other** (Please specify: `[Your State Info]`)
|
| 175 |
+
|
| 176 |
+
<!-- **State Dimensions:**
|
| 177 |
+
*List the state space dimensions and their meanings.* -->
|
| 178 |
+
|
| 179 |
+
**Example:**
|
| 180 |
+
```
|
| 181 |
+
observation.state: [j1, j2, j3, j4, j5, j6, j7, j8, j9, j10, j11, j12]
|
| 182 |
+
- '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)
|
| 183 |
+
observation.state.left: [j1, j2, j3, j4, j5, j6]
|
| 184 |
+
- 'L_Base', 'L_Shoulder', 'L_Elbow', 'L_Wrist1', 'L_Wrist2' 'L_Wrist3' : Absolute joint positions for 6-DOF arm (radians)
|
| 185 |
+
observation.state.right: [j1, j2, j3, j4, j5, j6]
|
| 186 |
+
- 'R_Base', 'R_Shoulder', 'R_Elbow', 'R_Wrist1', 'R_Wrist2', 'R_Wrist3' : Absolute joint positions for 6-DOF arm (radians)
|
| 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_vessel_dataset/bmt_insertion_vessel_dataset/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,665 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1114}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1068}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1228}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 2}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1000}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 879}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 917}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1093}
|
| 9 |
+
{"episode_index": 8, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 994}
|
| 10 |
+
{"episode_index": 9, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1026}
|
| 11 |
+
{"episode_index": 10, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1000}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 848}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1060}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1139}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1143}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 904}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1103}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1036}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1086}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1177}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1190}
|
| 22 |
+
{"episode_index": 21, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 951}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 928}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 984}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 988}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1066}
|
| 27 |
+
{"episode_index": 26, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 988}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1117}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1174}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1102}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1069}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1104}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1059}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 992}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1002}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1095}
|
| 37 |
+
{"episode_index": 36, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1066}
|
| 38 |
+
{"episode_index": 37, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1018}
|
| 39 |
+
{"episode_index": 38, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1113}
|
| 40 |
+
{"episode_index": 39, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 970}
|
| 41 |
+
{"episode_index": 40, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1083}
|
| 42 |
+
{"episode_index": 41, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1096}
|
| 43 |
+
{"episode_index": 42, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 44 |
+
{"episode_index": 43, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1105}
|
| 45 |
+
{"episode_index": 44, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1117}
|
| 46 |
+
{"episode_index": 45, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 967}
|
| 47 |
+
{"episode_index": 46, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1181}
|
| 48 |
+
{"episode_index": 47, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1008}
|
| 49 |
+
{"episode_index": 48, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 959}
|
| 50 |
+
{"episode_index": 49, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 969}
|
| 51 |
+
{"episode_index": 50, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 922}
|
| 52 |
+
{"episode_index": 51, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1049}
|
| 53 |
+
{"episode_index": 52, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1127}
|
| 54 |
+
{"episode_index": 53, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1109}
|
| 55 |
+
{"episode_index": 54, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1192}
|
| 56 |
+
{"episode_index": 55, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 57 |
+
{"episode_index": 56, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 962}
|
| 58 |
+
{"episode_index": 57, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1172}
|
| 59 |
+
{"episode_index": 58, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1283}
|
| 60 |
+
{"episode_index": 59, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 942}
|
| 61 |
+
{"episode_index": 60, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1190}
|
| 62 |
+
{"episode_index": 61, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1029}
|
| 63 |
+
{"episode_index": 62, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1074}
|
| 64 |
+
{"episode_index": 63, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1148}
|
| 65 |
+
{"episode_index": 64, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1068}
|
| 66 |
+
{"episode_index": 65, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1051}
|
| 67 |
+
{"episode_index": 66, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1146}
|
| 68 |
+
{"episode_index": 67, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 943}
|
| 69 |
+
{"episode_index": 68, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 968}
|
| 70 |
+
{"episode_index": 69, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1040}
|
| 71 |
+
{"episode_index": 70, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1149}
|
| 72 |
+
{"episode_index": 71, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 999}
|
| 73 |
+
{"episode_index": 72, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1042}
|
| 74 |
+
{"episode_index": 73, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 967}
|
| 75 |
+
{"episode_index": 74, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1207}
|
| 76 |
+
{"episode_index": 75, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1029}
|
| 77 |
+
{"episode_index": 76, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 869}
|
| 78 |
+
{"episode_index": 77, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1050}
|
| 79 |
+
{"episode_index": 78, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 992}
|
| 80 |
+
{"episode_index": 79, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1032}
|
| 81 |
+
{"episode_index": 80, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 82 |
+
{"episode_index": 81, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 83 |
+
{"episode_index": 82, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 84 |
+
{"episode_index": 83, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 956}
|
| 85 |
+
{"episode_index": 84, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 856}
|
| 86 |
+
{"episode_index": 85, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 87 |
+
{"episode_index": 86, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 88 |
+
{"episode_index": 87, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 838}
|
| 89 |
+
{"episode_index": 88, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 883}
|
| 90 |
+
{"episode_index": 89, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1039}
|
| 91 |
+
{"episode_index": 90, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 92 |
+
{"episode_index": 91, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 93 |
+
{"episode_index": 92, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 925}
|
| 94 |
+
{"episode_index": 93, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 95 |
+
{"episode_index": 94, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 988}
|
| 96 |
+
{"episode_index": 95, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1077}
|
| 97 |
+
{"episode_index": 96, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1019}
|
| 98 |
+
{"episode_index": 97, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 873}
|
| 99 |
+
{"episode_index": 98, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 941}
|
| 100 |
+
{"episode_index": 99, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 101 |
+
{"episode_index": 100, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 939}
|
| 102 |
+
{"episode_index": 101, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1016}
|
| 103 |
+
{"episode_index": 102, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 886}
|
| 104 |
+
{"episode_index": 103, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 919}
|
| 105 |
+
{"episode_index": 104, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 865}
|
| 106 |
+
{"episode_index": 105, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 896}
|
| 107 |
+
{"episode_index": 106, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 942}
|
| 108 |
+
{"episode_index": 107, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 851}
|
| 109 |
+
{"episode_index": 108, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1026}
|
| 110 |
+
{"episode_index": 109, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 989}
|
| 111 |
+
{"episode_index": 110, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 112 |
+
{"episode_index": 111, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 872}
|
| 113 |
+
{"episode_index": 112, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 847}
|
| 114 |
+
{"episode_index": 113, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 905}
|
| 115 |
+
{"episode_index": 114, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 971}
|
| 116 |
+
{"episode_index": 115, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 922}
|
| 117 |
+
{"episode_index": 116, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 851}
|
| 118 |
+
{"episode_index": 117, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 936}
|
| 119 |
+
{"episode_index": 118, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 921}
|
| 120 |
+
{"episode_index": 119, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1125}
|
| 121 |
+
{"episode_index": 120, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 865}
|
| 122 |
+
{"episode_index": 121, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1035}
|
| 123 |
+
{"episode_index": 122, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 939}
|
| 124 |
+
{"episode_index": 123, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1051}
|
| 125 |
+
{"episode_index": 124, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 126 |
+
{"episode_index": 125, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 127 |
+
{"episode_index": 126, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 916}
|
| 128 |
+
{"episode_index": 127, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 898}
|
| 129 |
+
{"episode_index": 128, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 970}
|
| 130 |
+
{"episode_index": 129, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 131 |
+
{"episode_index": 130, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 970}
|
| 132 |
+
{"episode_index": 131, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1021}
|
| 133 |
+
{"episode_index": 132, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 998}
|
| 134 |
+
{"episode_index": 133, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1220}
|
| 135 |
+
{"episode_index": 134, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1094}
|
| 136 |
+
{"episode_index": 135, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1014}
|
| 137 |
+
{"episode_index": 136, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 883}
|
| 138 |
+
{"episode_index": 137, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1067}
|
| 139 |
+
{"episode_index": 138, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 140 |
+
{"episode_index": 139, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1048}
|
| 141 |
+
{"episode_index": 140, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1132}
|
| 142 |
+
{"episode_index": 141, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 946}
|
| 143 |
+
{"episode_index": 142, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1027}
|
| 144 |
+
{"episode_index": 143, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 904}
|
| 145 |
+
{"episode_index": 144, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 976}
|
| 146 |
+
{"episode_index": 145, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 831}
|
| 147 |
+
{"episode_index": 146, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 921}
|
| 148 |
+
{"episode_index": 147, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 948}
|
| 149 |
+
{"episode_index": 148, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 150 |
+
{"episode_index": 149, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 151 |
+
{"episode_index": 150, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 941}
|
| 152 |
+
{"episode_index": 151, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 861}
|
| 153 |
+
{"episode_index": 152, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1014}
|
| 154 |
+
{"episode_index": 153, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1035}
|
| 155 |
+
{"episode_index": 154, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1088}
|
| 156 |
+
{"episode_index": 155, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1013}
|
| 157 |
+
{"episode_index": 156, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 937}
|
| 158 |
+
{"episode_index": 157, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1058}
|
| 159 |
+
{"episode_index": 158, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 160 |
+
{"episode_index": 159, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 961}
|
| 161 |
+
{"episode_index": 160, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 991}
|
| 162 |
+
{"episode_index": 161, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 920}
|
| 163 |
+
{"episode_index": 162, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 979}
|
| 164 |
+
{"episode_index": 163, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 906}
|
| 165 |
+
{"episode_index": 164, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1335}
|
| 166 |
+
{"episode_index": 165, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1157}
|
| 167 |
+
{"episode_index": 166, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 990}
|
| 168 |
+
{"episode_index": 167, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 169 |
+
{"episode_index": 168, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 993}
|
| 170 |
+
{"episode_index": 169, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 976}
|
| 171 |
+
{"episode_index": 170, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1008}
|
| 172 |
+
{"episode_index": 171, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 870}
|
| 173 |
+
{"episode_index": 172, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 174 |
+
{"episode_index": 173, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 964}
|
| 175 |
+
{"episode_index": 174, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 965}
|
| 176 |
+
{"episode_index": 175, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 943}
|
| 177 |
+
{"episode_index": 176, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 879}
|
| 178 |
+
{"episode_index": 177, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 953}
|
| 179 |
+
{"episode_index": 178, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 854}
|
| 180 |
+
{"episode_index": 179, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 181 |
+
{"episode_index": 180, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 895}
|
| 182 |
+
{"episode_index": 181, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1178}
|
| 183 |
+
{"episode_index": 182, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 913}
|
| 184 |
+
{"episode_index": 183, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 917}
|
| 185 |
+
{"episode_index": 184, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 944}
|
| 186 |
+
{"episode_index": 185, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 932}
|
| 187 |
+
{"episode_index": 186, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 886}
|
| 188 |
+
{"episode_index": 187, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 890}
|
| 189 |
+
{"episode_index": 188, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 190 |
+
{"episode_index": 189, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 859}
|
| 191 |
+
{"episode_index": 190, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 832}
|
| 192 |
+
{"episode_index": 191, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 979}
|
| 193 |
+
{"episode_index": 192, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 853}
|
| 194 |
+
{"episode_index": 193, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 195 |
+
{"episode_index": 194, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 196 |
+
{"episode_index": 195, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 927}
|
| 197 |
+
{"episode_index": 196, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 198 |
+
{"episode_index": 197, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 199 |
+
{"episode_index": 198, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 874}
|
| 200 |
+
{"episode_index": 199, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 201 |
+
{"episode_index": 200, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 835}
|
| 202 |
+
{"episode_index": 201, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 873}
|
| 203 |
+
{"episode_index": 202, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 774}
|
| 204 |
+
{"episode_index": 203, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1025}
|
| 205 |
+
{"episode_index": 204, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 824}
|
| 206 |
+
{"episode_index": 205, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 207 |
+
{"episode_index": 206, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 928}
|
| 208 |
+
{"episode_index": 207, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 209 |
+
{"episode_index": 208, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 210 |
+
{"episode_index": 209, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 854}
|
| 211 |
+
{"episode_index": 210, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 913}
|
| 212 |
+
{"episode_index": 211, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 952}
|
| 213 |
+
{"episode_index": 212, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 906}
|
| 214 |
+
{"episode_index": 213, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 215 |
+
{"episode_index": 214, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 922}
|
| 216 |
+
{"episode_index": 215, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 217 |
+
{"episode_index": 216, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 793}
|
| 218 |
+
{"episode_index": 217, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 993}
|
| 219 |
+
{"episode_index": 218, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1023}
|
| 220 |
+
{"episode_index": 219, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 221 |
+
{"episode_index": 220, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 821}
|
| 222 |
+
{"episode_index": 221, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 223 |
+
{"episode_index": 222, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 852}
|
| 224 |
+
{"episode_index": 223, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 854}
|
| 225 |
+
{"episode_index": 224, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 876}
|
| 226 |
+
{"episode_index": 225, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1066}
|
| 227 |
+
{"episode_index": 226, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1059}
|
| 228 |
+
{"episode_index": 227, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1199}
|
| 229 |
+
{"episode_index": 228, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1253}
|
| 230 |
+
{"episode_index": 229, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1195}
|
| 231 |
+
{"episode_index": 230, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1071}
|
| 232 |
+
{"episode_index": 231, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 985}
|
| 233 |
+
{"episode_index": 232, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1219}
|
| 234 |
+
{"episode_index": 233, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 235 |
+
{"episode_index": 234, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1178}
|
| 236 |
+
{"episode_index": 235, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1040}
|
| 237 |
+
{"episode_index": 236, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1040}
|
| 238 |
+
{"episode_index": 237, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1117}
|
| 239 |
+
{"episode_index": 238, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1025}
|
| 240 |
+
{"episode_index": 239, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1057}
|
| 241 |
+
{"episode_index": 240, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1061}
|
| 242 |
+
{"episode_index": 241, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1130}
|
| 243 |
+
{"episode_index": 242, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 802}
|
| 244 |
+
{"episode_index": 243, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 998}
|
| 245 |
+
{"episode_index": 244, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1140}
|
| 246 |
+
{"episode_index": 245, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1008}
|
| 247 |
+
{"episode_index": 246, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1112}
|
| 248 |
+
{"episode_index": 247, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 968}
|
| 249 |
+
{"episode_index": 248, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 958}
|
| 250 |
+
{"episode_index": 249, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1094}
|
| 251 |
+
{"episode_index": 250, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1000}
|
| 252 |
+
{"episode_index": 251, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 989}
|
| 253 |
+
{"episode_index": 252, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1075}
|
| 254 |
+
{"episode_index": 253, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1070}
|
| 255 |
+
{"episode_index": 254, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1105}
|
| 256 |
+
{"episode_index": 255, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1005}
|
| 257 |
+
{"episode_index": 256, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 970}
|
| 258 |
+
{"episode_index": 257, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1085}
|
| 259 |
+
{"episode_index": 258, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1030}
|
| 260 |
+
{"episode_index": 259, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 938}
|
| 261 |
+
{"episode_index": 260, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1087}
|
| 262 |
+
{"episode_index": 261, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 994}
|
| 263 |
+
{"episode_index": 262, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1108}
|
| 264 |
+
{"episode_index": 263, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1088}
|
| 265 |
+
{"episode_index": 264, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1086}
|
| 266 |
+
{"episode_index": 265, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1148}
|
| 267 |
+
{"episode_index": 266, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1255}
|
| 268 |
+
{"episode_index": 267, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1132}
|
| 269 |
+
{"episode_index": 268, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1054}
|
| 270 |
+
{"episode_index": 269, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 963}
|
| 271 |
+
{"episode_index": 270, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 272 |
+
{"episode_index": 271, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1023}
|
| 273 |
+
{"episode_index": 272, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1046}
|
| 274 |
+
{"episode_index": 273, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1010}
|
| 275 |
+
{"episode_index": 274, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 941}
|
| 276 |
+
{"episode_index": 275, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 933}
|
| 277 |
+
{"episode_index": 276, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 934}
|
| 278 |
+
{"episode_index": 277, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1083}
|
| 279 |
+
{"episode_index": 278, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1003}
|
| 280 |
+
{"episode_index": 279, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 999}
|
| 281 |
+
{"episode_index": 280, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1202}
|
| 282 |
+
{"episode_index": 281, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1127}
|
| 283 |
+
{"episode_index": 282, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1031}
|
| 284 |
+
{"episode_index": 283, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 965}
|
| 285 |
+
{"episode_index": 284, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 943}
|
| 286 |
+
{"episode_index": 285, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1065}
|
| 287 |
+
{"episode_index": 286, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 909}
|
| 288 |
+
{"episode_index": 287, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 845}
|
| 289 |
+
{"episode_index": 288, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1035}
|
| 290 |
+
{"episode_index": 289, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1122}
|
| 291 |
+
{"episode_index": 290, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1059}
|
| 292 |
+
{"episode_index": 291, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1039}
|
| 293 |
+
{"episode_index": 292, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1043}
|
| 294 |
+
{"episode_index": 293, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 966}
|
| 295 |
+
{"episode_index": 294, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1013}
|
| 296 |
+
{"episode_index": 295, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1102}
|
| 297 |
+
{"episode_index": 296, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 956}
|
| 298 |
+
{"episode_index": 297, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 992}
|
| 299 |
+
{"episode_index": 298, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 963}
|
| 300 |
+
{"episode_index": 299, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 966}
|
| 301 |
+
{"episode_index": 300, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1022}
|
| 302 |
+
{"episode_index": 301, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1056}
|
| 303 |
+
{"episode_index": 302, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 304 |
+
{"episode_index": 303, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 936}
|
| 305 |
+
{"episode_index": 304, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 306 |
+
{"episode_index": 305, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1027}
|
| 307 |
+
{"episode_index": 306, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1109}
|
| 308 |
+
{"episode_index": 307, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 874}
|
| 309 |
+
{"episode_index": 308, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1024}
|
| 310 |
+
{"episode_index": 309, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 825}
|
| 311 |
+
{"episode_index": 310, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 884}
|
| 312 |
+
{"episode_index": 311, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1025}
|
| 313 |
+
{"episode_index": 312, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 876}
|
| 314 |
+
{"episode_index": 313, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 842}
|
| 315 |
+
{"episode_index": 314, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 913}
|
| 316 |
+
{"episode_index": 315, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 913}
|
| 317 |
+
{"episode_index": 316, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 917}
|
| 318 |
+
{"episode_index": 317, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1246}
|
| 319 |
+
{"episode_index": 318, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 320 |
+
{"episode_index": 319, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 993}
|
| 321 |
+
{"episode_index": 320, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 806}
|
| 322 |
+
{"episode_index": 321, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 866}
|
| 323 |
+
{"episode_index": 322, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1081}
|
| 324 |
+
{"episode_index": 323, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 953}
|
| 325 |
+
{"episode_index": 324, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 896}
|
| 326 |
+
{"episode_index": 325, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 904}
|
| 327 |
+
{"episode_index": 326, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 816}
|
| 328 |
+
{"episode_index": 327, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 848}
|
| 329 |
+
{"episode_index": 328, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 894}
|
| 330 |
+
{"episode_index": 329, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 879}
|
| 331 |
+
{"episode_index": 330, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 932}
|
| 332 |
+
{"episode_index": 331, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 884}
|
| 333 |
+
{"episode_index": 332, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 893}
|
| 334 |
+
{"episode_index": 333, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 335 |
+
{"episode_index": 334, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 336 |
+
{"episode_index": 335, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 337 |
+
{"episode_index": 336, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 873}
|
| 338 |
+
{"episode_index": 337, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 825}
|
| 339 |
+
{"episode_index": 338, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 844}
|
| 340 |
+
{"episode_index": 339, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 845}
|
| 341 |
+
{"episode_index": 340, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 342 |
+
{"episode_index": 341, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 343 |
+
{"episode_index": 342, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 805}
|
| 344 |
+
{"episode_index": 343, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 876}
|
| 345 |
+
{"episode_index": 344, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 919}
|
| 346 |
+
{"episode_index": 345, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 855}
|
| 347 |
+
{"episode_index": 346, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 348 |
+
{"episode_index": 347, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 809}
|
| 349 |
+
{"episode_index": 348, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1158}
|
| 350 |
+
{"episode_index": 349, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 857}
|
| 351 |
+
{"episode_index": 350, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 924}
|
| 352 |
+
{"episode_index": 351, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 821}
|
| 353 |
+
{"episode_index": 352, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1145}
|
| 354 |
+
{"episode_index": 353, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 857}
|
| 355 |
+
{"episode_index": 354, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 927}
|
| 356 |
+
{"episode_index": 355, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 956}
|
| 357 |
+
{"episode_index": 356, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1077}
|
| 358 |
+
{"episode_index": 357, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1063}
|
| 359 |
+
{"episode_index": 358, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 924}
|
| 360 |
+
{"episode_index": 359, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1006}
|
| 361 |
+
{"episode_index": 360, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 939}
|
| 362 |
+
{"episode_index": 361, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 900}
|
| 363 |
+
{"episode_index": 362, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 958}
|
| 364 |
+
{"episode_index": 363, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 365 |
+
{"episode_index": 364, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 997}
|
| 366 |
+
{"episode_index": 365, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 816}
|
| 367 |
+
{"episode_index": 366, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 827}
|
| 368 |
+
{"episode_index": 367, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1093}
|
| 369 |
+
{"episode_index": 368, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1163}
|
| 370 |
+
{"episode_index": 369, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 939}
|
| 371 |
+
{"episode_index": 370, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1010}
|
| 372 |
+
{"episode_index": 371, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 893}
|
| 373 |
+
{"episode_index": 372, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1012}
|
| 374 |
+
{"episode_index": 373, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 375 |
+
{"episode_index": 374, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 857}
|
| 376 |
+
{"episode_index": 375, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 906}
|
| 377 |
+
{"episode_index": 376, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 835}
|
| 378 |
+
{"episode_index": 377, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 847}
|
| 379 |
+
{"episode_index": 378, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1048}
|
| 380 |
+
{"episode_index": 379, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 916}
|
| 381 |
+
{"episode_index": 380, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 918}
|
| 382 |
+
{"episode_index": 381, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 383 |
+
{"episode_index": 382, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1012}
|
| 384 |
+
{"episode_index": 383, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 886}
|
| 385 |
+
{"episode_index": 384, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 965}
|
| 386 |
+
{"episode_index": 385, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1077}
|
| 387 |
+
{"episode_index": 386, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1169}
|
| 388 |
+
{"episode_index": 387, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1019}
|
| 389 |
+
{"episode_index": 388, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 993}
|
| 390 |
+
{"episode_index": 389, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1007}
|
| 391 |
+
{"episode_index": 390, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1093}
|
| 392 |
+
{"episode_index": 391, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 792}
|
| 393 |
+
{"episode_index": 392, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 849}
|
| 394 |
+
{"episode_index": 393, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 870}
|
| 395 |
+
{"episode_index": 394, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 900}
|
| 396 |
+
{"episode_index": 395, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 860}
|
| 397 |
+
{"episode_index": 396, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 842}
|
| 398 |
+
{"episode_index": 397, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 964}
|
| 399 |
+
{"episode_index": 398, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 914}
|
| 400 |
+
{"episode_index": 399, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 991}
|
| 401 |
+
{"episode_index": 400, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 999}
|
| 402 |
+
{"episode_index": 401, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 906}
|
| 403 |
+
{"episode_index": 402, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 404 |
+
{"episode_index": 403, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1048}
|
| 405 |
+
{"episode_index": 404, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 978}
|
| 406 |
+
{"episode_index": 405, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 407 |
+
{"episode_index": 406, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 802}
|
| 408 |
+
{"episode_index": 407, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1000}
|
| 409 |
+
{"episode_index": 408, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 410 |
+
{"episode_index": 409, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1137}
|
| 411 |
+
{"episode_index": 410, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 779}
|
| 412 |
+
{"episode_index": 411, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 962}
|
| 413 |
+
{"episode_index": 412, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1054}
|
| 414 |
+
{"episode_index": 413, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1076}
|
| 415 |
+
{"episode_index": 414, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1047}
|
| 416 |
+
{"episode_index": 415, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 800}
|
| 417 |
+
{"episode_index": 416, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 922}
|
| 418 |
+
{"episode_index": 417, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1047}
|
| 419 |
+
{"episode_index": 418, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 985}
|
| 420 |
+
{"episode_index": 419, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 977}
|
| 421 |
+
{"episode_index": 420, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 827}
|
| 422 |
+
{"episode_index": 421, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 805}
|
| 423 |
+
{"episode_index": 422, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1169}
|
| 424 |
+
{"episode_index": 423, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 961}
|
| 425 |
+
{"episode_index": 424, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 978}
|
| 426 |
+
{"episode_index": 425, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1047}
|
| 427 |
+
{"episode_index": 426, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 935}
|
| 428 |
+
{"episode_index": 427, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 980}
|
| 429 |
+
{"episode_index": 428, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 895}
|
| 430 |
+
{"episode_index": 429, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1050}
|
| 431 |
+
{"episode_index": 430, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 975}
|
| 432 |
+
{"episode_index": 431, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 433 |
+
{"episode_index": 432, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 434 |
+
{"episode_index": 433, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 892}
|
| 435 |
+
{"episode_index": 434, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1165}
|
| 436 |
+
{"episode_index": 435, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 979}
|
| 437 |
+
{"episode_index": 436, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1010}
|
| 438 |
+
{"episode_index": 437, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 841}
|
| 439 |
+
{"episode_index": 438, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 999}
|
| 440 |
+
{"episode_index": 439, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 924}
|
| 441 |
+
{"episode_index": 440, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 442 |
+
{"episode_index": 441, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 943}
|
| 443 |
+
{"episode_index": 442, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 930}
|
| 444 |
+
{"episode_index": 443, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 921}
|
| 445 |
+
{"episode_index": 444, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 946}
|
| 446 |
+
{"episode_index": 445, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 962}
|
| 447 |
+
{"episode_index": 446, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 898}
|
| 448 |
+
{"episode_index": 447, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 940}
|
| 449 |
+
{"episode_index": 448, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1004}
|
| 450 |
+
{"episode_index": 449, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 967}
|
| 451 |
+
{"episode_index": 450, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 892}
|
| 452 |
+
{"episode_index": 451, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 955}
|
| 453 |
+
{"episode_index": 452, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 938}
|
| 454 |
+
{"episode_index": 453, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 895}
|
| 455 |
+
{"episode_index": 454, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 944}
|
| 456 |
+
{"episode_index": 455, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 892}
|
| 457 |
+
{"episode_index": 456, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1001}
|
| 458 |
+
{"episode_index": 457, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1032}
|
| 459 |
+
{"episode_index": 458, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 862}
|
| 460 |
+
{"episode_index": 459, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 984}
|
| 461 |
+
{"episode_index": 460, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 462 |
+
{"episode_index": 461, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 7}
|
| 463 |
+
{"episode_index": 462, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 972}
|
| 464 |
+
{"episode_index": 463, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 999}
|
| 465 |
+
{"episode_index": 464, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 951}
|
| 466 |
+
{"episode_index": 465, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 900}
|
| 467 |
+
{"episode_index": 466, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 468 |
+
{"episode_index": 467, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 921}
|
| 469 |
+
{"episode_index": 468, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 470 |
+
{"episode_index": 469, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 914}
|
| 471 |
+
{"episode_index": 470, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 472 |
+
{"episode_index": 471, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 919}
|
| 473 |
+
{"episode_index": 472, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 961}
|
| 474 |
+
{"episode_index": 473, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 907}
|
| 475 |
+
{"episode_index": 474, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 883}
|
| 476 |
+
{"episode_index": 475, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 477 |
+
{"episode_index": 476, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 478 |
+
{"episode_index": 477, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 886}
|
| 479 |
+
{"episode_index": 478, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 901}
|
| 480 |
+
{"episode_index": 479, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 481 |
+
{"episode_index": 480, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 902}
|
| 482 |
+
{"episode_index": 481, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 896}
|
| 483 |
+
{"episode_index": 482, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 900}
|
| 484 |
+
{"episode_index": 483, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 886}
|
| 485 |
+
{"episode_index": 484, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 486 |
+
{"episode_index": 485, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 487 |
+
{"episode_index": 486, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 488 |
+
{"episode_index": 487, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 892}
|
| 489 |
+
{"episode_index": 488, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 900}
|
| 490 |
+
{"episode_index": 489, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 906}
|
| 491 |
+
{"episode_index": 490, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 902}
|
| 492 |
+
{"episode_index": 491, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 907}
|
| 493 |
+
{"episode_index": 492, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 842}
|
| 494 |
+
{"episode_index": 493, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 495 |
+
{"episode_index": 494, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 884}
|
| 496 |
+
{"episode_index": 495, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 497 |
+
{"episode_index": 496, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 820}
|
| 498 |
+
{"episode_index": 497, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 499 |
+
{"episode_index": 498, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 500 |
+
{"episode_index": 499, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 927}
|
| 501 |
+
{"episode_index": 500, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 902}
|
| 502 |
+
{"episode_index": 501, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 904}
|
| 503 |
+
{"episode_index": 502, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 935}
|
| 504 |
+
{"episode_index": 503, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 505 |
+
{"episode_index": 504, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 872}
|
| 506 |
+
{"episode_index": 505, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 913}
|
| 507 |
+
{"episode_index": 506, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 840}
|
| 508 |
+
{"episode_index": 507, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 897}
|
| 509 |
+
{"episode_index": 508, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 849}
|
| 510 |
+
{"episode_index": 509, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 511 |
+
{"episode_index": 510, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 877}
|
| 512 |
+
{"episode_index": 511, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 936}
|
| 513 |
+
{"episode_index": 512, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 819}
|
| 514 |
+
{"episode_index": 513, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 515 |
+
{"episode_index": 514, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 905}
|
| 516 |
+
{"episode_index": 515, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 785}
|
| 517 |
+
{"episode_index": 516, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 948}
|
| 518 |
+
{"episode_index": 517, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 519 |
+
{"episode_index": 518, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 884}
|
| 520 |
+
{"episode_index": 519, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 521 |
+
{"episode_index": 520, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 892}
|
| 522 |
+
{"episode_index": 521, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 915}
|
| 523 |
+
{"episode_index": 522, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 836}
|
| 524 |
+
{"episode_index": 523, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 814}
|
| 525 |
+
{"episode_index": 524, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 2107}
|
| 526 |
+
{"episode_index": 525, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 907}
|
| 527 |
+
{"episode_index": 526, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 910}
|
| 528 |
+
{"episode_index": 527, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 917}
|
| 529 |
+
{"episode_index": 528, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 894}
|
| 530 |
+
{"episode_index": 529, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 890}
|
| 531 |
+
{"episode_index": 530, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 851}
|
| 532 |
+
{"episode_index": 531, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 533 |
+
{"episode_index": 532, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 534 |
+
{"episode_index": 533, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 880}
|
| 535 |
+
{"episode_index": 534, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 940}
|
| 536 |
+
{"episode_index": 535, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 936}
|
| 537 |
+
{"episode_index": 536, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 867}
|
| 538 |
+
{"episode_index": 537, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 882}
|
| 539 |
+
{"episode_index": 538, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 888}
|
| 540 |
+
{"episode_index": 539, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 875}
|
| 541 |
+
{"episode_index": 540, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 897}
|
| 542 |
+
{"episode_index": 541, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 909}
|
| 543 |
+
{"episode_index": 542, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 891}
|
| 544 |
+
{"episode_index": 543, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 802}
|
| 545 |
+
{"episode_index": 544, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 546 |
+
{"episode_index": 545, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 547 |
+
{"episode_index": 546, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 883}
|
| 548 |
+
{"episode_index": 547, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 789}
|
| 549 |
+
{"episode_index": 548, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 852}
|
| 550 |
+
{"episode_index": 549, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1149}
|
| 551 |
+
{"episode_index": 550, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 552 |
+
{"episode_index": 551, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 553 |
+
{"episode_index": 552, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 554 |
+
{"episode_index": 553, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1034}
|
| 555 |
+
{"episode_index": 554, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 947}
|
| 556 |
+
{"episode_index": 555, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 810}
|
| 557 |
+
{"episode_index": 556, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 822}
|
| 558 |
+
{"episode_index": 557, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 890}
|
| 559 |
+
{"episode_index": 558, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 835}
|
| 560 |
+
{"episode_index": 559, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 902}
|
| 561 |
+
{"episode_index": 560, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 925}
|
| 562 |
+
{"episode_index": 561, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 930}
|
| 563 |
+
{"episode_index": 562, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 817}
|
| 564 |
+
{"episode_index": 563, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 885}
|
| 565 |
+
{"episode_index": 564, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 909}
|
| 566 |
+
{"episode_index": 565, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 925}
|
| 567 |
+
{"episode_index": 566, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 801}
|
| 568 |
+
{"episode_index": 567, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 910}
|
| 569 |
+
{"episode_index": 568, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 878}
|
| 570 |
+
{"episode_index": 569, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 571 |
+
{"episode_index": 570, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 956}
|
| 572 |
+
{"episode_index": 571, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 918}
|
| 573 |
+
{"episode_index": 572, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1019}
|
| 574 |
+
{"episode_index": 573, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 839}
|
| 575 |
+
{"episode_index": 574, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 903}
|
| 576 |
+
{"episode_index": 575, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 933}
|
| 577 |
+
{"episode_index": 576, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 919}
|
| 578 |
+
{"episode_index": 577, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 926}
|
| 579 |
+
{"episode_index": 578, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 830}
|
| 580 |
+
{"episode_index": 579, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 889}
|
| 581 |
+
{"episode_index": 580, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 837}
|
| 582 |
+
{"episode_index": 581, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 786}
|
| 583 |
+
{"episode_index": 582, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1188}
|
| 584 |
+
{"episode_index": 583, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 819}
|
| 585 |
+
{"episode_index": 584, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 868}
|
| 586 |
+
{"episode_index": 585, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 933}
|
| 587 |
+
{"episode_index": 586, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 887}
|
| 588 |
+
{"episode_index": 587, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1015}
|
| 589 |
+
{"episode_index": 588, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 899}
|
| 590 |
+
{"episode_index": 589, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 813}
|
| 591 |
+
{"episode_index": 590, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 854}
|
| 592 |
+
{"episode_index": 591, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 890}
|
| 593 |
+
{"episode_index": 592, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 844}
|
| 594 |
+
{"episode_index": 593, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 935}
|
| 595 |
+
{"episode_index": 594, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 871}
|
| 596 |
+
{"episode_index": 595, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1097}
|
| 597 |
+
{"episode_index": 596, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 873}
|
| 598 |
+
{"episode_index": 597, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1121}
|
| 599 |
+
{"episode_index": 598, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 909}
|
| 600 |
+
{"episode_index": 599, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1068}
|
| 601 |
+
{"episode_index": 600, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1064}
|
| 602 |
+
{"episode_index": 601, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1066}
|
| 603 |
+
{"episode_index": 602, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 824}
|
| 604 |
+
{"episode_index": 603, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1011}
|
| 605 |
+
{"episode_index": 604, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 844}
|
| 606 |
+
{"episode_index": 605, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1092}
|
| 607 |
+
{"episode_index": 606, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 821}
|
| 608 |
+
{"episode_index": 607, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 857}
|
| 609 |
+
{"episode_index": 608, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 864}
|
| 610 |
+
{"episode_index": 609, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 923}
|
| 611 |
+
{"episode_index": 610, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1217}
|
| 612 |
+
{"episode_index": 611, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1116}
|
| 613 |
+
{"episode_index": 612, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1134}
|
| 614 |
+
{"episode_index": 613, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1178}
|
| 615 |
+
{"episode_index": 614, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1061}
|
| 616 |
+
{"episode_index": 615, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1044}
|
| 617 |
+
{"episode_index": 616, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1114}
|
| 618 |
+
{"episode_index": 617, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1168}
|
| 619 |
+
{"episode_index": 618, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 818}
|
| 620 |
+
{"episode_index": 619, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 896}
|
| 621 |
+
{"episode_index": 620, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 917}
|
| 622 |
+
{"episode_index": 621, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1012}
|
| 623 |
+
{"episode_index": 622, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 895}
|
| 624 |
+
{"episode_index": 623, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1121}
|
| 625 |
+
{"episode_index": 624, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1105}
|
| 626 |
+
{"episode_index": 625, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 842}
|
| 627 |
+
{"episode_index": 626, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 790}
|
| 628 |
+
{"episode_index": 627, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1059}
|
| 629 |
+
{"episode_index": 628, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1010}
|
| 630 |
+
{"episode_index": 629, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1004}
|
| 631 |
+
{"episode_index": 630, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 907}
|
| 632 |
+
{"episode_index": 631, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 974}
|
| 633 |
+
{"episode_index": 632, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 833}
|
| 634 |
+
{"episode_index": 633, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 816}
|
| 635 |
+
{"episode_index": 634, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 779}
|
| 636 |
+
{"episode_index": 635, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 841}
|
| 637 |
+
{"episode_index": 636, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 798}
|
| 638 |
+
{"episode_index": 637, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 814}
|
| 639 |
+
{"episode_index": 638, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 785}
|
| 640 |
+
{"episode_index": 639, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 840}
|
| 641 |
+
{"episode_index": 640, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1032}
|
| 642 |
+
{"episode_index": 641, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1109}
|
| 643 |
+
{"episode_index": 642, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1120}
|
| 644 |
+
{"episode_index": 643, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1098}
|
| 645 |
+
{"episode_index": 644, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1026}
|
| 646 |
+
{"episode_index": 645, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 952}
|
| 647 |
+
{"episode_index": 646, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1111}
|
| 648 |
+
{"episode_index": 647, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 890}
|
| 649 |
+
{"episode_index": 648, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1055}
|
| 650 |
+
{"episode_index": 649, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1176}
|
| 651 |
+
{"episode_index": 650, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1030}
|
| 652 |
+
{"episode_index": 651, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 835}
|
| 653 |
+
{"episode_index": 652, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1165}
|
| 654 |
+
{"episode_index": 653, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1070}
|
| 655 |
+
{"episode_index": 654, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1073}
|
| 656 |
+
{"episode_index": 655, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1132}
|
| 657 |
+
{"episode_index": 656, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1002}
|
| 658 |
+
{"episode_index": 657, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1071}
|
| 659 |
+
{"episode_index": 658, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1010}
|
| 660 |
+
{"episode_index": 659, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 978}
|
| 661 |
+
{"episode_index": 660, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1080}
|
| 662 |
+
{"episode_index": 661, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1098}
|
| 663 |
+
{"episode_index": 662, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 881}
|
| 664 |
+
{"episode_index": 663, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 1033}
|
| 665 |
+
{"episode_index": 664, "tasks": ["Dual-arm robotic ultrasound guided needle insertion"], "length": 837}
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_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_vessel_dataset/bmt_insertion_vessel_dataset/meta/info.json
ADDED
|
@@ -0,0 +1,347 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "UR5e",
|
| 4 |
+
"total_episodes": 665,
|
| 5 |
+
"total_frames": 637649,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1330,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:532",
|
| 13 |
+
"val": "532:598",
|
| 14 |
+
"test": "598:665"
|
| 15 |
+
},
|
| 16 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 17 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 18 |
+
"features": {
|
| 19 |
+
"observation.images.ultrasound": {
|
| 20 |
+
"dtype": "video",
|
| 21 |
+
"shape": [
|
| 22 |
+
480,
|
| 23 |
+
640,
|
| 24 |
+
3
|
| 25 |
+
],
|
| 26 |
+
"names": [
|
| 27 |
+
"height",
|
| 28 |
+
"width",
|
| 29 |
+
"channels"
|
| 30 |
+
],
|
| 31 |
+
"info": {
|
| 32 |
+
"video.height": 480,
|
| 33 |
+
"video.width": 640,
|
| 34 |
+
"video.codec": "av1",
|
| 35 |
+
"video.pix_fmt": "yuv420p",
|
| 36 |
+
"video.is_depth_map": false,
|
| 37 |
+
"video.fps": 30,
|
| 38 |
+
"video.channels": 3,
|
| 39 |
+
"has_audio": false
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"observation.images.tpv_camera": {
|
| 43 |
+
"dtype": "video",
|
| 44 |
+
"shape": [
|
| 45 |
+
480,
|
| 46 |
+
640,
|
| 47 |
+
3
|
| 48 |
+
],
|
| 49 |
+
"names": [
|
| 50 |
+
"height",
|
| 51 |
+
"width",
|
| 52 |
+
"channels"
|
| 53 |
+
],
|
| 54 |
+
"info": {
|
| 55 |
+
"video.height": 480,
|
| 56 |
+
"video.width": 640,
|
| 57 |
+
"video.codec": "av1",
|
| 58 |
+
"video.pix_fmt": "yuv420p",
|
| 59 |
+
"video.is_depth_map": false,
|
| 60 |
+
"video.fps": 30,
|
| 61 |
+
"video.channels": 3,
|
| 62 |
+
"has_audio": false
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"observation.state.left": {
|
| 66 |
+
"dtype": "float32",
|
| 67 |
+
"shape": [
|
| 68 |
+
6
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"q1",
|
| 72 |
+
"q2",
|
| 73 |
+
"q3",
|
| 74 |
+
"q4",
|
| 75 |
+
"q5",
|
| 76 |
+
"q6"
|
| 77 |
+
]
|
| 78 |
+
},
|
| 79 |
+
"observation.state.right": {
|
| 80 |
+
"dtype": "float32",
|
| 81 |
+
"shape": [
|
| 82 |
+
6
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"q1",
|
| 86 |
+
"q2",
|
| 87 |
+
"q3",
|
| 88 |
+
"q4",
|
| 89 |
+
"q5",
|
| 90 |
+
"q6"
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.state": {
|
| 94 |
+
"dtype": "float32",
|
| 95 |
+
"shape": [
|
| 96 |
+
12
|
| 97 |
+
],
|
| 98 |
+
"names": [
|
| 99 |
+
"left_q1",
|
| 100 |
+
"left_q2",
|
| 101 |
+
"left_q3",
|
| 102 |
+
"left_q4",
|
| 103 |
+
"left_q5",
|
| 104 |
+
"left_q6",
|
| 105 |
+
"right_q1",
|
| 106 |
+
"right_q2",
|
| 107 |
+
"right_q3",
|
| 108 |
+
"right_q4",
|
| 109 |
+
"right_q5",
|
| 110 |
+
"right_q6"
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"observation.step_label": {
|
| 114 |
+
"dtype": "string",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
],
|
| 118 |
+
"names": [
|
| 119 |
+
"label"
|
| 120 |
+
]
|
| 121 |
+
},
|
| 122 |
+
"action.left": {
|
| 123 |
+
"dtype": "float32",
|
| 124 |
+
"shape": [
|
| 125 |
+
7
|
| 126 |
+
],
|
| 127 |
+
"names": [
|
| 128 |
+
"x",
|
| 129 |
+
"y",
|
| 130 |
+
"z",
|
| 131 |
+
"qx",
|
| 132 |
+
"qy",
|
| 133 |
+
"qz",
|
| 134 |
+
"qw"
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"action.right": {
|
| 138 |
+
"dtype": "float32",
|
| 139 |
+
"shape": [
|
| 140 |
+
7
|
| 141 |
+
],
|
| 142 |
+
"names": [
|
| 143 |
+
"x",
|
| 144 |
+
"y",
|
| 145 |
+
"z",
|
| 146 |
+
"qx",
|
| 147 |
+
"qy",
|
| 148 |
+
"qz",
|
| 149 |
+
"qw"
|
| 150 |
+
]
|
| 151 |
+
},
|
| 152 |
+
"action": {
|
| 153 |
+
"dtype": "float32",
|
| 154 |
+
"shape": [
|
| 155 |
+
14
|
| 156 |
+
],
|
| 157 |
+
"names": [
|
| 158 |
+
"left_x",
|
| 159 |
+
"left_y",
|
| 160 |
+
"left_z",
|
| 161 |
+
"left_qx",
|
| 162 |
+
"left_qy",
|
| 163 |
+
"left_qz",
|
| 164 |
+
"left_qw",
|
| 165 |
+
"right_x",
|
| 166 |
+
"right_y",
|
| 167 |
+
"right_z",
|
| 168 |
+
"right_qx",
|
| 169 |
+
"right_qy",
|
| 170 |
+
"right_qz",
|
| 171 |
+
"right_qw"
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"observation.meta.probe_type": {
|
| 175 |
+
"dtype": "string",
|
| 176 |
+
"shape": [
|
| 177 |
+
1
|
| 178 |
+
],
|
| 179 |
+
"names": [
|
| 180 |
+
"company_model_endwith'linear'_or_'convex'"
|
| 181 |
+
]
|
| 182 |
+
},
|
| 183 |
+
"observation.meta.probe_acquisition_param": {
|
| 184 |
+
"dtype": "float32",
|
| 185 |
+
"shape": [
|
| 186 |
+
6
|
| 187 |
+
],
|
| 188 |
+
"names": [
|
| 189 |
+
"center_frequency_mhz",
|
| 190 |
+
"num_elements",
|
| 191 |
+
"imaging_depth_cm",
|
| 192 |
+
"linear_fov_mm",
|
| 193 |
+
"convex_radius_mm",
|
| 194 |
+
"convex_fov_deg"
|
| 195 |
+
]
|
| 196 |
+
},
|
| 197 |
+
"observation.meta.tpv_cali_mtx": {
|
| 198 |
+
"dtype": "float32",
|
| 199 |
+
"shape": [
|
| 200 |
+
7
|
| 201 |
+
],
|
| 202 |
+
"names": [
|
| 203 |
+
"tx_m",
|
| 204 |
+
"ty_m",
|
| 205 |
+
"tz_m",
|
| 206 |
+
"qx",
|
| 207 |
+
"qy",
|
| 208 |
+
"qz",
|
| 209 |
+
"qw"
|
| 210 |
+
]
|
| 211 |
+
},
|
| 212 |
+
"observation.meta.prob_cali_mtx": {
|
| 213 |
+
"dtype": "float32",
|
| 214 |
+
"shape": [
|
| 215 |
+
7
|
| 216 |
+
],
|
| 217 |
+
"names": [
|
| 218 |
+
"tx_m",
|
| 219 |
+
"ty_m",
|
| 220 |
+
"tz_m",
|
| 221 |
+
"qx",
|
| 222 |
+
"qy",
|
| 223 |
+
"qz",
|
| 224 |
+
"qw"
|
| 225 |
+
]
|
| 226 |
+
},
|
| 227 |
+
"observation.meta.needle_cali_mtx": {
|
| 228 |
+
"dtype": "float32",
|
| 229 |
+
"shape": [
|
| 230 |
+
7
|
| 231 |
+
],
|
| 232 |
+
"names": [
|
| 233 |
+
"tx_m",
|
| 234 |
+
"ty_m",
|
| 235 |
+
"tz_m",
|
| 236 |
+
"qx",
|
| 237 |
+
"qy",
|
| 238 |
+
"qz",
|
| 239 |
+
"qw"
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"observation.meta.base_cali_mtx": {
|
| 243 |
+
"dtype": "float32",
|
| 244 |
+
"shape": [
|
| 245 |
+
6
|
| 246 |
+
],
|
| 247 |
+
"names": [
|
| 248 |
+
"tx_m",
|
| 249 |
+
"ty_m",
|
| 250 |
+
"tz_m",
|
| 251 |
+
"ex",
|
| 252 |
+
"ey",
|
| 253 |
+
"ez"
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"observation.meta.usimg_org_resolution": {
|
| 257 |
+
"dtype": "int32",
|
| 258 |
+
"shape": [
|
| 259 |
+
2
|
| 260 |
+
],
|
| 261 |
+
"names": [
|
| 262 |
+
"height",
|
| 263 |
+
"width"
|
| 264 |
+
]
|
| 265 |
+
},
|
| 266 |
+
"instruction.text": {
|
| 267 |
+
"dtype": "string",
|
| 268 |
+
"shape": [
|
| 269 |
+
1
|
| 270 |
+
],
|
| 271 |
+
"names": [
|
| 272 |
+
"instruction_text"
|
| 273 |
+
]
|
| 274 |
+
},
|
| 275 |
+
"instruction.task": {
|
| 276 |
+
"dtype": "string",
|
| 277 |
+
"shape": [
|
| 278 |
+
1
|
| 279 |
+
],
|
| 280 |
+
"names": [
|
| 281 |
+
"instruction_task"
|
| 282 |
+
]
|
| 283 |
+
},
|
| 284 |
+
"instruction.sub_task": {
|
| 285 |
+
"dtype": "string",
|
| 286 |
+
"shape": [
|
| 287 |
+
1
|
| 288 |
+
],
|
| 289 |
+
"names": [
|
| 290 |
+
"instruction_sub_task"
|
| 291 |
+
]
|
| 292 |
+
},
|
| 293 |
+
"instruction.phantom": {
|
| 294 |
+
"dtype": "string",
|
| 295 |
+
"shape": [
|
| 296 |
+
1
|
| 297 |
+
],
|
| 298 |
+
"names": [
|
| 299 |
+
"instruction_phantom"
|
| 300 |
+
]
|
| 301 |
+
},
|
| 302 |
+
"instruction.cmd_sets": {
|
| 303 |
+
"dtype": "string",
|
| 304 |
+
"shape": [
|
| 305 |
+
1
|
| 306 |
+
],
|
| 307 |
+
"names": [
|
| 308 |
+
"instruction_command_sets"
|
| 309 |
+
]
|
| 310 |
+
},
|
| 311 |
+
"timestamp": {
|
| 312 |
+
"dtype": "float32",
|
| 313 |
+
"shape": [
|
| 314 |
+
1
|
| 315 |
+
],
|
| 316 |
+
"names": null
|
| 317 |
+
},
|
| 318 |
+
"frame_index": {
|
| 319 |
+
"dtype": "int64",
|
| 320 |
+
"shape": [
|
| 321 |
+
1
|
| 322 |
+
],
|
| 323 |
+
"names": null
|
| 324 |
+
},
|
| 325 |
+
"episode_index": {
|
| 326 |
+
"dtype": "int64",
|
| 327 |
+
"shape": [
|
| 328 |
+
1
|
| 329 |
+
],
|
| 330 |
+
"names": null
|
| 331 |
+
},
|
| 332 |
+
"index": {
|
| 333 |
+
"dtype": "int64",
|
| 334 |
+
"shape": [
|
| 335 |
+
1
|
| 336 |
+
],
|
| 337 |
+
"names": null
|
| 338 |
+
},
|
| 339 |
+
"task_index": {
|
| 340 |
+
"dtype": "int64",
|
| 341 |
+
"shape": [
|
| 342 |
+
1
|
| 343 |
+
],
|
| 344 |
+
"names": null
|
| 345 |
+
}
|
| 346 |
+
}
|
| 347 |
+
}
|
Ultrasound/cuhk/xiangyu_chu/bmt_insertion_vessel_dataset/bmt_insertion_vessel_dataset/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Dual-arm robotic ultrasound guided needle insertion"}
|