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PhysicalAI-Robotics-Open-H-Embodiment

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Surgical/utenn/surgical_video_datasets_with_tip_pose/README.md ADDED
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+ <!--
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
+ # surgical_actions_v2_with_tip2d - README
8
+
9
+ ---
10
+
11
+ ## 📋 At a Glance
12
+
13
+ *Clip-level labeled surgical endoscopic video segments with tool segmentation, monocular depth, and per-frame 2D tool-tip pose annotations for surgical action understanding.*
14
+
15
+ ---
16
+
17
+ ## 📖 Dataset Overview
18
+
19
+ This dataset provides clip-level annotated surgical endoscopic videos designed for learning and benchmarking visual surgical action understanding and tool-centric perception.
20
+ Each clip contains synchronized RGB frames, monocular depth predictions, tool segmentation masks, and per-frame 2D tool-tip pose states. The dataset focuses on recognizing and localizing short-duration surgical actions such as grasping, pulling, exploration, and camera zoom.
21
+
22
+ | | |
23
+ | :--- | :--- |
24
+ | **Total Trajectories** | *TBD (filled after packaging)* |
25
+ | **Total Hours** | *TBD (filled after packaging)* |
26
+ | **Data Type** | ☑ Clinical ☐ Ex-Vivo ☐ Table-Top Phantom ☐ Digital Simulation ☐ Physical Simulation ☐ Other |
27
+ | **License** | CC BY 4.0 |
28
+ | **Version** | 2.0 |
29
+
30
+ ---
31
+
32
+ ## 🎯 Tasks & Domain
33
+
34
+ ### Domain
35
+
36
+ - [x] **Surgical Robotics**
37
+ - [ ] **Ultrasound Robotics**
38
+ - [ ] **Other Healthcare Robotics**
39
+
40
+ ### Demonstrated Skills
41
+
42
+ The dataset contains clip-level labels for the following surgical actions:
43
+
44
+ - CONTACT
45
+ - EXPLORATION
46
+ - GRASPING
47
+ - MOVE
48
+ - PULLING
49
+ - STATIC
50
+ - ZOOM_IN
51
+
52
+ Natural-language descriptions of each task are provided in `meta/tasks.jsonl`.
53
+
54
+ ---
55
+
56
+ ## 🔬 Data Collection Details
57
+
58
+ ### Collection Method
59
+
60
+ - [x] **Human Teleoperation / Clinical Operation**
61
+ - [ ] Programmatic/State-Machine
62
+ - [ ] AI Policy / Autonomous
63
+ - [ ] Other
64
+
65
+ ### Operator Details
66
+
67
+ | | Description |
68
+ | :--- | :--- |
69
+ | **Operator Count** | Multiple clinical operators (exact count not recorded) |
70
+ | **Operator Skill Level** | [x] Expert (surgeon) |
71
+ | **Collection Period** | *TBD* |
72
+
73
+ ### Recovery Demonstrations
74
+
75
+ - [ ] **Yes**
76
+ - [x] **No**
77
+
78
+ This dataset does not explicitly include recovery-from-failure demonstrations.
79
+
80
+ ---
81
+
82
+ ## 💡 Diversity Dimensions
83
+
84
+ - [x] **Background / Scene**
85
+ - [x] **Task Execution**
86
+ - [x] **Target Object** (different tissues / anatomical structures)
87
+
88
+ The dataset spans diverse surgical scenes and anatomical contexts, with different execution styles for the same semantic action (e.g., pulling, grasping, and exploration).
89
+
90
+ ---
91
+
92
+ ## 🛠️ Equipment & Setup
93
+
94
+ ### Robotic Platform(s)
95
+
96
+ This dataset consists of clinical endoscopic video only and does not include robot control signals.
97
+
98
+ - **Robot 1:** Clinical surgical robotic system (endoscopic video stream only)
99
+
100
+ ### Sensors & Cameras
101
+
102
+ | Type | Model/Details |
103
+ | :--- | :--- |
104
+ | **Primary Camera** | Clinical endoscopic camera, RGB, clip-level video |
105
+ | **Medical Imager** | Monocular depth generated offline using VideoDepthAnything / DepthAnything v2 |
106
+ | **Other** | Tool segmentation masks generated offline using SAM3 |
107
+
108
+ ---
109
+
110
+ ## 🎯 Action & State Space Representation
111
+
112
+ This dataset is designed primarily for visual action understanding and tool-centric perception.
113
+ It does **not** include low-level robot control commands.
114
+
115
+ ### Action Space Representation
116
+
117
+ **Primary Action Representation:**
118
+
119
+ - [x] **Other** – Discrete semantic action label per clip
120
+
121
+ **Description**
122
+
123
+ action.label
124
+
125
+ css
126
+ Copy code
127
+
128
+ A categorical label indicating the surgical action being performed in the clip
129
+ (e.g., CONTACT, GRASPING, PULLING, MOVE, etc.).
130
+ The label is repeated for all frames in the corresponding clip.
131
+
132
+ ### State Space Representation
133
+
134
+ **State Information Included:**
135
+
136
+ - [x] **Other** – 2D tool tip pose in the image
137
+
138
+ **State Dimensions**
139
+
140
+ `observation.state.tip_2d: K x 3`
141
+
142
+ where `K` is the number of tools in the frame:
143
+
144
+ - x_px: horizontal image coordinate of the tool tip (pixels)
145
+ - y_px: vertical image coordinate of the tool tip (pixels)
146
+ - theta_deg: in-plane tool orientation (degrees)
147
+
148
+ Tool identity is provided by `observation.meta.tool_name`. The correspondence rule is `observation.state.tip_2d[i] ↔ observation.meta.tool_name[i]`.
149
+
150
+ If a tool is not visible in a frame, its values are set to `NaN`.
151
+
152
+ **Additional visual state representations:**
153
+
154
+ - RGB frames: `observation.images.color`
155
+ - Monocular depth: `observation.images.depth`
156
+ - Tool segmentation masks: `observation.images.tool_segmentation`
157
+
158
+ ### 📋 Recommended Additional Representations
159
+
160
+ Not applicable.
161
+ This dataset intentionally does not include joint states or Cartesian robot poses.
162
+
163
+ ---
164
+
165
+ ## ⏱️ Data Synchronization Approach
166
+
167
+ Within each clip, RGB frames, depth maps, tool segmentation masks, and 2D tool-tip pose annotations are aligned by frame index.
168
+ All modalities are truncated to the minimum available length to guarantee temporal alignment.
169
+
170
+ Each frame contains a timestamp field (`timestamp_s`) in seconds. No multi-sensor hardware synchronization is required since all modalities are derived from the same RGB video stream during post-processing.
171
+
172
+ ---
173
+
174
+ ## 👥 Attribution & Contact
175
+
176
+ | | |
177
+ | :--- | :--- |
178
+ | **Dataset Lead** | Nan Xiao, Tom Olesch, Farong Wang, Fei Liu, DeLong Jonathan C. |
179
+ | **Institution** | University of Tennessee, Knoxville (AURAS Lab); UT Medical Center |
180
+ | **Contact Email** | nxiao4@vols.utk.edu |
181
+ | **Citation (BibTeX)** | <pre><code>@misc{surgical_actions_v2_with_tip2d_2025,<br> author = {Nan Xiao, Tom Olesch, Farong Wang, Fei Liu, DeLong Jonathan C.},<br> title = {surgical\_actions\_v2\_with\_tip2d: Clip-level Surgical Action Dataset with 2D Tool Tip Pose},<br> year = {2025},<br> publisher = {Open-H-Embodiment}<br>}</code></pre> |
182
+
183
+
184
+
185
+
Surgical/utenn/surgical_video_datasets_with_tip_pose/meta/episodes.jsonl ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "episode_id": "episode_000000", "task": "CONTACT", "clip_id": "3_BDKgtPiF", "fps": 30.0, "num_steps": 79, "duration_s": 2.6, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000000.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000000.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000000.mp4"}, "parquet": "data/chunk-000/episode_000000.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "CONTACT/3_BDKgtPiF_offline_data.csv"}}
2
+ {"episode_index": 1, "episode_id": "episode_000001", "task": "CONTACT", "clip_id": "3_aCbhTuB2", "fps": 30.0, "num_steps": 29, "duration_s": 0.9333333333333333, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000001.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000001.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000001.mp4"}, "parquet": "data/chunk-000/episode_000001.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "CONTACT/3_aCbhTuB2_offline_data.csv"}}
3
+ {"episode_index": 2, "episode_id": "episode_000002", "task": "CONTACT", "clip_id": "3_tK9qWzP0", "fps": 30.0, "num_steps": 52, "duration_s": 1.7, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000002.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000002.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000002.mp4"}, "parquet": "data/chunk-000/episode_000002.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "CONTACT/3_tK9qWzP0_offline_data.csv"}}
4
+ {"episode_index": 3, "episode_id": "episode_000003", "task": "EXPLORATION", "clip_id": "3_M6YBVTyQ", "fps": 30.0, "num_steps": 269, "duration_s": 8.933333333333334, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000003.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000003.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000003.mp4"}, "parquet": "data/chunk-000/episode_000003.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "EXPLORATION/3_M6YBVTyQ_offline_data.csv"}}
5
+ {"episode_index": 4, "episode_id": "episode_000004", "task": "EXPLORATION", "clip_id": "3_UjcxSPH4", "fps": 30.0, "num_steps": 809, "duration_s": 26.933333333333334, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000004.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000004.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000004.mp4"}, "parquet": "data/chunk-000/episode_000004.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "EXPLORATION/3_UjcxSPH4_offline_data.csv"}}
6
+ {"episode_index": 5, "episode_id": "episode_000005", "task": "EXPLORATION", "clip_id": "3_VJzXtDbn", "fps": 30.0, "num_steps": 534, "duration_s": 17.766666666666666, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000005.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000005.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000005.mp4"}, "parquet": "data/chunk-000/episode_000005.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "EXPLORATION/3_VJzXtDbn_offline_data.csv"}}
7
+ {"episode_index": 6, "episode_id": "episode_000006", "task": "EXPLORATION", "clip_id": "3_dUvbkOi3", "fps": 30.0, "num_steps": 396, "duration_s": 13.166666666666666, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000006.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000006.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000006.mp4"}, "parquet": "data/chunk-000/episode_000006.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "EXPLORATION/3_dUvbkOi3_offline_data.csv"}}
8
+ {"episode_index": 7, "episode_id": "episode_000007", "task": "EXPLORATION", "clip_id": "3_krX28HFz", "fps": 30.0, "num_steps": 431, "duration_s": 14.333333333333334, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000007.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000007.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000007.mp4"}, "parquet": "data/chunk-000/episode_000007.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "EXPLORATION/3_krX28HFz_offline_data.csv"}}
9
+ {"episode_index": 8, "episode_id": "episode_000008", "task": "GRASPING", "clip_id": "3_o0RgF9Rj", "fps": 30.0, "num_steps": 23, "duration_s": 0.7333333333333333, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000008.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000008.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000008.mp4"}, "parquet": "data/chunk-000/episode_000008.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "GRASPING/3_o0RgF9Rj_offline_data.csv"}}
10
+ {"episode_index": 9, "episode_id": "episode_000009", "task": "MOVE", "clip_id": "3_LVzIBtGr", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000009.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000009.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000009.mp4"}, "parquet": "data/chunk-000/episode_000009.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_LVzIBtGr_offline_data.csv"}}
11
+ {"episode_index": 10, "episode_id": "episode_000010", "task": "MOVE", "clip_id": "3_LrKjTA1q", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000010.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000010.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000010.mp4"}, "parquet": "data/chunk-000/episode_000010.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_LrKjTA1q_offline_data.csv"}}
12
+ {"episode_index": 11, "episode_id": "episode_000011", "task": "MOVE", "clip_id": "3_N0l0K2eI", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000011.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000011.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000011.mp4"}, "parquet": "data/chunk-000/episode_000011.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_N0l0K2eI_offline_data.csv"}}
13
+ {"episode_index": 12, "episode_id": "episode_000012", "task": "MOVE", "clip_id": "3_fI0HTz2A", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000012.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000012.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000012.mp4"}, "parquet": "data/chunk-000/episode_000012.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_fI0HTz2A_offline_data.csv"}}
14
+ {"episode_index": 13, "episode_id": "episode_000013", "task": "MOVE", "clip_id": "3_ffISwpCj", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000013.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000013.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000013.mp4"}, "parquet": "data/chunk-000/episode_000013.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_ffISwpCj_offline_data.csv"}}
15
+ {"episode_index": 14, "episode_id": "episode_000014", "task": "MOVE", "clip_id": "3_nGb2MXxH", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000014.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000014.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000014.mp4"}, "parquet": "data/chunk-000/episode_000014.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_nGb2MXxH_offline_data.csv"}}
16
+ {"episode_index": 15, "episode_id": "episode_000015", "task": "MOVE", "clip_id": "3_pOPxlWrW", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000015.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000015.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000015.mp4"}, "parquet": "data/chunk-000/episode_000015.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_pOPxlWrW_offline_data.csv"}}
17
+ {"episode_index": 16, "episode_id": "episode_000016", "task": "MOVE", "clip_id": "3_pOx0z1lO", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000016.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000016.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000016.mp4"}, "parquet": "data/chunk-000/episode_000016.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_pOx0z1lO_offline_data.csv"}}
18
+ {"episode_index": 17, "episode_id": "episode_000017", "task": "MOVE", "clip_id": "3_syKLcAcU", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000017.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000017.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000017.mp4"}, "parquet": "data/chunk-000/episode_000017.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_syKLcAcU_offline_data.csv"}}
19
+ {"episode_index": 18, "episode_id": "episode_000018", "task": "MOVE", "clip_id": "3_unKGWPT2", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000018.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000018.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000018.mp4"}, "parquet": "data/chunk-000/episode_000018.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_unKGWPT2_offline_data.csv"}}
20
+ {"episode_index": 19, "episode_id": "episode_000019", "task": "MOVE", "clip_id": "3_urP2TYrU", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000019.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000019.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000019.mp4"}, "parquet": "data/chunk-000/episode_000019.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "MOVE/3_urP2TYrU_offline_data.csv"}}
21
+ {"episode_index": 20, "episode_id": "episode_000020", "task": "PULLING", "clip_id": "3_0vGfI5s4", "fps": 30.0, "num_steps": 337, "duration_s": 11.2, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000020.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000020.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000020.mp4"}, "parquet": "data/chunk-000/episode_000020.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_0vGfI5s4_offline_data.csv"}}
22
+ {"episode_index": 21, "episode_id": "episode_000021", "task": "PULLING", "clip_id": "3_0yI7qylV", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000021.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000021.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000021.mp4"}, "parquet": "data/chunk-000/episode_000021.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_0yI7qylV_offline_data.csv"}}
23
+ {"episode_index": 22, "episode_id": "episode_000022", "task": "PULLING", "clip_id": "3_3hs0h122", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000022.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000022.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000022.mp4"}, "parquet": "data/chunk-000/episode_000022.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors", "Double-Fenestrated_Grasper"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_3hs0h122_offline_data.csv"}}
24
+ {"episode_index": 23, "episode_id": "episode_000023", "task": "PULLING", "clip_id": "3_86UVfGz5", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000023.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000023.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000023.mp4"}, "parquet": "data/chunk-000/episode_000023.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors", "DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_86UVfGz5_offline_data.csv"}}
25
+ {"episode_index": 24, "episode_id": "episode_000024", "task": "PULLING", "clip_id": "3_8C0tcEgj", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000024.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000024.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000024.mp4"}, "parquet": "data/chunk-000/episode_000024.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_8C0tcEgj_offline_data.csv"}}
26
+ {"episode_index": 25, "episode_id": "episode_000025", "task": "PULLING", "clip_id": "3_8Xwg2Zlz", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000025.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000025.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000025.mp4"}, "parquet": "data/chunk-000/episode_000025.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_8Xwg2Zlz_offline_data.csv"}}
27
+ {"episode_index": 26, "episode_id": "episode_000026", "task": "PULLING", "clip_id": "3_8ZcQld8c", "fps": 30.0, "num_steps": 52, "duration_s": 1.7, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000026.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000026.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000026.mp4"}, "parquet": "data/chunk-000/episode_000026.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_8ZcQld8c_offline_data.csv"}}
28
+ {"episode_index": 27, "episode_id": "episode_000027", "task": "PULLING", "clip_id": "3_8e8jz9pl", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000027.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000027.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000027.mp4"}, "parquet": "data/chunk-000/episode_000027.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_8e8jz9pl_offline_data.csv"}}
29
+ {"episode_index": 28, "episode_id": "episode_000028", "task": "PULLING", "clip_id": "3_905wAIix", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000028.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000028.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000028.mp4"}, "parquet": "data/chunk-000/episode_000028.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_905wAIix_offline_data.csv"}}
30
+ {"episode_index": 29, "episode_id": "episode_000029", "task": "PULLING", "clip_id": "3_FfInU71N", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000029.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000029.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000029.mp4"}, "parquet": "data/chunk-000/episode_000029.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_FfInU71N_offline_data.csv"}}
31
+ {"episode_index": 30, "episode_id": "episode_000030", "task": "PULLING", "clip_id": "3_IPXXcj63", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000030.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000030.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000030.mp4"}, "parquet": "data/chunk-000/episode_000030.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_IPXXcj63_offline_data.csv"}}
32
+ {"episode_index": 31, "episode_id": "episode_000031", "task": "PULLING", "clip_id": "3_K8uGKPvQ", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000031.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000031.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000031.mp4"}, "parquet": "data/chunk-000/episode_000031.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_K8uGKPvQ_offline_data.csv"}}
33
+ {"episode_index": 32, "episode_id": "episode_000032", "task": "PULLING", "clip_id": "3_KdC0cuVh", "fps": 30.0, "num_steps": 34, "duration_s": 1.1, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000032.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000032.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000032.mp4"}, "parquet": "data/chunk-000/episode_000032.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_KdC0cuVh_offline_data.csv"}}
34
+ {"episode_index": 33, "episode_id": "episode_000033", "task": "PULLING", "clip_id": "3_KnDLFOZr", "fps": 30.0, "num_steps": 177, "duration_s": 5.866666666666666, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000033.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000033.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000033.mp4"}, "parquet": "data/chunk-000/episode_000033.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_KnDLFOZr_offline_data.csv"}}
35
+ {"episode_index": 34, "episode_id": "episode_000034", "task": "PULLING", "clip_id": "3_TkgvXXlr", "fps": 30.0, "num_steps": 176, "duration_s": 5.833333333333333, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000034.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000034.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000034.mp4"}, "parquet": "data/chunk-000/episode_000034.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_TkgvXXlr_offline_data.csv"}}
36
+ {"episode_index": 35, "episode_id": "episode_000035", "task": "PULLING", "clip_id": "3_UNOlwimE", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000035.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000035.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000035.mp4"}, "parquet": "data/chunk-000/episode_000035.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_UNOlwimE_offline_data.csv"}}
37
+ {"episode_index": 36, "episode_id": "episode_000036", "task": "PULLING", "clip_id": "3_Uijn7Xi4", "fps": 30.0, "num_steps": 214, "duration_s": 7.1, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000036.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000036.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000036.mp4"}, "parquet": "data/chunk-000/episode_000036.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_Uijn7Xi4_offline_data.csv"}}
38
+ {"episode_index": 37, "episode_id": "episode_000037", "task": "PULLING", "clip_id": "3_WRoa9UF3", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000037.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000037.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000037.mp4"}, "parquet": "data/chunk-000/episode_000037.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_WRoa9UF3_offline_data.csv"}}
39
+ {"episode_index": 38, "episode_id": "episode_000038", "task": "PULLING", "clip_id": "3_XI5nTP4l", "fps": 30.0, "num_steps": 287, "duration_s": 9.533333333333333, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000038.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000038.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000038.mp4"}, "parquet": "data/chunk-000/episode_000038.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_XI5nTP4l_offline_data.csv"}}
40
+ {"episode_index": 39, "episode_id": "episode_000039", "task": "PULLING", "clip_id": "3_YUIlx1PS", "fps": 30.0, "num_steps": 57, "duration_s": 1.8666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000039.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000039.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000039.mp4"}, "parquet": "data/chunk-000/episode_000039.parquet", "tool_pose_2d": {"tool_names": ["Double-Fenestrated_Grasper", "DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_YUIlx1PS_offline_data.csv"}}
41
+ {"episode_index": 40, "episode_id": "episode_000040", "task": "PULLING", "clip_id": "3_dPmupexZ", "fps": 30.0, "num_steps": 78, "duration_s": 2.566666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000040.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000040.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000040.mp4"}, "parquet": "data/chunk-000/episode_000040.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_dPmupexZ_offline_data.csv"}}
42
+ {"episode_index": 41, "episode_id": "episode_000041", "task": "PULLING", "clip_id": "3_fYLG568i", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000041.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000041.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000041.mp4"}, "parquet": "data/chunk-000/episode_000041.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_fYLG568i_offline_data.csv"}}
43
+ {"episode_index": 42, "episode_id": "episode_000042", "task": "PULLING", "clip_id": "3_glzpl9Z0", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000042.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000042.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000042.mp4"}, "parquet": "data/chunk-000/episode_000042.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_glzpl9Z0_offline_data.csv"}}
44
+ {"episode_index": 43, "episode_id": "episode_000043", "task": "PULLING", "clip_id": "3_hbSw6xSf", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000043.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000043.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000043.mp4"}, "parquet": "data/chunk-000/episode_000043.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_hbSw6xSf_offline_data.csv"}}
45
+ {"episode_index": 44, "episode_id": "episode_000044", "task": "PULLING", "clip_id": "3_jj0990jN", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000044.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000044.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000044.mp4"}, "parquet": "data/chunk-000/episode_000044.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_jj0990jN_offline_data.csv"}}
46
+ {"episode_index": 45, "episode_id": "episode_000045", "task": "PULLING", "clip_id": "3_nmi41r7o", "fps": 30.0, "num_steps": 336, "duration_s": 11.166666666666666, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000045.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000045.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000045.mp4"}, "parquet": "data/chunk-000/episode_000045.parquet", "tool_pose_2d": {"tool_names": ["Double-Fenestrated_Grasper", "DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_nmi41r7o_offline_data.csv"}}
47
+ {"episode_index": 46, "episode_id": "episode_000046", "task": "PULLING", "clip_id": "3_pFVYCT2I", "fps": 30.0, "num_steps": 35, "duration_s": 1.1333333333333333, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000046.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000046.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000046.mp4"}, "parquet": "data/chunk-000/episode_000046.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_pFVYCT2I_offline_data.csv"}}
48
+ {"episode_index": 47, "episode_id": "episode_000047", "task": "PULLING", "clip_id": "3_pYTaE39t", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000047.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000047.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000047.mp4"}, "parquet": "data/chunk-000/episode_000047.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_pYTaE39t_offline_data.csv"}}
49
+ {"episode_index": 48, "episode_id": "episode_000048", "task": "PULLING", "clip_id": "3_tJy1YVVF", "fps": 30.0, "num_steps": 52, "duration_s": 1.7, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000048.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000048.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000048.mp4"}, "parquet": "data/chunk-000/episode_000048.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_tJy1YVVF_offline_data.csv"}}
50
+ {"episode_index": 49, "episode_id": "episode_000049", "task": "PULLING", "clip_id": "3_uKWrXqYa", "fps": 30.0, "num_steps": 49, "duration_s": 1.6, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000049.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000049.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000049.mp4"}, "parquet": "data/chunk-000/episode_000049.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_uKWrXqYa_offline_data.csv"}}
51
+ {"episode_index": 50, "episode_id": "episode_000050", "task": "PULLING", "clip_id": "3_vvdITXxb", "fps": 30.0, "num_steps": 30, "duration_s": 0.9666666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000050.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000050.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000050.mp4"}, "parquet": "data/chunk-000/episode_000050.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors", "DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_vvdITXxb_offline_data.csv"}}
52
+ {"episode_index": 51, "episode_id": "episode_000051", "task": "PULLING", "clip_id": "3_xoBlP0YW", "fps": 30.0, "num_steps": 47, "duration_s": 1.5333333333333334, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000051.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000051.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000051.mp4"}, "parquet": "data/chunk-000/episode_000051.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_xoBlP0YW_offline_data.csv"}}
53
+ {"episode_index": 52, "episode_id": "episode_000052", "task": "PULLING", "clip_id": "3_yLI9CXeK", "fps": 30.0, "num_steps": 52, "duration_s": 1.7, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000052.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000052.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000052.mp4"}, "parquet": "data/chunk-000/episode_000052.parquet", "tool_pose_2d": {"tool_names": ["Double-Fenestrated_Grasper"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "PULLING/3_yLI9CXeK_offline_data.csv"}}
54
+ {"episode_index": 53, "episode_id": "episode_000053", "task": "STATIC", "clip_id": "3_Rg7Gv0MW", "fps": 30.0, "num_steps": 689, "duration_s": 22.933333333333334, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000053.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000053.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000053.mp4"}, "parquet": "data/chunk-000/episode_000053.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors", "Double-Fenestrated_Grasper"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "STATIC/3_Rg7Gv0MW_offline_data.csv"}}
55
+ {"episode_index": 54, "episode_id": "episode_000054", "task": "STATIC", "clip_id": "3_bkvVU5Cq", "fps": 30.0, "num_steps": 145, "duration_s": 4.8, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000054.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000054.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000054.mp4"}, "parquet": "data/chunk-000/episode_000054.parquet", "tool_pose_2d": {"tool_names": ["Curved_Scissors", "DeBakey_Forceps"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "STATIC/3_bkvVU5Cq_offline_data.csv"}}
56
+ {"episode_index": 55, "episode_id": "episode_000055", "task": "STATIC", "clip_id": "3_gPqvUbSQ", "fps": 30.0, "num_steps": 174, "duration_s": 5.766666666666667, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000055.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000055.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000055.mp4"}, "parquet": "data/chunk-000/episode_000055.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "STATIC/3_gPqvUbSQ_offline_data.csv"}}
57
+ {"episode_index": 56, "episode_id": "episode_000056", "task": "ZOOM_IN", "clip_id": "3_9lfKK2b1", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000056.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000056.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000056.mp4"}, "parquet": "data/chunk-000/episode_000056.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_9lfKK2b1_offline_data.csv"}}
58
+ {"episode_index": 57, "episode_id": "episode_000057", "task": "ZOOM_IN", "clip_id": "3_FXBYuuY0", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000057.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000057.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000057.mp4"}, "parquet": "data/chunk-000/episode_000057.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_FXBYuuY0_offline_data.csv"}}
59
+ {"episode_index": 58, "episode_id": "episode_000058", "task": "ZOOM_IN", "clip_id": "3_WVU4qyZ9", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000058.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000058.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000058.mp4"}, "parquet": "data/chunk-000/episode_000058.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_WVU4qyZ9_offline_data.csv"}}
60
+ {"episode_index": 59, "episode_id": "episode_000059", "task": "ZOOM_IN", "clip_id": "3_XIWJYSrC", "fps": 30.0, "num_steps": 40, "duration_s": 1.3, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000059.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000059.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000059.mp4"}, "parquet": "data/chunk-000/episode_000059.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_XIWJYSrC_offline_data.csv"}}
61
+ {"episode_index": 60, "episode_id": "episode_000060", "task": "ZOOM_IN", "clip_id": "3_cvbPgIzD", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000060.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000060.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000060.mp4"}, "parquet": "data/chunk-000/episode_000060.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_cvbPgIzD_offline_data.csv"}}
62
+ {"episode_index": 61, "episode_id": "episode_000061", "task": "ZOOM_IN", "clip_id": "3_zypYaZ4A", "fps": 30.0, "num_steps": 31, "duration_s": 1.0, "videos": {"observation.images.color": "videos/chunk-000/observation.images.color/episode_000061.mp4", "observation.images.depth": "videos/chunk-000/observation.images.depth/episode_000061.mp4", "observation.images.tool_segmentation": "videos/chunk-000/observation.images.tool_segmentation/episode_000061.mp4"}, "parquet": "data/chunk-000/episode_000061.parquet", "tool_pose_2d": {"tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"], "tip_2d_order": "tool_names[i] corresponds to observation.state.tip_2d[i] = [x_px, y_px, theta_deg]", "source_csv": "ZOOM_IN/3_zypYaZ4A_offline_data.csv"}}
Surgical/utenn/surgical_video_datasets_with_tip_pose/meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "label": "CONTACT", "num_steps": 79, "duration_s": 2.6, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 79, "depth_frames_est": 79, "seg_frames_est": 79, "pose2d_len": 79, "num_tools": 3, "tool_names": ["DeBakey_Forceps", "Double-Fenestrated_Grasper", "Curved_Scissors"]}
2
+ {"episode_index": 1, "label": "CONTACT", "num_steps": 29, "duration_s": 0.9333333333333333, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 29, "depth_frames_est": 29, "seg_frames_est": 29, "pose2d_len": 29, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
3
+ {"episode_index": 2, "label": "CONTACT", "num_steps": 52, "duration_s": 1.7, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 52, "depth_frames_est": 52, "seg_frames_est": 52, "pose2d_len": 52, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
4
+ {"episode_index": 3, "label": "EXPLORATION", "num_steps": 269, "duration_s": 8.933333333333334, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 269, "depth_frames_est": 269, "seg_frames_est": 269, "pose2d_len": 269, "num_tools": 1, "tool_names": ["Curved_Scissors"]}
5
+ {"episode_index": 4, "label": "EXPLORATION", "num_steps": 809, "duration_s": 26.933333333333334, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 810, "depth_frames_est": 810, "seg_frames_est": 810, "pose2d_len": 809, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
6
+ {"episode_index": 5, "label": "EXPLORATION", "num_steps": 534, "duration_s": 17.766666666666666, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 535, "depth_frames_est": 535, "seg_frames_est": 535, "pose2d_len": 534, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
7
+ {"episode_index": 6, "label": "EXPLORATION", "num_steps": 396, "duration_s": 13.166666666666666, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 396, "depth_frames_est": 396, "seg_frames_est": 396, "pose2d_len": 396, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
8
+ {"episode_index": 7, "label": "EXPLORATION", "num_steps": 431, "duration_s": 14.333333333333334, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 431, "depth_frames_est": 431, "seg_frames_est": 431, "pose2d_len": 431, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
9
+ {"episode_index": 8, "label": "GRASPING", "num_steps": 23, "duration_s": 0.7333333333333333, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 23, "depth_frames_est": 23, "seg_frames_est": 23, "pose2d_len": 23, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
10
+ {"episode_index": 9, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 1, "tool_names": ["Curved_Scissors"]}
11
+ {"episode_index": 10, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 2, "tool_names": ["DeBakey_Forceps", "Curved_Scissors"]}
12
+ {"episode_index": 11, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 1, "tool_names": ["Curved_Scissors"]}
13
+ {"episode_index": 12, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 1, "tool_names": ["DeBakey_Forceps"]}
14
+ {"episode_index": 13, "label": "MOVE", "num_steps": 30, "duration_s": 0.9666666666666667, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 30, "depth_frames_est": 30, "seg_frames_est": 30, "pose2d_len": 30, "num_tools": 1, "tool_names": ["DeBakey_Forceps"]}
15
+ {"episode_index": 14, "label": "MOVE", "num_steps": 30, "duration_s": 0.9666666666666667, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 30, "depth_frames_est": 30, "seg_frames_est": 30, "pose2d_len": 30, "num_tools": 1, "tool_names": ["Curved_Scissors"]}
16
+ {"episode_index": 15, "label": "MOVE", "num_steps": 30, "duration_s": 0.9666666666666667, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 30, "depth_frames_est": 30, "seg_frames_est": 30, "pose2d_len": 30, "num_tools": 1, "tool_names": ["DeBakey_Forceps"]}
17
+ {"episode_index": 16, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 1, "tool_names": ["DeBakey_Forceps"]}
18
+ {"episode_index": 17, "label": "MOVE", "num_steps": 31, "duration_s": 1.0, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 31, "depth_frames_est": 31, "seg_frames_est": 31, "pose2d_len": 31, "num_tools": 1, "tool_names": ["Curved_Scissors"]}
19
+ {"episode_index": 18, "label": "MOVE", "num_steps": 30, "duration_s": 0.9666666666666667, "fps_used": 30.0, "color_hw": [480, 720], "depth_hw": [480, 720], "seg_hw": [480, 720], "rgb_frames_est": 30, "depth_frames_est": 30, "seg_frames_est": 30, "pose2d_len": 30, "num_tools": 1, "tool_names": ["DeBakey_Forceps"]}
20
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Surgical/utenn/surgical_video_datasets_with_tip_pose/meta/info.json ADDED
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+ {
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+ "repo_id": "UTK_AURAS/surgical_actions_v2_with_tip2d",
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+ "dataset_format_version": "2.1",
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+ "lerobot_version": "0.3.3",
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+ "license": "CC BY 4.0",
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+ "robot_type": "davinci_xi",
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+ "use_videos": true,
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+ "fps": 30.0,
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+ "modalities": [
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+ "observation.images.color",
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+ "observation.images.depth",
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+ "observation.images.tool_segmentation"
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+ ],
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+ "additional_fields": {
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+ "observation.state.tip_2d": {
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+ "dtype": "float32",
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+ "shape": [
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+ "num_tools",
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+ 3
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+ ],
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+ "names": [
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+ "x_px",
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+ "y_px",
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+ "theta_deg"
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+ ],
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+ "description": "2D tool tip pose per tool. Order corresponds to observation.meta.tool_name."
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+ },
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+ "observation.meta.tool_name": {
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+ "dtype": "string",
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+ "shape": [
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+ "num_tools"
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+ ],
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+ "description": "Tool name list matching the first dimension of observation.state.tip_2d."
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+ }
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+ },
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+ "splits": {
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+ "train": "0:55",
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+ "val": "55:58",
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+ "test": "58:62"
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+ },
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+ "num_episodes": 62,
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+ "chunking": {
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+ "chunks": [
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+ "chunk-000"
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+ ]
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+ },
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+ "notes": {
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+ "segmentation_source": "SAM3 optimized outputs (tool_mask_opt.mp4 only).",
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+ "depth_source": "VideoDepthAnything (DepthAnything v2 backbone).",
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+ "pose2d_source": "Friend-labeled 2D tool pose CSV per clip.",
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+ "timestep_table_columns": [
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+ "episode_index",
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+ "observation.state.tip_2d"
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+ ],
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+ "truncation_policy": "n_steps = min(rgb, depth, seg, pose_csv_len) using estimated frame counts"
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+ }
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+ }
Surgical/utenn/surgical_video_datasets_with_tip_pose/meta/tasks.jsonl ADDED
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+ {"task": "CONTACT", "description": "Instrument tip contacts tissue or surface briefly, but without a clear manipulation
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+ intent (no grasp/pull/split/dissection/energy)."}
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+ {"task": "EXPLORATION", "description": "Visual exploration of the cavity/field to find anatomical landmarks or the
4
+ next worksite, without a clear tissue manipulation goal."}
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+ {"task": "GRASPING", "description": "Instrument grasps tissue/structure and holds it (stable grasp) to control, secure,
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+ or prepare for another operation."}
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+ {"task": "MOVE", "description": "Instrument(s) moving in the scene without meaningful contact/manipulation of tissue
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+ (e.g., repositioning, passing through the field)."}
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+ {"task": "PULLING", "description": "Traction/retraction action where tissue is pulled to expose or tension an area
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+ (continuous pulling/holding under tension)."}
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+ {"task": "STATIC", "description": "The view is essentially stable: camera stays on a site, tools are almost not moving,
12
+ typically waiting/pausing (e.g., surgeon waiting, assessing, or holding position)."}
13
+ {"task": "ZOOM_IN", "description": "Camera zoom-in to magnify the worksite or improve visibility."}
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