croissant.json

{
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    "@language": "en",
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    "column": "cr:column",
    "conformsTo": "dct:conformsTo",
    "cr": "http://mlcommons.org/croissant/",
    "rai": "http://mlcommons.org/croissant/RAI/",
    "data": {
      "@id": "cr:data",
      "@type": "@json"
    },
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      "@type": "@vocab"
    },
    "dct": "http://purl.org/dc/terms/",
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      "@id": "cr:examples",
      "@type": "@json"
    },
    "extract": "cr:extract",
    "field": "cr:field",
    "fileProperty": "cr:fileProperty",
    "fileObject": "cr:fileObject",
    "fileSet": "cr:fileSet",
    "format": "cr:format",
    "includes": "cr:includes",
    "isLiveDataset": "cr:isLiveDataset",
    "jsonPath": "cr:jsonPath",
    "key": "cr:key",
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    "path": "cr:path",
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    "references": "cr:references",
    "regex": "cr:regex",
    "repeated": "cr:repeated",
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    "sc": "https://schema.org/",
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    "source": "cr:source",
    "subField": "cr:subField",
    "transform": "cr:transform"
  },
  
  "@type": "Dataset",
  "name": "SutureBot",
  "citation": "Haworth, Jesse et al. SutureBot: A Precision Framework and Benchmark for Autonomous End-to-End Suturing. Under review at NeurIPS 2025 Datasets and Benchmarks Track.",
  "datePublished": "2025-05-15",
  "version": "1.0.0",
  "description": "Dataset of multi-view surgical robot demonstrations for end-to-end suturing, including synchronized RGB images and robot kinematics.",
  "license": "https://creativecommons.org/licenses/by/4.0/",
  "authors": [
    {
      "name": "Juo-Tung Chen",
      "email": "jchen396@jh.edu",
      "affiliation": "Johns Hopkins University"
    }
  ],
  "sources": [
    {
      "name": "data",
      "description": "All task folders under tissue_*/1_[task_name]/*/ contain image subfolders and CSV data",
      "encodingFormat": "application/zip",
      "distribution": {
        "@type": "DataDownload",
        "contentUrl": "https://huggingface.co/datasets/jchen396/suturebot"  
      }
    }
  ],
  "features": [
    {
      "name": "left_camera_image",
      "description": "Left endoscope RGB image",
      "source": "data",
      "path": "**/left_img_dir/frame*_left.jpg",
      "type": "image"
    },
    {
      "name": "right_camera_image",
      "description": "Right endoscope RGB image",
      "source": "data",
      "path": "**/right_img_dir/frame*_right.jpg",
      "type": "image"
    },
    {
      "name": "wrist_cam_left",
      "description": "Left wrist (PSM2) RGB image",
      "source": "data",
      "path": "**/endo_psm2/frame*_psm2.jpg",
      "type": "image"
    },
    {
      "name": "wrist_cam_right",
      "description": "Right wrist (PSM1) RGB image",
      "source": "data",
      "path": "**/endo_psm1/frame*_psm1.jpg",
      "type": "image"
    },
    {
  "name": "kinematics",
  "description": "Robot end-effector kinematics and joint states for PSM1, PSM2, ECM, and SUJs.",
  "source": "data",
  "path": "**/ee_csv.csv",
  "type": "table",
  "features": [
    {
      "name": "timestamp",
      "type": "number",
      "description": "Timestamp in seconds"
    },
    {
      "name": "psm1_pose_position",
      "type": "vector",
      "length": 3,
      "description": "PSM1 end-effector position (x, y, z)"
    },
    {
      "name": "psm1_pose_orientation",
      "type": "vector",
      "length": 4,
      "description": "PSM1 end-effector orientation quaternion (x, y, z, w)"
    },
    {
      "name": "psm1_jaw",
      "type": "number",
      "description": "PSM1 jaw opening angle"
    },
    {
      "name": "psm2_pose_position",
      "type": "vector",
      "length": 3,
      "description": "PSM2 end-effector position (x, y, z)"
    },
    {
      "name": "psm2_pose_orientation",
      "type": "vector",
      "length": 4,
      "description": "PSM2 end-effector orientation quaternion (x, y, z, w)"
    },
    {
      "name": "psm2_jaw",
      "type": "number",
      "description": "PSM2 jaw opening angle"
    },
    {
      "name": "ecm_pose_position",
      "type": "vector",
      "length": 3,
      "description": "ECM camera position (x, y, z)"
    },
    {
      "name": "ecm_pose_orientation",
      "type": "vector",
      "length": 4,
      "description": "ECM camera orientation quaternion (x, y, z, w)"
    },
    {
      "name": "psm1_js",
      "type": "vector",
      "length": 6,
      "description": "PSM1 joint angles"
    },
    {
      "name": "psm2_js",
      "type": "vector",
      "length": 6,
      "description": "PSM2 joint angles"
    },
    {
      "name": "psm3_js",
      "type": "vector",
      "length": 6,
      "description": "PSM3 joint angles"
    },
    {
      "name": "ecm_js",
      "type": "vector",
      "length": 4,
      "description": "ECM joint angles"
    },
    {
      "name": "psm1_set_js",
      "type": "vector",
      "length": 6,
      "description": "PSM1 joint command (setpoint)"
    },
    {
      "name": "psm2_set_js",
      "type": "vector",
      "length": 6,
      "description": "PSM2 joint command (setpoint)"
    },
    {
      "name": "psm3_set_js",
      "type": "vector",
      "length": 6,
      "description": "PSM3 joint command (setpoint)"
    },
    {
      "name": "ecm_set_js",
      "type": "vector",
      "length": 4,
      "description": "ECM joint command (setpoint)"
    }
  ]
}]}