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Datasets:
nvidia
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PhysicalAI-Robotics-Open-H-Embodiment

Tasks:
Robotics
Tags:
robotics
healthcare
License:
Dataset card Files
xet
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  2. Surgical/jhu/imerse/previously_collected_data/hf_suturebot/meta/episodes_stats.jsonl +0 -0
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  4. Surgical/jhu/imerse/previously_collected_data/hf_suturebot/meta/modality.json +54 -0
  5. Surgical/jhu/imerse/previously_collected_data/hf_suturebot/meta/percentile_stats.json +0 -0
  6. Surgical/jhu/imerse/previously_collected_data/hf_suturebot/meta/stats.json +242 -0
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  13. Surgical/jhu/imerse/star_il/star_il/meta/tasks.jsonl +1 -0
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Surgical/jhu/imerse/previously_collected_data/hf_suturebot/meta/tasks.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"task_index": 0, "task": "knot tying"}
2
+ {"task_index": 1, "task": "needle pickup"}
3
+ {"task_index": 2, "task": "needle throw"}
Surgical/jhu/imerse/star_il/star_il/README.md ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # STAR_IL Dataset
2
+
3
+ ## Overview
4
+
5
+ The **STAR_IL** dataset contains demonstration data for ex vivo anastomosis suturing tasks performed using the STAR (Smart Tissue Autonomous Robot) surgical system. This dataset is formatted in the LeRobot v2.1 format and is designed for imitation learning and autonomous surgical suturing research.
6
+
7
+ ## Dataset Statistics
8
+
9
+ - **Total Episodes**: 512
10
+ - **Total Frames**: 216,140
11
+ - **Total Videos**: 1,024 (2 camera views × 512 episodes)
12
+ - **Frame Rate**: 30 FPS
13
+ - **Robot Type**: STAR (Smart Tissue Autonomous Robot)
14
+ - **Task**: Ex vivo anastomosis suturing
15
+
16
+ ## Dataset Structure
17
+
18
+ ```
19
+ star_IL/
20
+ ├── data/
21
+ │ └── chunk-000/
22
+ │ ├── episode_000000.parquet
23
+ │ ├── episode_000001.parquet
24
+ │ └── ... (512 episodes total)
25
+ ├── videos/
26
+ │ └── chunk-000/
27
+ │ ├── observation.images.endoscope.left/
28
+ │ │ ├── episode_000000.mp4
29
+ │ │ ├── episode_000001.mp4
30
+ │ │ └── ... (512 videos)
31
+ │ └── observation.images.wrist.left/
32
+ │ ├── episode_000000.mp4
33
+ │ ├── episode_000001.mp4
34
+ │ └── ... (512 videos)
35
+ ├── images/
36
+ │ ├── observation.images.endoscope.left/
37
+ │ │ └── episode_XXXXXX/ (individual frame images)
38
+ │ └── observation.images.wrist.left/
39
+ │ └── episode_XXXXXX/ (individual frame images)
40
+ ├── meta/
41
+ │ └── info.json (dataset metadata)
42
+ ├── camera_info.yaml (camera calibration parameters)
43
+ └── transformation_side_camera_wrt_robot_base.yaml (camera-to-robot transform)
44
+ ```
45
+
46
+ ## Data Format
47
+
48
+ ### Observations
49
+
50
+ #### Visual Observations
51
+ - **`observation.images.endoscope.left`**: Endoscope camera view
52
+ - Shape: `(540, 960, 3)` - RGB images
53
+ - Format: MP4 video (AV1 codec, 30 FPS)
54
+ - Description: Side-view endoscope providing global scene context
55
+
56
+ - **`observation.images.wrist.left`**: Wrist-mounted camera view
57
+ - Shape: `(720, 720, 3)` - RGB images
58
+ - Format: MP4 video (AV1 codec, 30 FPS)
59
+ - Description: Eye-in-hand camera mounted on the Endo360 tool for close-up tissue visualization
60
+
61
+ #### State Observations
62
+ - **`observation.state`**: Robot joint positions (8D)
63
+ - `kuka_joint_pos[0-6]`: 7 KUKA LBR iiwa joint positions (radians)
64
+ - `endo360_joint_pos[0]`: 1 Endo360 tool joint position (radians)
65
+
66
+ #### Metadata
67
+ - **`observation.meta.tool.endo360`**: Tool type identifier
68
+ - Value: `"Needle Driver"` (string)
69
+
70
+ ### Actions
71
+
72
+ - **`action`**: End effector pose commands (7D)
73
+ - `kuka_pose.x, y, z`: Cartesian position (meters)
74
+ - `kuka_pose.ori.x, y, z, w`: Quaternion orientation
75
+
76
+ ### Instructions
77
+
78
+ - **`instruction.text`**: Natural language task description
79
+ - Contains subtask-specific instructions (e.g., "suture throw", "needle pass")
80
+
81
+ ### Temporal Information
82
+
83
+ - **`timestamp`**: Frame timestamp in seconds (float32)
84
+ - **`frame_index`**: Frame index within episode (int64)
85
+ - **`episode_index`**: Episode index (int64)
86
+ - **`index`**: Global frame index (int64)
87
+ - **`task_index`**: Task type index (int64)
88
+
89
+ ## Robot Setup
90
+
91
+ The dataset was collected using the following hardware configuration:
92
+
93
+ ### Manipulator
94
+ - **KUKA LBR iiwa**: 7-DOF robotic arm
95
+ - Provides 7 joint positions and end effector pose control
96
+
97
+ ### Surgical Tool
98
+ - **Endo360**: Articulated surgical tool with wrist-mounted camera
99
+ - Provides 1 additional joint position
100
+ - Equipped with needle driver for suturing tasks
101
+
102
+ ### Cameras
103
+ - **Endoscope Camera**: Side-view endoscope (540×960 resolution)
104
+ - Provides global scene context
105
+ - Camera calibration stored in `camera_info.yaml`
106
+
107
+ - **Wrist Camera**: Eye-in-hand camera on Endo360 tool (720×720 resolution)
108
+ - Provides close-up tissue visualization
109
+ - Critical for precise suture placement
110
+
111
+ ### Coordinate Frames
112
+ - Camera-to-robot transformation stored in `transformation_side_camera_wrt_robot_base.yaml`
113
+ - Transform: `world` → `camera_color_optical_frame`
114
+
115
+ ## Task Description
116
+
117
+ ### Ex Vivo Anastomosis Suturing
118
+
119
+ This dataset contains demonstrations of anastomosis suturing procedures performed on ex vivo porcine instestinal tissue. The task involves:
120
+
121
+ 1. **Tissue Manipulation**: Positioning and stabilizing tissue segments
122
+ 2. **Suture Placement**: Precise needle insertion and thread placement
123
+ 3. **Knot Tying**: Creating secure surgical knots
124
+ 4. **Tension Management**: Maintaining appropriate suture tension
125
+
126
+ ### Subtasks
127
+
128
+ The dataset includes demonstrations across multiple suturing subtasks:
129
+ - Suture throw
130
+ - Needle pass
131
+ - Knot tying
132
+ - Recovery demonstrations (error correction scenarios)
133
+
134
+ ## Data Splits
135
+
136
+ The dataset is split as follows:
137
+
138
+ - **Train**: Episodes 0-408 (409 episodes, ~80%)
139
+ - **Validation**: Episodes 409-459 (51 episodes, ~10%)
140
+ - **Test**: Episodes 460-511 (52 episodes, ~10%)
141
+
142
+ Additional splits:
143
+ - **Perfect**: Episodes 0-511 (512 episodes) - All perfect demonstrations
144
+ - **Recovery**: Episodes 512-511 (0 episodes) - Recovery demonstrations (none in this dataset)
145
+
146
+ ## Usage
147
+
148
+ ### Loading the Dataset
149
+
150
+ ```python
151
+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
152
+
153
+ # Load the dataset
154
+ dataset = LeRobotDataset("aloma85/star_IL")
155
+
156
+ # Access an episode
157
+ episode = dataset[0] # First episode
158
+
159
+ # Access frames
160
+ frame = dataset[0, 0] # First frame of first episode
161
+
162
+ # Access specific observations
163
+ endoscope_image = frame["observation.images.endoscope.left"]
164
+ wrist_image = frame["observation.images.wrist.left"]
165
+ state = frame["observation.state"]
166
+ action = frame["action"]
167
+ instruction = frame["instruction.text"]
168
+ ```
169
+
170
+ ### Video Access
171
+
172
+ Videos are stored as MP4 files and can be accessed via the dataset API:
173
+
174
+ ```python
175
+ # Get video path for an episode
176
+ video_path = dataset.get_video_path(
177
+ episode_index=0,
178
+ video_key="observation.images.endoscope.left"
179
+ )
180
+ ```
181
+
182
+ ### Data Statistics
183
+
184
+ ```python
185
+ # Dataset statistics
186
+ print(f"Total episodes: {dataset.meta.info['total_episodes']}")
187
+ print(f"Total frames: {dataset.meta.info['total_frames']}")
188
+ print(f"FPS: {dataset.meta.info['fps']}")
189
+ ```
190
+
191
+ ## Camera Calibration
192
+
193
+ Camera intrinsic and extrinsic parameters are provided:
194
+
195
+ - **`camera_info.yaml`**: Endoscope camera calibration
196
+ - Intrinsic matrix (K)
197
+ - Distortion coefficients (D)
198
+ - Resolution: 848×480 (calibration) → 960×540 (dataset)
199
+
200
+ - **`transformation_side_camera_wrt_robot_base.yaml`**: Camera-to-robot transform
201
+ - Translation: (x, y, z) in meters
202
+ - Rotation: Quaternion (x, y, z, w)
203
+
204
+ ## File Sizes
205
+
206
+ - **Data (Parquet)**: ~22 MB
207
+ - **Videos**: ~11 GB
208
+ - **Images**: ~4.4 GB
209
+ - **Metadata**: ~1.4 MB
210
+ - **Total**: ~15 GB
211
+
212
+ ## Data Collection Pipeline
213
+
214
+ The original data was collected using:
215
+
216
+ 1. **ROS-based Recording**: Data captured via ROS topics
217
+ - Joint states from KUKA and Endo360
218
+ - Images from endoscope and wrist cameras
219
+ - Timestamps synchronized across all sensors
220
+
221
+ 2. **Data Organization**: Episodes organized by tissue phantom and subtask
222
+ - Structure: `tissue_XX/subtask/episode_XXXX/`
223
+
224
+ 3. **Conversion to LeRobot Format**: Processed using `star_to_lerobot.py`
225
+ - CSV kinematics data → Parquet format
226
+ - Individual images → MP4 videos (AV1 codec)
227
+ - Metadata extraction and organization
228
+
229
+ ## Citation
230
+
231
+ If you use this dataset in your research, please cite:
232
+
233
+ ```bibtex
234
+ @dataset{star_il_2026,
235
+ title={STAR_IL: Ex Vivo Anastomosis Suturing Dataset},
236
+ author={IMERSE LAB @ The Johns Hopkins University},
237
+ year={2026},
238
+ url={https://huggingface.co/datasets/aloma85/star_IL}
239
+ }
240
+ ```
241
+
242
+ ## Contact
243
+
244
+ For questions or issues regarding this dataset, please contact:
245
+ - Dataset maintainer: [Idris Sunmola isunmol1 @ jhu . edu]
246
+
247
+ ## Acknowledgments
248
+
249
+ This dataset was collected as part of research on autonomous surgical suturing using the STAR robotic system. Special thanks to the IMERSE LAB team and collaborators.
250
+
251
+ ---
252
+
253
+ **Last Updated**: February 2026
254
+ **Dataset Version**: v2.1 (LeRobot format)
255
+ **Codebase Version**: v2.1
Surgical/jhu/imerse/star_il/star_il/camera_info.yaml ADDED
@@ -0,0 +1,58 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ topic_name: /camera/color/camera_info
2
+ camera_info:
3
+ header:
4
+ seq: 14
5
+ stamp:
6
+ secs: 1768421998
7
+ nsecs: 459670782
8
+ frame_id: camera_color_optical_frame
9
+ height: 480
10
+ width: 848
11
+ distortion_model: plumb_bob
12
+ D:
13
+ - -0.05328400433063507
14
+ - 0.059070635586977005
15
+ - 8.470348257105798e-05
16
+ - 0.0010494986781850457
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+ - -0.018310565501451492
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+ K:
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+ - 426.0816345214844
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+ - 0.0
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+ - 425.01605224609375
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+ - 0.0
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+ - 425.7081298828125
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+ - 239.1587677001953
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+ - 0.0
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+ - 0.0
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+ - 1.0
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+ R:
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+ - 1.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 1.0
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 1.0
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+ P:
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+ - 426.0816345214844
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+ - 0.0
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+ - 425.01605224609375
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+ - 0.0
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+ - 0.0
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+ - 425.7081298828125
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+ - 239.1587677001953
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+ - 0.0
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+ - 0.0
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+ - 0.0
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+ - 1.0
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+ - 0.0
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+ binning_x: 0
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+ binning_y: 0
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+ roi:
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+ x_offset: 0
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+ y_offset: 0
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+ height: 0
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+ width: 0
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+ do_rectify: false
Surgical/jhu/imerse/star_il/star_il/meta/episodes.jsonl ADDED
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+ {"episode_index": 0, "tasks": ["suture throw"], "length": 359}
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