Datasets:

nvidia
/

PhysicalAI-Robotics-Open-H-Embodiment

+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
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+-->
+# [tracked_EUS] - README
+---
+## 📋 At a Glance
+* Endoscopic ultrasound (EUS) scanning with 6-DoF pose tracking on in-vivo porcine models.*
+---
+## 📖 Dataset Overview
+*This dataset consists of 34 trajectories of expert gastroenterologist performing EUS examinations on in-vivo porcine models
+The data contains synchronized data streams including B-mode ultrasound frames, white-light endoscopic video,
+and 6-DoF pose ground truth recorded via electromagnetic (EM) tracking,
+capturing standard clinical scanning procedures across the upper and lower digestive tracts.*
+| |                                                                                                                                                   |
+| :--- |:--------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Total Trajectories** | `[34]`                                                                                                                                            |
+| **Data Type** | `[ ] Clinical` `[ ] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation`  `[ ] Physical Simulation` `[x] In-Vivo (Porcine Model)` |
+| **License** | CC BY 4.0                                                                                                                                         |
+| **Version** | `[e.g., 1.0]`                                                                                                                                     |
+---
+## 🎯 Tasks & Domain
+### Domain
+*Select the primary domain for this dataset.*
+- [ ] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [x] **Endoscopic ultrasound**
+### Demonstrated Skills
+The dataset demonstrates expert maneuvering and scanning of specific anatomical stations:
+*   **Vascular Scanning**: Inferior Vena Cava (IVC), Portal Vein (PV), Thoracic Aorta.
+*   **Organ Scanning**: Pancreas, Liver, Mediastinum.
+*   **Station Navigation**: Gastric station scanning, Gastric Cardia entry.
+*   **Procedure Phases**: Endoscope insertion, Transrectal EUS survey.
+---
+## 🔬 Data Collection Details
+### Collection Method
+*How was the data collected?*
+- [ ] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [x] **Human Operation**
+### Operator Details
+| | Description                                                                                                                                                                 |
+| :--- |:----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Operator Count** | `[1]`                                                                                                                                                                       |
+| **Operator Skill Level** | `[x] Expert (e.g., Surgeon, Sonographer)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2025-11-1]` to `[2026-1-30]`                                                                                                                                         |
+### Recovery Demonstrations
+*Does this dataset include examples of recovering from failure?*
+- [ ] **Yes**
+- [x] **No**
+---
+## 🎯 Action & State Space Representation
+### State Space
+- **`observation.state`**: `[tx, ty, tz, qx, qy, qz, qw, quality]`
+  - EM Tracker pose of the probe tip relative to the emitter base.
+  - Index 7 represents the tracker signal quality.
+### Action Space
+- **`action`**: `[tx, ty, tz, qx, qy, qz, qw]`
+  - Target pose for the next timestep (Delta-time prediction target).
+### Metadata Fields
+- **`observation.meta.probe_acquisition_param`**: `[freq, depth, gain, fps]`
+- **`observation.meta.prob_cali_mtx`**: **Placeholder (Identity)**.
+  - *Note: Calibration between the Ultrasound image plane and the EM sensor is not currently provided. This field contains identity transforms for structural compliance.*
+---
+## ⏱️ Data Synchronization Approach
+*Temporal synchronization was achieved through a motion-based calibration involving periodic Z-axis probe movements
+in a water tank. We calculated the optimal time offset by cross-correlating the images intensity waveform
+with the EM sensor's data.*
+---
+## 👥 Attribution & Contact
+| |                                                                                                                                                                                                                                                                               |
+| :--- |:------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Dataset Lead** | `[Erqi Wang, Rui Ji, Zhen Li, Ning Zhong, Xiuli Zuo, Hongliang Ren]`                                                                                                                                                                                                          |
+| **Institution** | `[Chinese University of Hong Kong, Qilu Hospital of Shandong University]`                                                                                                                                                                                                     |
+| **Contact Email** | `[ewang@link.cuhk.edu.hk]`                                                                                                                                                                                                                                                    |
+| **Citation (BibTeX)** | <pre><code>@misc{[Tracked_EUS],<br>  author = {[Erqi Wang, Rui Ji, Zhen Li, Ning Zhong, Xiuli Zuo, Hongliang Ren]},<br>  title = {[Tracked_EUS]},<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/hongliang_ren/tracked_eus/meta/episodes.jsonl ADDED Viewed

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+{"episode_index": 0, "tasks": ["Scan inferior vena cava on porcine"], "length": 640}
+{"episode_index": 1, "tasks": ["Scan protal vein and liver on porcine"], "length": 1171}
+{"episode_index": 2, "tasks": ["Scan protal vein and liver on porcine"], "length": 853}
+{"episode_index": 3, "tasks": ["Scan thoracic aorta and mediastinum on porcine"], "length": 990}
+{"episode_index": 4, "tasks": ["Scan pancreas on porcine"], "length": 728}
+{"episode_index": 5, "tasks": ["Transrectal EUS survey on porcine"], "length": 926}
+{"episode_index": 6, "tasks": ["Gastric station scanning on procine"], "length": 1074}
+{"episode_index": 7, "tasks": ["Scan thoracic aorta on porcine"], "length": 801}
+{"episode_index": 8, "tasks": ["Gastric station scanning on procine"], "length": 1221}
+{"episode_index": 9, "tasks": ["Scan thoracic aorta and mediastinum on porcine"], "length": 819}
+{"episode_index": 10, "tasks": ["Transrectal EUS survey on porcine"], "length": 1858}
+{"episode_index": 11, "tasks": ["Gastric station scanning on procine"], "length": 551}
+{"episode_index": 12, "tasks": ["Scan pancreas on porcine"], "length": 936}
+{"episode_index": 13, "tasks": ["Scan inferior vena cava on porcine"], "length": 682}
+{"episode_index": 14, "tasks": ["Scan inferior vena cava on porcine"], "length": 877}
+{"episode_index": 15, "tasks": ["Transrectal EUS survey on porcine"], "length": 1022}
+{"episode_index": 16, "tasks": ["Scan inferior vena cava on porcine"], "length": 352}
+{"episode_index": 17, "tasks": ["Scan protal vein and liver on porcine"], "length": 1541}
+{"episode_index": 18, "tasks": ["Insert endoscope on porcine"], "length": 2222}
+{"episode_index": 19, "tasks": ["Transrectal EUS survey on porcine"], "length": 1001}
+{"episode_index": 20, "tasks": ["Enter Gastric Cardia on porcine"], "length": 1101}
+{"episode_index": 21, "tasks": ["Gastric station scanning on procine"], "length": 818}
+{"episode_index": 22, "tasks": ["Scan portal vein on porcine"], "length": 764}
+{"episode_index": 23, "tasks": ["Transrectal EUS survey on porcine"], "length": 1001}
+{"episode_index": 24, "tasks": ["Transrectal EUS survey on porcine"], "length": 916}
+{"episode_index": 25, "tasks": ["Scan protal vein and liver on porcine"], "length": 936}
+{"episode_index": 26, "tasks": ["Scan portal vein on porcine"], "length": 706}
+{"episode_index": 27, "tasks": ["Scan pancreas on porcine"], "length": 624}
+{"episode_index": 28, "tasks": ["Scan inferior vena cava on porcine"], "length": 662}
+{"episode_index": 29, "tasks": ["Transrectal EUS survey on porcine"], "length": 1200}
+{"episode_index": 30, "tasks": ["Transrectal EUS survey on porcine"], "length": 1046}
+{"episode_index": 31, "tasks": ["Gastric station scanning on procine"], "length": 1471}
+{"episode_index": 32, "tasks": ["Insert through esophagus on porcine"], "length": 1011}
+{"episode_index": 33, "tasks": ["Scan inferior vena cava on porcine"], "length": 904}

Ultrasound/cuhk/hongliang_ren/tracked_eus/meta/episodes_stats.jsonl ADDED Viewed

	@@ -0,0 +1,34 @@

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Ultrasound/cuhk/hongliang_ren/tracked_eus/meta/info.json ADDED Viewed

	@@ -0,0 +1,177 @@

+{
+    "codebase_version": "v2.1",
+    "robot_type": "dvrk",
+    "total_episodes": 34,
+    "total_frames": 33425,
+    "total_tasks": 11,
+    "total_videos": 68,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:27",
+        "val": "27:30",
+        "test": "30:34"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ultrasound": {
+            "dtype": "video",
+            "shape": [
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+                720,
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+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
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+            "info": {
+                "video.height": 415,
+                "video.width": 720,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.endoscope": {
+            "dtype": "video",
+            "shape": [
+                1080,
+                1080,
+                3
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+            "names": [
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+                "width",
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+            "info": {
+                "video.height": 1080,
+                "video.width": 1080,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 25,
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+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "tx",
+                "ty",
+                "tz",
+                "qx",
+                "qy",
+                "qz",
+                "qw",
+                "tracker_quality"
+            ]
+        },
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+            "shape": [
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+            "names": [
+                "tx",
+                "ty",
+                "tz",
+                "qx",
+                "qy",
+                "qz",
+                "qw"
+            ]
+        },
+        "instruction.text": {
+            "dtype": "string",
+            "shape": [
+                1
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+            "names": [
+                "instruction"
+            ]
+        },
+        "observation.meta.probe_type": {
+            "dtype": "string",
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+            "names": [
+                "model_string"
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+        "observation.meta.probe_acquisition_param": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "center_frequency_mhz",
+                "imaging_depth_cm",
+                "gain",
+                "fps"
+            ]
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+        "observation.meta.prob_cali_mtx": {
+            "dtype": "float32",
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+            "names": [
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+                "ty",
+                "tz",
+                "qx",
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+}

Ultrasound/cuhk/hongliang_ren/tracked_eus/meta/tasks.jsonl ADDED Viewed

	@@ -0,0 +1,11 @@

+{"task_index": 0, "task": "Scan inferior vena cava on porcine"}
+{"task_index": 1, "task": "Scan protal vein and liver on porcine"}
+{"task_index": 2, "task": "Scan thoracic aorta and mediastinum on porcine"}
+{"task_index": 3, "task": "Scan pancreas on porcine"}
+{"task_index": 4, "task": "Transrectal EUS survey on porcine"}
+{"task_index": 5, "task": "Gastric station scanning on procine"}
+{"task_index": 6, "task": "Scan thoracic aorta on porcine"}
+{"task_index": 7, "task": "Insert endoscope on porcine"}
+{"task_index": 8, "task": "Enter Gastric Cardia on porcine"}
+{"task_index": 9, "task": "Scan portal vein on porcine"}
+{"task_index": 10, "task": "Insert through esophagus on porcine"}

Ultrasound/cuhk/hongliang_ren/tracked_us/meta/README.md ADDED Viewed

	@@ -0,0 +1,115 @@

+<!--
+Open-H Embodiment Dataset README Template (v1.0)
+Please fill out this template and include it in the ./metadata directory of your LeRobot dataset.
+This file helps others understand the context and details of your contribution.
+-->
+# [tracked_US] - README
+---
+## 📋 At a Glance
+* Freehand ultrasound scanning on human forearm with 6-DoF pose tracking.*
+---
+## 📖 Dataset Overview
+*This dataset consists of 34 trajectories of expert gastroenterologist performing EUS examinations on in-vivo porcine models
+The data contains synchronized data streams including B-mode ultrasound frames, white-light endoscopic video,
+and 6-DoF pose ground truth recorded via electromagnetic (EM) tracking,
+capturing standard clinical scanning procedures across the upper and lower digestive tracts.*
+| |                                                                                                                                |
+| :--- |:-------------------------------------------------------------------------------------------------------------------------------|
+| **Total Trajectories** | `[30]`                                                                                                                         |
+| **Data Type** | `[x] Clinical (Human Volunteer)` `[ ] Ex-Vivo` `[ ] Table-Top Phantom` `[ ] Digital Simulation`  `[ ] Physical Simulation`                       |
+| **License** | CC BY 4.0                                                                                                                      |
+| **Version** | `[e.g., 1.0]`                                                                                                                  |
+---
+## 🎯 Tasks & Domain
+### Domain
+*Select the primary domain for this dataset.*
+- [ ] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [x] **Endoscopic ultrasound**
+### Demonstrated Skills
+The dataset demonstrates systematic freehand scanning patterns used for sensor calibration and surface anatomical mapping:
+*   **Linear Scanning**: Straight-line sweeps along the forearm (parallel/perpendicular).
+*   **Curvilinear Scanning**: C-shape trajectories manipulating probe orientation.
+*   **Complex Trajectories**: S-shape scanning covering larger surface areas.
+*   **Probe Orientation Control**: Maintaining contact while varying orientation (Parallel vs. Perpendicular to arm axis).
+---
+## 🔬 Data Collection Details
+### Collection Method
+*How was the data collected?*
+- [ ] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [x] **Human Operation**
+### Operator Details
+| | Description                                                                                                                                                                 |
+| :--- |:----------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Operator Count** | `[1]`                                                                                                                                                                       |
+| **Operator Skill Level** | `[x] Expert (e.g., Surgeon, Sonographer)` <br> `[ ] Intermediate (e.g., Trained Researcher)` <br> `[ ] Novice (e.g., ML Researcher with minimal experience)` <br> `[ ] N/A` |
+| **Collection Period** | From `[2025-11-1]` to `[2026-1-30]`                                                                                                                                         |
+### Recovery Demonstrations
+*Does this dataset include examples of recovering from failure?*
+- [ ] **Yes**
+- [x] **No**
+---
+## 🎯 Action & State Space Representation
+### State Space
+- **`observation.state`**: `[tx, ty, tz, qx, qy, qz, qw, quality]`
+  - EM Tracker pose of the probe tip relative to the emitter base.
+  - Index 7 represents the tracker signal quality.
+### Action Space
+- **`action`**: `[tx, ty, tz, qx, qy, qz, qw]`
+  - Target pose for the next timestep (Delta-time prediction target).
+### Metadata Fields
+- **`observation.meta.probe_acquisition_param`**: `[freq, depth, gain, fps]`
+- **`observation.meta.prob_cali_mtx`**: **Placeholder (Identity)**.
+  - *Note: Calibration between the Ultrasound image plane and the EM sensor is not currently provided. This field contains identity transforms for structural compliance.*
+---
+## ⏱️ Data Synchronization Approach
+*Temporal synchronization was achieved through a motion-based calibration involving periodic Z-axis probe movements
+in a water tank. We calculated the optimal time offset by cross-correlating the images intensity waveform
+with the EM sensor's data.*
+---
+## 👥 Attribution & Contact
+| |                                                                                                                                                                                                                                                                                                                                  |
+| :--- |:---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| **Dataset Lead** | `[Erqi Wang, Rui Ji, Zhen Li, Ning Zhong, Xiuli Zuo, Hongliang Ren]`                                                                                                                                                                                                                                                             |
+| **Institution** | `[Chinese University of Hong Kong, Qilu Hospital of Shandong University]`                                                                                                                                                                                                                                                        |
+| **Contact Email** | `[ewang@link.cuhk.edu.hk]`                                                                                                                                                                                                                                                                                                       |
+| **Citation (BibTeX)** | <pre><code>@misc{[Tracked_US],<br>  author = {[Erqi Wang, Rui Ji, Zhen Li, Ning Zhong, Xiuli Zuo, Hongliang Ren]},<br>  title = {[Tracked_US]},<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/hongliang_ren/tracked_us/meta/episodes.jsonl ADDED Viewed

	@@ -0,0 +1,30 @@

+{"episode_index": 0, "tasks": ["Linear scanning on arm (perpendicular)"], "length": 138}
+{"episode_index": 1, "tasks": ["C shape scanning on arm (perpendicular)"], "length": 211}
+{"episode_index": 2, "tasks": ["Linear scanning on arm (perpendicular)"], "length": 267}
+{"episode_index": 3, "tasks": ["S shape scanning on arm (parallel)"], "length": 182}
+{"episode_index": 4, "tasks": ["C shape scanning on arm (parallel)"], "length": 128}
+{"episode_index": 5, "tasks": ["C shape scanning on arm (parallel)"], "length": 205}
+{"episode_index": 6, "tasks": ["C shape scanning on arm (parallel)"], "length": 217}
+{"episode_index": 7, "tasks": ["S shape scanning on arm (perpendicular)"], "length": 372}
+{"episode_index": 8, "tasks": ["S shape scanning on arm (parallel)"], "length": 375}
+{"episode_index": 9, "tasks": ["Linear scanning on arm (parallel)"], "length": 259}
+{"episode_index": 10, "tasks": ["Linear scanning on arm (parallel)"], "length": 319}
+{"episode_index": 11, "tasks": ["Linear scanning on arm (perpendicular)"], "length": 123}
+{"episode_index": 12, "tasks": ["C shape scanning on arm (perpendicular)"], "length": 107}
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Ultrasound/cuhk/hongliang_ren/tracked_us/meta/episodes_stats.jsonl ADDED Viewed

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