Datasets:

nvidia
/

PhysicalAI-Robotics-Open-H-Embodiment

+# DVRK Surgical Debridement Dataset - README
+---
+## At a Glance
+Teleoperated demonstrations of a dVRK robot removing debris fragments (blue foam) from chicken skin and depositing them in a decontamination area (green foam square).
+---
+## Dataset Overview
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 589 |
+| **Total Hours** | 2.10 |
+| **Data Type** | Ex-Vivo |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+---
+## Tasks & Domain
+### Domain
+- [x] **Surgical Robotics**
+- [ ] **Ultrasound Robotics**
+- [ ] **Other Healthcare Robotics**
+### Demonstrated Skills
+- Surgical Debridement
+- Bimanual manipulation
+- Pick and place
+---
+## Data Collection Details
+### Collection Method
+- [x] **Human Teleoperation**
+- [ ] **Programmatic/State-Machine**
+- [ ] **AI Policy / Autonomous**
+- [ ] **Other**
+### Operator Details
+| | Description |
+| :--- | :--- |
+| **Operator Count** | [3] |
+| **Operator Skill Level** | Novice (ML researcher with minimal surgical experience) |
+| **Collection Period** | [1/13/26 - 1/15/26] |
+### Recovery Demonstrations
+- [ ] **Yes**
+- [x] **No**
+---
+## Diversity Dimensions
+- [x] **Target Object** (fragment placement randomized on chicken skin)
+- [x] **Spatial Layout** (chicken position and orientation varied)
+- [ ] **Camera Position / Angle**
+- [ ] **Lighting Conditions**
+- [ ] **Robot Embodiment**
+- [ ] **Task Execution**
+- [ ] **Background / Scene**
+Fragment placement is randomized across the chicken skin surface. The position and orientation of the chicken itself is also varied between demonstrations to increase spatial diversity.
+---
+## Equipment & Setup
+### Robotic Platform(s)
+- **Robot 1:** dVRK (da Vinci Research Kit)
+### Sensors & Cameras
+| Type | Model/Details |
+| :--- | :--- |
+| **Primary Camera** | Stereo Endoscope (left), 1280x960 @ 30 fps |
+| **Secondary Camera** | Stereo Endoscope (right), 1280x960 @ 30 fps |
+---
+## Action & State Space Representation
+### Action Space Representation
+**Primary Action Representation:**
+- [x] **Joint Space** (direct joint angle commands)
+**Action Dimensions:**
+```
+action: [psm1_j1, psm1_j2, psm1_j3, psm1_j4, psm1_j5, psm1_j6, psm1_gripper,
+         psm2_j1, psm2_j2, psm2_j3, psm2_j4, psm2_j5, psm2_j6, psm2_gripper]
+- psm1_j1-j6: PSM1 6-DOF joint positions (radians)
+- psm1_gripper: PSM1 jaw opening angle (radians)
+- psm2_j1-j6: PSM2 6-DOF joint positions (radians)
+- psm2_gripper: PSM2 jaw opening angle (radians)
+```
+Note: Actions are the next timestep's state (temporal offset for behavior cloning).
+### State Space Representation
+**State Information Included:**
+- [x] **Joint Positions** (all articulated joints)
+- [x] **Gripper State** (position)
+**State Dimensions:**
+```
+observation.state: [psm1_j1, psm1_j2, psm1_j3, psm1_j4, psm1_j5, psm1_j6, psm1_gripper,
+                   psm2_j1, psm2_j2, psm2_j3, psm2_j4, psm2_j5, psm2_j6, psm2_gripper]
+- psm1_j1-j6: PSM1 6-DOF joint positions (radians)
+- psm1_gripper: PSM1 jaw opening angle (radians)
+- psm2_j1-j6: PSM2 6-DOF joint positions (radians)
+- psm2_gripper: PSM2 jaw opening angle (radians)
+```
+---
+## Data Synchronization Approach
+Data is synchronized offline using nearest-neighbor matching with a 0.1s tolerance window. The left camera serves as the reference timestamp source. All ROS messages are stamped with their header.stamp fields and synchronized post-collection.
+**Synchronization Method:**
+- Reference stream: `/av/img_left` (left stereo camera)
+- Matching algorithm: Nearest-neighbor within tolerance window
+- Tolerance: 0.1 seconds
+- Framework: ROS (Robot Operating System)
+Messages from the following topics are synchronized:
+- `/av/img_left` - Left camera images
+- `/av/img_right` - Right camera images
+- `/dvrk/PSM1/state_joint_current` - PSM1 joint states
+- `/dvrk/PSM1/state_jaw_current` - PSM1 jaw state
+- `/dvrk/PSM2/state_joint_current` - PSM2 joint states
+- `/dvrk/PSM2/state_jaw_current` - PSM2 jaw state
+---
+## Attribution & Contact
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Kush Hari, Ziyang Chen, Ria Jain, Preethi Satish, Sareena Mann, Ken Goldberg |
+| **Institution** | UC Berkeley |
+| **Contact Email** | kush_hari@berkeley.edu, ziyang.chen@berkeley.edu, ria.jain@berkeley.edu, psatish@berkeley.edu, sareenamann@berkeley.edu, goldberg@berkeley.edu |
+| **Citation (BibTeX)** | <pre>@misc{dvrk_debridement_2025,<br>  author = {Hari, Kush and Chen, Ziyang and Jain, Ria and Satish, Preethi and Mann, Sareena and Goldberg, Ken},<br>  title = {DVRK Surgical Debridement Dataset},<br>  year = {2025},<br>  publisher = {Open-H-Embodiment},<br>}</pre> |
+---

Surgical/ucberkeley/debridement_lerobot/meta/episode_000000_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 0,
+  "num_frames": 423,
+  "duration_sec": 14.432055473327637,
+  "fps": 29.309754302272495
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000010_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 10,
+  "num_frames": 534,
+  "duration_sec": 18.218547821044922,
+  "fps": 29.310788392429213
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000028_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 28,
+  "num_frames": 253,
+  "duration_sec": 8.60612154006958,
+  "fps": 29.397679177786106
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000031_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 31,
+  "num_frames": 380,
+  "duration_sec": 12.935864448547363,
+  "fps": 29.375694335037053
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000032_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 32,
+  "num_frames": 375,
+  "duration_sec": 12.807679653167725,
+  "fps": 29.279308208435022
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000036_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 36,
+  "num_frames": 369,
+  "duration_sec": 12.625528335571289,
+  "fps": 29.226499691135754
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000037_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 37,
+  "num_frames": 319,
+  "duration_sec": 10.854766368865967,
+  "fps": 29.388011603360468
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000038_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 38,
+  "num_frames": 283,
+  "duration_sec": 9.628825187683105,
+  "fps": 29.390916802810462
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000043_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 43,
+  "num_frames": 297,
+  "duration_sec": 10.140266180038452,
+  "fps": 29.289171973084613
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000049_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 49,
+  "num_frames": 345,
+  "duration_sec": 11.742713451385498,
+  "fps": 29.379921551206223
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000051_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 51,
+  "num_frames": 360,
+  "duration_sec": 12.294275760650635,
+  "fps": 29.281920058457203
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000060_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 60,
+  "num_frames": 446,
+  "duration_sec": 15.325624465942383,
+  "fps": 29.10158740944819
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000067_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 67,
+  "num_frames": 292,
+  "duration_sec": 9.935123443603516,
+  "fps": 29.390676588723917
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000077_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 77,
+  "num_frames": 451,
+  "duration_sec": 15.367147445678711,
+  "fps": 29.34832255590953
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000083_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 83,
+  "num_frames": 285,
+  "duration_sec": 9.757838010787964,
+  "fps": 29.207289533287273
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000098_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 98,
+  "num_frames": 289,
+  "duration_sec": 9.806034088134766,
+  "fps": 29.47164953767477
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000102_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 102,
+  "num_frames": 285,
+  "duration_sec": 9.706907272338867,
+  "fps": 29.360535956920664
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000103_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 103,
+  "num_frames": 352,
+  "duration_sec": 12.014122724533081,
+  "fps": 29.29885169902659
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000106_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 106,
+  "num_frames": 392,
+  "duration_sec": 13.34290862083435,
+  "fps": 29.378901642772977
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000110_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 110,
+  "num_frames": 295,
+  "duration_sec": 10.047061204910278,
+  "fps": 29.3618197384749
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000118_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 118,
+  "num_frames": 274,
+  "duration_sec": 9.337191104888916,
+  "fps": 29.345013604416287
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000123_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 123,
+  "num_frames": 525,
+  "duration_sec": 18.044509410858154,
+  "fps": 29.094722834863276
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000124_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 124,
+  "num_frames": 429,
+  "duration_sec": 14.642373323440552,
+  "fps": 29.298529037859343
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000127_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 127,
+  "num_frames": 446,
+  "duration_sec": 15.226247310638428,
+  "fps": 29.291524753337235
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000129_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 129,
+  "num_frames": 445,
+  "duration_sec": 15.262955665588379,
+  "fps": 29.155558710249682
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000148_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 148,
+  "num_frames": 303,
+  "duration_sec": 10.303617477416992,
+  "fps": 29.407147602684383
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000149_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 149,
+  "num_frames": 346,
+  "duration_sec": 11.781930208206177,
+  "fps": 29.367004717020745
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000165_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 165,
+  "num_frames": 465,
+  "duration_sec": 15.872347593307495,
+  "fps": 29.296233418934523
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000166_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 166,
+  "num_frames": 575,
+  "duration_sec": 19.660568714141846,
+  "fps": 29.24635641828624
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000171_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 171,
+  "num_frames": 297,
+  "duration_sec": 10.104736328125,
+  "fps": 29.39215733649037
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000177_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 177,
+  "num_frames": 241,
+  "duration_sec": 8.195846557617188,
+  "fps": 29.405138115478206
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000183_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 183,
+  "num_frames": 457,
+  "duration_sec": 15.637734413146973,
+  "fps": 29.22418222014248
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000184_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 184,
+  "num_frames": 401,
+  "duration_sec": 13.864187955856323,
+  "fps": 28.923439387635753
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000187_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 187,
+  "num_frames": 276,
+  "duration_sec": 9.388871431350708,
+  "fps": 29.39650436349557
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000198_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 198,
+  "num_frames": 541,
+  "duration_sec": 18.432735919952393,
+  "fps": 29.34995663961084
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000204_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 204,
+  "num_frames": 432,
+  "duration_sec": 14.718759536743164,
+  "fps": 29.35029945435124
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000207_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 207,
+  "num_frames": 399,
+  "duration_sec": 13.618065595626831,
+  "fps": 29.2993154716578
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000209_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 209,
+  "num_frames": 435,
+  "duration_sec": 14.809505701065063,
+  "fps": 29.37302626979075
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000212_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 212,
+  "num_frames": 438,
+  "duration_sec": 14.981513500213623,
+  "fps": 29.236031459288444
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000234_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 234,
+  "num_frames": 495,
+  "duration_sec": 16.861140966415405,
+  "fps": 29.357443899316056
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000240_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 240,
+  "num_frames": 556,
+  "duration_sec": 18.94219136238098,
+  "fps": 29.352464525525328
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000243_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 243,
+  "num_frames": 591,
+  "duration_sec": 20.180912017822266,
+  "fps": 29.285098685236484
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000260_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 260,
+  "num_frames": 542,
+  "duration_sec": 18.5352303981781,
+  "fps": 29.2416111565182
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000261_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 261,
+  "num_frames": 588,
+  "duration_sec": 20.242716550827026,
+  "fps": 29.04748473474905
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000266_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 266,
+  "num_frames": 456,
+  "duration_sec": 15.574170589447021,
+  "fps": 29.279247802061658
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000277_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 277,
+  "num_frames": 435,
+  "duration_sec": 14.772887945175171,
+  "fps": 29.445833584764387
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000289_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 289,
+  "num_frames": 560,
+  "duration_sec": 19.08219003677368,
+  "fps": 29.346736350534844
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000303_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 303,
+  "num_frames": 394,
+  "duration_sec": 13.41668963432312,
+  "fps": 29.366409355706732
+}

Surgical/ucberkeley/debridement_lerobot/meta/episode_000310_meta.json ADDED Viewed

	@@ -0,0 +1,6 @@

+{
+  "episode_index": 310,
+  "num_frames": 501,
+  "duration_sec": 17.070290565490723,
+  "fps": 29.349236796989324
+}