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> |
+---

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