diff --git a/Surgical/ucberkeley/debridement_lerobot/README.md b/Surgical/ucberkeley/debridement_lerobot/README.md new file mode 100644 index 0000000000000000000000000000000000000000..c7ac47440882245111d2628757e2785f81c18c80 --- /dev/null +++ b/Surgical/ucberkeley/debridement_lerobot/README.md @@ -0,0 +1,158 @@ +# 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)** | 
@misc{dvrk_debridement_2025,
  author = {Hari, Kush and Chen, Ziyang and Jain, Ria and Satish, Preethi and Mann, Sareena and Goldberg, Ken},
  title = {DVRK Surgical Debridement Dataset},
  year = {2025},
  publisher = {Open-H-Embodiment},
}
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