Datasets:

nvidia
/

PhysicalAI-Robotics-Open-H-Embodiment

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1	+ {"task_index": 0, "task": "Retraction"}

Surgical/ucsd/surgical_learning_dataset2/readme.md ADDED Viewed

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+# Retraction Dataset
+---
+## 📋 At a Glance
+Teleoperated demonstrations of surgical retraction tasks collected for learning-based robotic manipulation on the da Vinci Research Kit (dVRK).
+---
+## 📖 Dataset Overview
+This dataset contains expert teleoperated demonstrations of **retraction**, a fundamental subtask in surgical manipulation workflows.
+The dataset is designed to support **imitation learning**, **policy learning**, and **robot state–conditioned control** in contact-rich and constrained environments.
+Demonstrations focus on stable tissue grasping and tension adjustment behaviors.
+| | |
+| :--- | :--- |
+| **Total Trajectories** | 200 |
+| **Total Hours** | ~0.24 |
+| **Data Type** | [ ] Clinical  [ ] Ex-Vivo  [x] Table-Top Phantom  [ ] Digital Simulation  [ ] Physical Simulation |
+| **Robot Platform** | da Vinci Research Kit (dVRK) |
+| **FPS** | 30 |
+| **License** | CC BY 4.0 |
+| **Version** | 1.0 |
+---
+## 🎯 Tasks & Domain
+### Domain
+- [x] Surgical Robotics
+- [ ] Ultrasound Robotics
+- [ ] Other Healthcare Robotics
+### Demonstrated Skills
+This dataset focuses on a single surgical manipulation skill:
+- **Retraction**
+  - Grasping deformable tissue or surrogate material
+  - Maintaining stable and continuous tension
+  - Adjusting pulling direction to expose target regions
+Task semantics are provided via `instruction.text` for each episode.
+---
+## 🔬 Data Collection Details
+### Collection Method
+- [x] Human Teleoperation
+- [ ] Programmatic / State-Machine
+- [ ] AI Policy / Autonomous
+### Operator Details
+| | Description |
+| :--- | :--- |
+| **Operator Count** | 2 |
+| **Operator Skill Level** | Intermediate (Trained Researcher) |
+| **Collection Period** | 2024-06-01 to 2024-08-30 |
+### Recovery Demonstrations
+- [ ] Yes
+- [x] No
+---
+## 💡 Diversity Dimensions
+- [ ] Camera Position / Angle
+- [ ] Lighting Conditions
+- [x] Target Object
+- [x] Spatial Layout
+- [ ] Robot Embodiment
+- [x] Task Execution
+- [ ] Background / Scene
+**Elaboration:**
+Target tissue phantoms are placed at varying positions and orientations.
+Operators employ different retraction directions to encourage behavioral diversity.
+---
+## 🛠️ Equipment & Setup
+### Robotic Platform
+- **da Vinci Research Kit (dVRK)**
+  - Dual PSM configuration:
+    - Bipolar Forceps (Retraction)
+    - Potts Scissors (present but not actively used for cutting in this dataset)
+### Sensors & Cameras
+| Type | Model / Details |
+| :--- | :--- |
+| Primary Camera | Stereo endoscopic cameras, 480×640 @ 30fps |
+| Room Camera | Not used |
+| Force/Torque Sensor | Not available |
+| Other Sensors | Robot joint encoders |
+---
+## 🎯 Action & State Space Representation
+### Action Space Representation
+**Primary Action Representation:**
+- [ ] Absolute Cartesian
+- [x] Relative Cartesian (delta end-effector pose)
+- [ ] Joint Space
+- [ ] Other
+**Orientation Representation:**
+- [x] Quaternions (qw, qx, qy, qz)
+- [ ] **Euler Angles**
+- [ ] **Axis-Angle**
+- [ ] **Rotation Matrix**
+- [ ] **Other**
+**Reference Frame:**
+- [ ] **Robot Base Frame**
+- [ ] **Tool/End-Effector Frame**
+- [ ] **World/Global Frame**
+- [ ] **Camera Frame**
+- [x] Other (delta end-effector pose commands; reference frame not explicitly specified)
+**Action Dimensions:**
+```
+action: [
+  dPSM_RETRACTION_x,
+  dPSM_RETRACTION_y,
+  dPSM_RETRACTION_z,
+  dPSM_RETRACTION_qw,
+  dPSM_RETRACTION_qx,
+  dPSM_RETRACTION_qy,
+  dPSM_RETRACTION_qz,
+  dPSM_RETRACTION_gripper,
+  dPSM_CUTTER_x,
+  dPSM_CUTTER_y,
+  dPSM_CUTTER_z,
+  dPSM_CUTTER_qw,
+  dPSM_CUTTER_qx,
+  dPSM_CUTTER_qy,
+  dPSM_CUTTER_qz,
+  dPSM_CUTTER_gripper
+]
+```
+- 16-D float32 action vector per timestep
+- Relative end-effector pose updates for two PSMs
+- Quaternion-based orientation deltas
+- Gripper control commands
+---
+### State Space Representation
+**State Information Included:**
+- [x] Joint Positions
+- [x] End-Effector Pose
+- [x] Gripper State
+- [ ] Joint Velocities
+- [ ] Joint Efforts
+- [ ] Force/Torque Readings
+**State Dimensions (28D):**
+```
+observation.state: [
+  psm_retraction_joint_positions (6),
+  psm_retraction_gripper_pos (1),
+  psm_cutter_joint_positions (6),
+  psm_cutter_gripper_pos (1),
+  retraction_end_effector_pose (7),
+  cutter_end_effector_pose (7)
+]
+```
+- `observation.state` is a 28-D float32 vector
+- Contains joint positions, gripper states, and EE poses
+- No velocities or effort terms are included
+---
+## ⏱️ Data Synchronization Approach
+All robot state signals, action commands, and stereo endoscopic video streams are synchronized using a shared system clock during data collection.
+- Robot states and actions are recorded at the control frequency.
+- Stereo endoscopic videos are captured at **30 FPS**.
+- During dataset export, all modalities are aligned by timestamp and stored per frame in parquet format.
+This ensures consistent temporal correspondence between visual observations and robot kinematics across the dataset.
+---
+## 👥 Attribution & Contact
+| | |
+| :--- | :--- |
+| **Dataset Lead** | Changwei Chen, Yinuo Yang, Xiao Liang, Michael Yip |
+| **Institution** | Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA |
+| **Contact Email** | {chc165, yiy124 ,x5liang, yip}@ucsd.edu |
+| **Citation (BibTeX)** | @misc{ucsd_openh_phantom_2026, author = {Chen, Changwei and Yang, Yinuo and Liang, Xiao and Yip, Michael}, title = {UC San Diego Phantom Surgical Robotics Dataset (Open-H Embodiment)}, year = {2026}, publisher = {Open-H Embodiment}, note = {Dataset will be released via Open-H Embodiment; link/DOI forthcoming. Contact: chc165@ucsd.edu}
+} |

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