usvla/USForce
Robotics Dataset
USForce is a LeRobot-format dataset of 90 episodes (15,527 frames) of ultrasound probe manipulation by a UR robot, containing 5 tasks for acquiring specific ultrasound views of the abdomen and kidneys, with RGB, ultrasound, state, action, and language instruction data.
Catalog metadata
- Repository owner
- usvla
- Source
- Hugging Face / LeRobot
- Robot
- ur
- Episodes
- 90
- Frames
- 15527
- Cameras
- 0
- Frames per second
- 30
- License
- apache-2.0
Example tasks
- Acquire the left kidney long-axis view
- Acquire the right subcostal oblique view through the right hepatic dome
- Acquire the left kidney transverse view through the renal hilum
- Acquire the subxiphoid transverse view
- Acquire the abdominal aorta sagittal view
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