Other
Open-H-Embodiment
Medical robot learning
A publicly released aggregate of 119 medical robotics contributions totaling 780 hours, covering surgical manipulation, ultrasound and endoscopy across 20 platforms. Video, robot kinematics and subset-specific additional modalities span real procedures, benchtop demonstrations and simulation. Some contributions omit ground-truth kinematics.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Other
- Environment
- Not reported
- Data origin
- Hybrid
- Sensor count
- 1
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Not reportedKnown or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Predominantly successful demonstrations; failure trajectories have limited coverage.
Ground-truth kinematics are absent in dagger-marked UBC and UTenn contributions.
Additional modalities and annotations cover specific contributions rather than the complete aggregate.
Cameras
visual-observations
- Model
- Not reported
- Setup
- Not Reported
- Count
- 1
- Effective cameras
- 1
- Modality
- Not Reported
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Heterogeneous contributed video systems: 72 datasets have simultaneous multiview observations, 52 stereo endoscopic video, and 32 wrist views. Depth in 28 contributions mixes RGB-D, computed stereo and synthetic sources. These are contribution counts, not physical camera counts. Visual observations are stored as lossy MP4. No common resolution, frame rate or camera model is asserted.
IMUs
Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Name
- B-mode ultrasound imaging
- Count
- 1
- Notes
- Released in the ultrasound contributions with synchronized RGB observations; no common probe model or physical count is established.
Other sensor
- Name
- Eye-gaze tracking
- Count
- 1
- Rate
- 120 Hz
- Notes
- Five UBC datasets contain this stream; the contribution count is not a physical device count.
Other sensor
- Name
- SonATA force measurements
- Count
- 1
- Notes
- Synchronized force kinematics are supplied in the TUM CAMP SonATA ultrasound contribution; no transducer specification is asserted.
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Available
Depth ground truth
Available
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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