Marine underwater
USIM
Underwater vision-language-action learning
Simulated BlueROV2 language-conditioned navigation, grasping, transport and tracking demonstrations with RGB views, proprioception and action labels.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Marine underwater
- Environment
- Not reported
- Data origin
- Simulation
- Sensor count
- 2
- 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.
Simulation collection; real-world deployment and field validation remain future work.
Training and test data share environmental conditions and statistical distribution.
Cameras
visual_views
- Model
- Not reported
- Setup
- Multi Camera
- Count
- 1
- Effective cameras
- 1
- Modality
- Rgb
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Two visual views; ego/wrist for grasping and transport, body stereo for navigation and tracking. Dataset samples are collected at 10 Hz; native camera cadence is not specified.
IMUs
Simulated IMU
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Name
- Simulated DVL
- Count
- 1
- Notes
- Doppler velocity log observations.
Other sensor
- Name
- Simulated pressure depth sensor
- Count
- 1
- Notes
- Pressure-based depth observations; not a depth image camera.
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
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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