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--- |
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task_categories: |
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- robotics |
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library_name: lerobot |
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license: cc-by-nc-4.0 |
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language: |
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- en |
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tags: |
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- medical |
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- ultrasound |
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- simulation |
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- reinforcement-learning |
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- imitation-learning |
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- surgery |
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--- |
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# SonoGym Lerobot Dataset |
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This repository contains the expert datasets collected for the paper [SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound](https://huggingface.co/papers/2507.01152). These datasets are specifically designed to facilitate the training of imitation learning policies for complex robotic surgical tasks, particularly those involving robotic ultrasound. |
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The dataset is a part of the broader [SonoGym project](https://sonogym.github.io/), a scalable simulation platform built on NVIDIA IsaacLab that enables parallel simulation for challenging robotic ultrasound tasks. |
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**Project Page**: [https://sonogym.github.io/](https://sonogym.github.io/) |
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**Code/GitHub Repository**: [https://github.com/SonoGym/SonoGym](https://github.com/SonoGym/SonoGym) |
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## Dataset Details |
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The `SonoGym_lerobot_dataset` is an expert dataset designed for training imitation learning policies, particularly with the `lerobot` library. It contains trajectories collected under various settings, covering different ultrasound guidance and surgical tasks with single or multiple patient models, and both physics-based (model-based) and generative modeling (learning-based) ultrasound simulations. |
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The dataset is structured into several components, each representing a specific task and simulation configuration: |
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* `Isaac-robot-US-guidance-v0-single`: Ultrasound guidance task, single patient, using model-based US simulation. |
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* `Isaac-robot-US-guidance-v0-single-net`: Ultrasound guidance task, single patient, using learning-based US simulation. |
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* `Isaac-robot-US-guidance-5-models-v0`: Ultrasound guidance task, single patient, using 4 learning-based US simulation networks. |
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* `Isaac-robot-US-guided-surgery-v0-single-new`: Ultrasound-guided surgery task, single patient, using model-based US simulation. |
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* `Isaac-robot-US-guided-surgery-v0-single-net-new`: Ultrasound-guided surgery task, single patient, using learning-based US simulation. |
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* `Isaac-robot-US-guided-surgery-v0-5-net`: Ultrasound-guided surgery task, single patient, using 4 learning-based US simulation networks. |
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* `Isaac-robot-US-guided-surgery-v0-5`: Ultrasound-guided surgery task, 5 patients, using model-based US simulation. |
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## Sample Usage |
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This dataset is primarily used for training imitation learning (IL) policies. After downloading the dataset, you can train ACT or Diffusion Policy models using the `lerobot` library. |
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**Example training command for ACT or Diffusion Policy with `lerobot`:** |
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First, ensure you have the `lerobot` repository cloned and its dependencies installed. |
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```bash |
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# Example for training Diffusion Policy or ACT |
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python /path-to-lerobot/lerobot/scripts/train.py --config_path=workflows/lerobot/train_surgery_{method}_cfg.json |
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``` |
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Replace `{method}` with either `diffusion` or `act`. Make sure to update the `"dataset"` root path in your configuration file (`train_surgery_{method}_cfg.json`) to point to the local path of your downloaded dataset. For example: |
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```json |
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{ |
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"dataset": "/path-to-your-local-repo/SonoGym/lerobot-dataset/Isaac-robot-US-guidance-v0-single-net", |
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// ... other config parameters |
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} |
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``` |
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For more detailed usage instructions, including teleoperation, reinforcement learning training, and environment settings, please refer to the main [SonoGym GitHub repository](https://github.com/SonoGym/SonoGym). |
