Jyang12062026
IRIS VLM Dataset
Data from the IRIS surgical-instrument handling cell where a UFACTORY 850 arm with Intel RealSense camera picks five surgical instruments from overlapping arrangements in a tray. Contains 181 units across 46 randomized arrangements with RGB-D imagery, detection labels, and robot motion logs.
Downloads20
Episodes181
Why This Matters for Physical AI
This dataset enables training vision-language models for surgical instrument recognition and robotic manipulation in cluttered, overlapping scenes with fine-grained object detection and pick planning.
Technical Profile
- Modalities
- rgbdepthproprioception
- Robot Embodiments
- UFACTORY 850
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- pick_and_placeobject_detection
- Episodes
- 181
- Data Format
- json
- Annotation Types
- bounding_boxesobject_labelssegmentation_masks
Access
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