Cutting Task
收藏arXiv2025-09-30 收录
下载链接：
https://sites.google.com/view/lfdinelectrocautery
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资源简介：
该数据集包含了针对10,000种不同组织配置的部分点云数据，每种配置均由一个随机的附着点决定。该数据集旨在支持通过强化学习训练奖励函数和政策，特别关注组织退缩任务。规模达到了10,000个随机配置，任务则是利用排名次优的演示来进行模拟手术电灼术。
This dataset comprises partial point cloud data for 10,000 distinct tissue configurations, where each configuration is determined by a random attachment point. It is designed to support the training of reward functions and policies via reinforcement learning, with a particular focus on tissue retraction tasks. Containing 10,000 randomized configurations, the dataset targets simulated surgical electrosurgery using suboptimally ranked demonstrations.
提供机构：
Simulated environment based on da Vinci Research Kit (dVRK) robot
