---
task_categories:
- robotics
library_name: lerobot
license: cc-by-nc-4.0
language:
- en
tags:
- medical
- ultrasound
- simulation
- reinforcement-learning
- imitation-learning
- surgery
---

# SonoGym Lerobot Dataset

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.

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.

**Project Page**: [https://sonogym.github.io/](https://sonogym.github.io/)
**Code/GitHub Repository**: [https://github.com/SonoGym/SonoGym](https://github.com/SonoGym/SonoGym)

## Dataset Details

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.

The dataset is structured into several components, each representing a specific task and simulation configuration:

*   `Isaac-robot-US-guidance-v0-single`: Ultrasound guidance task, single patient, using model-based US simulation.
*   `Isaac-robot-US-guidance-v0-single-net`: Ultrasound guidance task, single patient, using learning-based US simulation.
*   `Isaac-robot-US-guidance-5-models-v0`: Ultrasound guidance task, single patient, using 4 learning-based US simulation networks.
*   `Isaac-robot-US-guided-surgery-v0-single-new`: Ultrasound-guided surgery task, single patient, using model-based US simulation.
*   `Isaac-robot-US-guided-surgery-v0-single-net-new`: Ultrasound-guided surgery task, single patient, using learning-based US simulation.
*   `Isaac-robot-US-guided-surgery-v0-5-net`: Ultrasound-guided surgery task, single patient, using 4 learning-based US simulation networks.
*   `Isaac-robot-US-guided-surgery-v0-5`: Ultrasound-guided surgery task, 5 patients, using model-based US simulation.

## Sample Usage

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.

**Example training command for ACT or Diffusion Policy with `lerobot`:**

First, ensure you have the `lerobot` repository cloned and its dependencies installed.

```bash
# Example for training Diffusion Policy or ACT
python /path-to-lerobot/lerobot/scripts/train.py --config_path=workflows/lerobot/train_surgery_{method}_cfg.json
```

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:

```json
{
  "dataset": "/path-to-your-local-repo/SonoGym/lerobot-dataset/Isaac-robot-US-guidance-v0-single-net",
  // ... other config parameters
}
```

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).