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lpfhmj/
usim

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	USIM: Underwater Simulation Dataset for Vision-Language-Action Models






	
	TL;DR

USIM is a large-scale underwater robot manipulation and navigation dataset collected in the Stonefish physics simulator. It contains 2,275 episodes (1,750 train + 525 test) across 20 tasks in 9 underwater scenarios, formatted in LeRobot v2.1 format with dual-camera video recordings.

Dataset Description

USIM is introduced in the paper "USIM and U0: A Vision-Language-Action Dataset… See the full description on the dataset page: https://huggingface.co/datasets/lpfhmj/usim.