USIM is a large-scale underwater robot manipulation and navigation dataset collected in the Stonefish physics simulator. It contains 2,275 episodes across 20 tasks in 9 underwater scenarios, formatted in LeRobot v2.1 format with dual-camera video recordings. The dataset was created by Vincent2025hello and last updated in April 2026.
Use Cases
- Training reinforcement learning agents for underwater manipulation based on simulated episodes.
- Benchmarking robot navigation performance across different underwater scenarios.
- Developing multimodal models that integrate visual observations with action commands.
- Evaluating the transfer of policies learned in simulation to real-world underwater environments.
Strengths
- Contains 2,275 episodes (1,750 train + 525 test) providing substantial training and evaluation material.
- Covers 20 tasks across 9 underwater scenarios, offering diverse operational contexts.
- Includes dual-camera video recordings, likely providing rich visual observations.
Limitations
- Column-level documentation is absent; field semantics must be inferred after download.
- Row count is unknown, which may limit suitability assessment.
- Data may reflect simulation bias inherent to the Stonefish physics engine.
Provenance
- Source
- Vincent2025hello
- Collection Method
- Collected in the Stonefish physics simulator.
- Freshness
- Last updated 2026-04-30 14:30:43