Dataset · Hugging Face

lpfhmj/usim

Name: usim
Creator: lpfhmj
License: apache-2.0
Keywords: task_categories:robotics, language:en, license:apache-2.0, size_categories:1K<n<10K, modality:video, library:datasets, library:mlcroissant, arxiv:2510.07869, region:us, lerobot, underwater-robotics, simulation, vla, manipulation, navigation

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.

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Author / organization	lpfhmj
License (as declared)	apache-2.0
Downloads	381 (as reported by Hugging Face)
Likes	1
Created	9 May 2026
Last updated at source	9 May 2026

lerobotunderwater-roboticssimulationvlamanipulationnavigation

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