HumynexSurg-1: A Curated Expert Liposuction Dataset

arXiv:2609.23885 · cs.RO, cs.LG · Submitted 2026-09-20 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-20

Updated: 2026-09-20

Comments: 15 pages, 7 figures, 13 tables. Version 0 dataset release

Code: https://github.com/huggingface/lerobot

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Adaptation — 7× in this paper · explained in 1 episode
• Foundation Model — 5× in this paper · explained in 3 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Provenance — 3× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Linear probe — 2× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• WhisperX: Time-Accurate Speech Transcription of Long-Form Audio

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