Surgical simulator providing labeled data

A surgical simulator for simulating a surgical scenario comprises a display system, a user interface, and a controller. The controller includes one or more processors coupled to memory that stores instructions that when executed cause the system to perform operations. The operations include generating simulated surgical videos, each representative of the surgical scenario. The operations further include associating simulated ground truth data from the simulation with the simulated surgical videos. The ground truth data corresponds to context information of at least one of a simulated surgical instrument, a simulated anatomical region, a simulated surgical task, or a simulated action. The operations further include annotating features of the simulated surgical videos based, at least in part, on the simulated ground truth data for training a machine learning model.