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Real-World Franka Panda Task Data (224px Square Center Crop)
Tasks
| Task | Description | Train Demos | Val Demos |
|---|---|---|---|
| task_1 | put the pink noodle in the bowl | 90 | 10 |
| task_2 | put the bread in the bowl | 90 | 10 |
| task_3 | pour the pasta into the pan | 89 | 10 |
| task_4 | close the right cabinet door | 90 | 10 |
Data Format
Each demo is an HDF5 file with:
root/
actions: (T, 10) float64 — [pos(3), rot6d(6), gripper(1)]
agentview/video: (1, T, 3, 224, 224) uint8
eye_in_hand/video: (1, T, 3, 224, 224) uint8
extra_states/ee_states:(T, 10) float64 — current EE state, same format
task_emb_bert: (768,) float32
Image Preprocessing
Images are square center cropped from ZED VGA (672×376):
- Crop 148px from each side → 376×376
- Resize → 224×224
Action Format
10D absolute end-effector pose:
- dims 0-2: position (x, y, z) in meters
- dims 3-8: 6D rotation (first two rows of rotation matrix)
- dim 9: gripper width in meters (0=closed, 0.08=open)
Robot Setup
- Robot: Franka Panda
- Cameras: 2x ZED Mini (agentview + eye-in-hand)
- Control: 10Hz
- Data collection: teleoperation via GELLO
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