Upload README.md with huggingface_hub

README.md

@@ -0,0 +1,54 @@
+---
+license: mit
+task_categories:
+  - robotics
+tags:
+  - franka-panda
+  - manipulation
+  - real-world
+  - 224x224
+  - square-center-crop
+---
+
+# 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):
+1. Crop 148px from each side → 376×376
+2. 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