zhicao/openpi

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