maple.adapters.custom.openpi.fractal
Adapter: OpenPI ↔ Fractal
- OpenPI
input: 224×224 RGB image + end effector state + language instruction output: 7-dim action [x y z rx ry rz gripper] (continuous)
- Fractal
obs keys: agentview_image, robot0_eye_in_hand_image, robot0_proprio-state, … action: 7-dim, gripper 1.0 = open, -1.0 = close
Classes
OpenPIFractalAdapter. |