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license: cc-by-4.0
---
Official point cloud dataset for the PushT manipulation task used in *Does Latent Planning Survive Point Clouds? Action-Conditioned JEPA World Models for Geometric Observations and Goals*
([arXiv:2608.29434](https://arxiv.org/abs/2608.29434)). Format, download and usage: [github.com/fafraob/point-lewm](https://github.com/fafraob/point-lewm) (`docs/data.md`).
## Versions
- **v2** (`main`, October 2026): the `pixels` column holds the sensor's own view, a 224 x 224 render from the range sensor's camera pose, and the `lidar` column was recast with a corrected state replay. The v1 conversion restored the T block's position before its angle, which displaced the T in the scans wherever it is rotated; `state`, `pixels` and the actions were not affected.
- **v1** (`--revision v1`, September 2026): the release the paper's point-cloud checkpoints were trained on, with the original scene-camera images and the displaced-T scans.
```bash
hf download fafraob/point-cloud-pusht pusht.lance.tar.zst --repo-type dataset --local-dir $PLWM_DATA_ROOT # v2
hf download fafraob/point-cloud-pusht pusht.lance.tar.zst --repo-type dataset --local-dir $PLWM_DATA_ROOT --revision v1 # v1
```
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