Datasets:
ArXiv:
License:
| 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 | |
| ``` | |