Datasets:

Keith-Luo
/

pick_and_place_occlusion

observation.state list	action list	source.camera_frame_index int64 0 1.31k ⌀	source.capture_time float64 0 43.7 ⌀	source.cambot_camera_pose list	source.cambot_color_optical_pose list	source.cambot_pose_sync_gap float32 0 0.04 ⌀	source.manip_tcp_pose list	observation.pointcloud.xyz array 2D	observation.pointcloud.rgb array 2D	observation.pointcloud.valid_mask list	source.pointcloud_valid_count int32 1.02k 1.02k ⌀	timestamp float32 0 43.7 ⌀	frame_index int64 0 1.31k ⌀	index int64 0 66k ⌀
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pick_and_place

QuestArmTeleop LeRobot v3 dataset. RGB is encoded as LeRobot video and lossless aligned depth is retained under rgbd/.

Point cloud

Point clouds are stored directly in Parquet as observation.pointcloud.xyz (float32 metres, shape [1024, 3], base_link), observation.pointcloud.rgb (uint8 RGB), and observation.pointcloud.valid_mask. They share the same row, frame index and timestamp as state/action.

See conversion_info.json for coordinate frames, units, crop bounds, sampling settings and calibration provenance.

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