clean_the_rack_4096

QuestArmTeleop LeRobot v3 dataset. RGB is encoded as LeRobot video. Aligned depth is not duplicated; it remains in the raw episodes.

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.