Per-frame, object-level 3D point-cloud ground truth for the LIBERO benchmark.
We replay each official LIBERO human demonstration's recorded MuJoCo states and, at
every frame, sample each object's point cloud directly from its visual mesh
(area-weighted, posed by the live state) — giving complete, view-independent
clouds (full object incl. back/occluded surfaces), not a single-view 2.5D shell.
Exact metric geometry, no… See the full description on the dataset page:
https://huggingface.co/datasets/Kit-Key/libero-3d-pointcloud-complete.
