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diff --git a/README.md b/README.md
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+---
+license: mit
+task_categories:
+- robotics
+tags:
+- robotics
+- libero
+- 3d
+- point-cloud
+- vision-language-action
+---
+
+# LIBERO 3D Point-Cloud GT (sim teacher)
+
+Per-frame, object-level **3D point-cloud ground truth** for the LIBERO benchmark,
+generated by replaying the official LIBERO human demonstrations' recorded MuJoCo
+states in simulation and unprojecting the metric depth + per-object GT instance
+segmentation (the "MuJoCo privileged upper bound"). No estimation — exact metric
+geometry.
+
+- **Source**: LIBERO base demos (`yifengzhu-hf/LIBERO-datasets`), 130 tasks ×
+  50 demos across the 5 suites (spatial / object / goal / long / 90).
+- **Object selection**: each task's `obj_of_interest` from its BDDL (target +
+  destination objects; distractors excluded; same-class instances disambiguated).
+  Abstract placement regions map to their parent fixture's cloud.
+- **Teacher**: sim depth unprojection (metric).
+
+## Format
+
+One HDF5 file per `(task, demo)` episode. Each frame group `"%06d"` holds:
+
+| key | shape / dtype | meaning |
+|---|---|---|
+| `object_pc` | f32 `(4, 512, 3)` | scene-normalized (scheme B) per-object point clouds |
+| `object_names` | str `(4,)` | LIBERO instance names (`""` = padding) |
+| `object_kinds` | str `(4,)` | `graspable` \| `fixture` \| `""` |
+| `valid` | bool `(4,)` | slot valid this frame (False when object fully occluded) |
+| `norm_params` | f32 `(4,)` | shared centroid c(3) + radius r(1); metric = pc·r + c |
+| `rgb_jpeg` | uint8 `(N,)` | JPEG bytes of the 256×256 agentview RGB |
+
+Root attrs: `task`, `language`, `bddl`, `teacher="sim"`, `coord="scene_normalized_B"`,
+`view="agentview"`, `n_frames`.
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