T-Rex Dataset
Description
The downloadable T-Rex release contains 5,464 teleoperated episodes—5,473,459 frames, or about 50 hours at 30 Hz—collected on a fixed-base bimanual Dexmate Vega-1 with two Sharpa Wave dexterous hands; the paper reports a 100-hour full corpus. The release spans 207 household objects and 22 motor primitives, including 5,370 language-annotated trajectories. Each episode aligns three RGB views, bimanual joint states and target actions, ten raw fingertip-tactile video streams, ten deformation-map streams, and per-fingertip 6-axis wrench signals in LeRobotDataset v3.0.
License
MIT License.*
* Double-check the publisher's current license and usage terms before using this dataset.