Trex Dataset

All 5464 episodes included

Robot manipulation demonstrations Imported from the public HuggingFace dataset zekaiwang/trex_dataset by zekaiwang. 5464 episodes, 5473459 frames at 30 fps, camera(s): observation.images.head_left, observation.images.left_wrist, observation.images.right_wrist, observation.images.tactile_left_deform_index, observation.images.tactile_left_deform_middle, observation.images.tactile_left_deform_pinky, observation.images.tactile_left_deform_ring, observation.images.tactile_left_deform_thumb, observation.images.tactile_left_raw_index, observation.images.tactile_left_raw_middle, observation.images.tactile_left_raw_pinky, observation.images.tactile_left_raw_ring, observation.images.tactile_left_raw_thumb, observation.images.tactile_right_deform_index, observation.images.tactile_right_deform_middle, observation.images.tactile_right_deform_pinky, observation.images.tactile_right_deform_ring, observation.images.tactile_right_deform_thumb, observation.images.tactile_right_raw_index, observation.images.tactile_right_raw_middle, observation.images.tactile_right_raw_pinky, observation.images.tactile_right_raw_ring, observation.images.tactile_right_raw_thumb. Licensed MIT. Source: https://huggingface.co/datasets/zekaiwang/trex_dataset

Dataset details

Robot type

dexmate_vega1_and_sharpa_wave

Episodes

5464

Frames

5.5M

Frame rate

30

Duration

50h 40m

Cameras

observation.images.head_left, observation.images.left_wrist, observation.images.right_wrist, observation.images.tactile_left_deform_index, observation.images.tactile_left_deform_middle, observation.images.tactile_left_deform_pinky, observation.images.tactile_left_deform_ring, observation.images.tactile_left_deform_thumb, observation.images.tactile_left_raw_index, observation.images.tactile_left_raw_middle, observation.images.tactile_left_raw_pinky, observation.images.tactile_left_raw_ring, observation.images.tactile_left_raw_thumb, observation.images.tactile_right_deform_index, observation.images.tactile_right_deform_middle, observation.images.tactile_right_deform_pinky, observation.images.tactile_right_deform_ring, observation.images.tactile_right_deform_thumb, observation.images.tactile_right_raw_index, observation.images.tactile_right_raw_middle, observation.images.tactile_right_raw_pinky, observation.images.tactile_right_raw_ring, observation.images.tactile_right_raw_thumb

LeRobot version

v3.0

License

MIT

Published

Jul 6, 2026