T Rex Dataset A large scale, tactile reactive bimanual manipulation dataset, collected via teleoperation on a Dexmate Vega 1 robot with two Sharpa Wave dexterous hands. Stored as a LeRobotDataset v3.0. 🌐 Project Page · ✍️ Paper (arXiv) · 💻 Code (T Rex) · 🚀 Dataset Quickstart · 📓 Colab notebook One episode from each of 20 motor primitives (head camera view, cropped to the workspace), each with a different object. Teleoperation setup: Manus gloves + VIVE trackers drive the bimanual Dexmate Vega 1 with two Sharpa Wave hands; observations come from a head mounted ZED X Mini camera and two wide view ZED X One S wrist cameras. At a glance Robot Dexmate Vega 1 dual arm (7 actuated joints per arm) + 2× Sharpa Wave dexterous hands (5 fingertip tactile sensors each) Modalities 3 RGB cameras · 10 raw tactile + 10 deformation tactile videos · 6 axis fingertip wrenches · joint states/targets Episodes 5,464 Frames 5,473,459 (~50 hours @ 30 fps) Tasks 5,370 language annotated trajectories · 22 motor primitives · 207 objects Format LeRobotDataset v3.0 ( codebase version: v3.0 ) Composition Object categories, episodes per motor primitive, and per object episode counts. Collection setup The full…
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