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LICENSE

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+MIT License
+
+Copyright (c) 2026 The Regents of the University of California
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+---
+license: mit
+language:
+- en
+task_categories:
+- robotics
+tags:
+- LeRobot
+- robotics
+- manipulation
+- tactile
+- bimanual
+- dexterous-manipulation
+pretty_name: T-Rex Dataset
+size_categories:
+- 1M<n<10M
+configs:
+- config_name: frames
+  data_files:
+  - split: train
+    path: data/chunk-*/file-*.parquet
+  default: true
+- config_name: episodes
+  data_files:
+  - split: train
+    path: episodes_preview.parquet
+---
+
+# 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](https://github.com/huggingface/lerobot).
+
+[🌐 Project Page](https://tactile-rex.github.io/) · [💻 Code (T-Rex)](https://github.com/ZhuoyangLiu2005/T-Rex) · [🚀 Dataset Quickstart](https://github.com/ZhuoyangLiu2005/T-Rex/tree/main/dataset_quickstart) · [📓 Colab notebook](https://github.com/ZhuoyangLiu2005/T-Rex/blob/main/dataset_quickstart/quickstart.ipynb)
+
+<p align="center">
+  <img src="assets/dataset_overview.png" width="100%">
+  <br>
+  <em>One episode from each of 20 motor primitives (head-camera view, cropped to the workspace), each with a different object.</em>
+</p>
+
+<p align="center">
+  <img src="assets/hardware_setup.png" width="100%">
+  <br>
+  <em>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.</em>
+</p>
+
+## 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
+
+<p align="center">
+  <img src="assets/dataset_analysis.png" width="100%">
+  <br>
+  <em>Object categories, episodes per motor primitive, and per-object episode counts.</em>
+</p>
+
+## Collection setup
+
+The full teleoperation/hardware stack used to collect the dataset is open-sourced in
+[`hardware_code/`](https://github.com/ZhuoyangLiu2005/T-Rex/tree/main/hardware_code) in the T-Rex repo.
+
+- **Robot.** The Dexmate Vega-1 is a dual-arm mobile robot with 7 actuated joints per arm, here
+  equipped with two Sharpa Wave dexterous hands. During collection the wheels, torso, and head
+  joints are fixed; only the 14 arm joints and the two hands are actuated.
+- **Cameras.** A head-mounted ZED X Mini stereo camera (its left monocular RGB stream is recorded)
+  plus two wide-view ZED X One S monocular RGB cameras mounted on the wrists, posed so the head
+  camera covers the full reachable workspace while the wrist cameras keep the fingers visible
+  without significant palm occlusion. All three streams are recorded at 640×360.
+- **Tactile.** Each hand carries five fingertip tactile sensors. Per sensor, the dataset stores the
+  raw sensor image and the estimated deformation map (both as video), and the estimated 6-axis net
+  wrench (`observation.tactile_force`).
+- **Teleoperation.** Manus gloves capture fingertip positions relative to the hand base, retargeted
+  to the Sharpa Wave hands with the manufacturer's differential-inverse-kinematics package
+  (Pinocchio + CasADi). Two VIVE trackers provide SE(3) wrist poses, converted to arm joint
+  commands via differential inverse kinematics ([Pink](https://github.com/stephane-caron/pink)),
+  low-pass filtered, and tracked by the manufacturer's low-level cascade PID controller. A 30 Hz
+  high-level thread records observations and joint-space targets while asynchronously updating a
+  300 Hz low-level control thread — the dataset's 30 fps matches the high-level loop, and `action`
+  holds its 30 Hz joint-space targets.
+
+## Per-frame features
+
+| feature | shape | description |
+|---|---|---|
+| `observation.state` | `(58,)` | joint **positions**, laid out `[L_arm 7 \| L_hand 22 \| R_arm 7 \| R_hand 22]` |
+| `action` | `(58,)` | **target** joint positions (same layout) |
+| `observation.tactile_force` | `(60,)` | per-fingertip 6-axis wrench: `(left, right) × (thumb…pinky) × (Fx, Fy, Fz, Mx, My, Mz)` |
+| `observation.images.{head_left, left_wrist, right_wrist}` | `360×640×3` | scene + wrist RGB cameras |
+| `observation.images.tactile_{left,right}_raw_{finger}` | `240×320` (grayscale) | raw tactile sensor images (10 = 2 hands × 5 fingers) |
+| `observation.images.tactile_{left,right}_deform_{finger}` | `240×240` (grayscale) | tactile deformation fields (10) |
+
+Finger order is `thumb, index, middle, ring, pinky`. Full per-dimension joint names are in
+`meta/info.json` (`features[*].names`).
+
+## Per-episode metadata
+
+`meta/episodes/*.parquet` carries language and task labels per episode, in addition to the standard
+LeRobot fields (`episode_index`, `tasks`, `length`, per-feature stats, video pointers):
+
+| field | description |
+|---|---|
+| `caption` | human-verified natural-language instruction (5,370 unique) |
+| `motor_primitive` | one of 22 primitives (`reach`, `lift_and_place`, …) |
+| `object` | canonical object name (207 unique) |
+| `target` | canonical target/receptacle (only set for `lift_and_place`; null otherwise) |
+
+## Tactile video encoding (read before decoding)
+
+The raw and deformation tactile videos are stored **losslessly** (`libx264 -qp 0`) because their
+pixel values are physically meaningful (raw sensor images and deformation maps). They are grayscale —
+the signal lives entirely in the **luma (Y) plane** — and use **full-range** `yuvj420p`, so values
+span the full `0–255` with no range conversion. Decode the luma plane to recover the original `uint8`
+images exactly, e.g. `frame.to_ndarray(format="gray")` in PyAV.
+
+> **No web thumbnails for tactile.** Lossless H.264 forces the *High 4:4:4 Predictive* profile,
+> which most browsers and the Hugging Face preview cannot decode — so the tactile videos do not show
+> thumbnails on the dataset page. This is expected; decode them locally (ffmpeg / PyAV / torchcodec).
+> The RGB cameras use standard `yuv420p` (limited range, BT.709) and preview normally.
+
+## Usage
+
+### With LeRobot
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("zekaiwang/trex_dataset")
+frame = ds[0]  # dict of tensors: observation.state, action, observation.tactile_force, images...
+```
+
+### Stream individual episodes (no full download)
+
+The [**T-Rex Quick Start**](https://github.com/ZhuoyangLiu2005/T-Rex/tree/main/dataset_quickstart)
+companion repo browses, inspects, and replays single episodes without downloading the full dataset,
+and includes a Colab notebook.
+
+## Dataset viewer
+
+The Hugging Face table viewer is manually configured (the `configs` block above) with two views:
+
+- **`frames`** (default) — the raw per-frame `observation.state`, `action`, and
+  `observation.tactile_force` arrays (plus index columns). This is the actual data, and what
+  `datasets.load_dataset("zekaiwang/trex_dataset")` returns by default.
+- **`episodes`** — one row per episode with its language `caption`, `motor_primitive`, `object`, and
+  `target`: a readable table of contents. Switch to it with the config dropdown, or load it with
+  `datasets.load_dataset("zekaiwang/trex_dataset", "episodes")`.
+
+Videos are stored as separate `.mp4` files referenced by timestamp pointers, so they are not shown in
+the table viewer — load them via LeRobot or the quick-start tools. For interactive video playback, use
+the LeRobot dataset visualizer.
+
+## Layout
+
+```
+data/chunk-000/file-*.parquet     per-frame state / action / tactile_force (+ index columns)
+videos/<key>/chunk-*/file-*.mp4   23 video streams (3 RGB + 20 tactile)
+episodes_preview.parquet          curated per-episode labels for the web viewer (see "Dataset viewer")
+meta/info.json                    features, shapes, fps, codebase_version
+meta/episodes/*.parquet           per-episode metadata + stats + video pointers
+meta/tasks.parquet                task (caption) table
+meta/stats.json                   global feature statistics
+```
+
+## Citation
+
+If you find the T-Rex Dataset useful, please cite:
+
+```bibtex
+@article{trex2026,
+  title   = {TODO: paper title},
+  author  = {TODO: author list},
+  journal = {arXiv preprint arXiv:TODO},
+  year    = {2026},
+}
+```
+<!-- TODO: replace title / authors / arXiv id with the real values before public release. -->
+
+## License
+
+Released under the **MIT License** © 2026 The Regents of the University of California. See `LICENSE`.

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