T-Rex: Tactile-Reactive Dexterous Manipulation
Paper • 2606.17055 • Published • 1
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T-Rex reproduction artifacts
Artifacts from the independent T-Rex (arXiv:2606.17055) reproduction: github.com/physercoe/trex-repro.
Folders:
posttrain-ckpt-2000/— weights (~8.5 GB) of our bounded 2000-step post-train from the officially released midtrain checkpoint on a 144-episode subset of the publiczekaiwang/trex_dataset. Findings:docs/EVAL.mdin the repo.closed-loop-checkpoints/— policies + tactile tokenizer from the closed-loop Isaac Sim study (press-in peg-in-hole, RH56 hand): PPO champion (SR 0.973), tactile VQ-token variant (a), raw-F6 variant (c), blind fine-tune control (b′), tactile VQ-VAE + norm stats. Findings:docs/CLOSED_LOOP_EVAL.mdin the repo.eval-data/— the closed-loop eval JSON tree and f6 sample logs behind the results tables.
License: MIT (see the GitHub repo). The underlying T-Rex code/model are by the T-Rex authors (upstream: https://github.com/ZhuoyangLiu2005/T-Rex, MIT); the released midtrain checkpoint these derive from is theirs — cite arXiv:2606.17055.
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