# T-Rex reproduction artifacts

Artifacts from the independent T-Rex (arXiv:2606.17055) reproduction:
**[github.com/physercoe/trex-repro](https://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 public `zekaiwang/trex_dataset`. Findings: `docs/EVAL.md` in 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.md` in 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.