| --- |
| license: cc-by-4.0 |
| pretty_name: T-Rex Dataset Visualizer |
| task_categories: |
| - robotics |
| - video-classification |
| language: |
| - en |
| tags: |
| - robotics |
| - tactile-sensing |
| - dexterous-manipulation |
| - bimanual-manipulation |
| - teleoperation |
| - video |
| size_categories: |
| - 1K<n<10K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: metadata.csv |
| --- |
| |
| # T-Rex Dataset Visualizer |
|
|
| A browseable subset of the **T-Rex** dataset — *Tactile-Rich Bimanual Dexterous |
| Manipulation* — collected on a bimanual **Dexmate Vega-1** robot equipped with |
| two **Sharpa Wave** dexterous hands. |
|
|
| This visualizer subset contains **3,838 short trajectory clips** drawn from the |
| full 100-hour T-Rex collection, organized by `(verb, object, hand)` so you can |
| quickly inspect coverage across motion primitives and object categories. |
|
|
| > For the full dataset (multi-view RGB, robot states, joint actions, per-fingertip |
| > tactile signals, and language instructions), see the main project release. |
|
|
| ## Schema |
|
|
| | Column | Type | Description | |
| |---------------|--------|-----------------------------------------------------------------| |
| | `file_name` | video | Relative path to the `.mp4` clip (head camera view). | |
| | `id` | string | Unique 5-digit clip identifier. | |
| | `verb` | string | Canonical motion primitive (e.g. `reach`, `grasp_and_lifting`). | |
| | `object` | string | Canonical object category (e.g. `book`, `airpods`). | |
| | `hand` | string | `left_hand` or `right_hand`. | |
| | `episode` | string | Episode identifier the clip was sampled from. | |
| | `verb_raw` | string | Raw verb label before canonicalization. | |
| | `object_raw` | string | Raw object label before canonicalization. | |
|
|
| ## Coverage |
|
|
| - **Total clips:** 3,838 |
| - **Motion primitives:** 22 (e.g. `grasp_and_lifting`, `reach`, `wrap`, `fold`, |
| `press`, `peel`, `wipe`, `squeeze`, `open`, `cut`, `close`, `shake`, `pour`, |
| `screw`, `insert`, `assemble`, …) |
| - **Object categories:** 270+ daily objects (top: `airpods`, `bubble_wrap`, |
| `book`, `aluminum_foil`, `button`, `clamshell_container`, `flip_phone`, |
| `bowl`, `sponge`, `plastic_wrap`, …) |
| - **Hands:** balanced left / right coverage |
|
|
| A full breakdown is provided in [`manifest.json`](./manifest.json). |
|
|
| ## Usage |
|
|
| ```python |
| from datasets import load_dataset |
| |
| ds = load_dataset("Beakerman0101/trex-visualizer", split="train") |
| print(ds[0]) |
| # {'file_name': <Video>, 'id': '00001', 'verb': 'reach', 'object': 'book', |
| # 'hand': 'left_hand', 'episode': 'episode_0000', ...} |
| ``` |
|
|
| You can also stream raw clips directly by URL: |
|
|
| ``` |
| https://huggingface.co/datasets/Beakerman0101/trex-visualizer/resolve/main/videos/<file_name> |
| ``` |
|
|
| ## Filtering Examples |
|
|
| ```python |
| # All "fold" demonstrations |
| folds = ds.filter(lambda r: r["verb"] == "fold") |
| |
| # Left-hand "grasp_and_lifting" of a book |
| subset = ds.filter( |
| lambda r: r["verb"] == "grasp_and_lifting" |
| and r["object"] == "book" |
| and r["hand"] == "left_hand" |
| ) |
| ``` |
|
|
| ## License |
|
|
| Released under **CC-BY-4.0**. Please cite the T-Rex project if you use this |
| visualizer subset in published work. |
|
|
