HEX Dataset

This folder contains the downstream task dataset used in HEX, covering 10 whole-body manipulation tasks.

The dataset includes demonstrations collected with different humanoid platforms:

Files or folders with the dvt prefix correspond to data collected on Tiangong 2.
Files or folders with the evt prefix correspond to data collected on Tiangong 3.

These demonstrations are used for training and evaluating the downstream whole-body manipulation policies in HEX.

Citation

If you use this dataset, please cite:

@article{bai2026hex,
  title={HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation},
  author={Bai, Shuanghao and Li, Meng and Lv, Xinyuan and Wang, Jiawei and Wang, Xinhua and Liao, Fei and Hou, Chengkai and Gu, Langzhe and Zhou, Wanqi and Wu, Kun and others},
  journal={arXiv preprint arXiv:2604.07993},
  year={2026}
}