| ## 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: | |
| ```bibtex | |
| @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} | |
| } | |
| ``` | |