## 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}
}
```