| # 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. | |