TRLC-DK1 Bimanual Kit
The most complete DK1 resource on the internet. From unboxing to recording your first bimanual AI training dataset — every step is here. 9 pages covering hardware setup, software, data collection, tutorials, safety, and community.
Your Setup Journey
Follow these steps after unboxing your DK1. Takes about 2 hours total.
Unboxing & Assembly
Verify contents, inspect servo connections, mount tabletop hardware
Software Setup / LeRobot Install
Clone trlc-dk1 repo, install as LeRobot plugin with uv pip install -e .
Port Detection & Calibration
Run lerobot-find-port, assign ttyACM* ports, calibrate each arm
First Teleoperation Session
Run lerobot-teleoperate, verify leader-follower tracking
Bimanual Data Recording
Use lerobot-record with bi_dk1_follower and bi_dk1_leader device types
Hardware at a Glance
Compatible AI Models
The DK1 records data in LeRobot format, compatible with leading imitation learning policies out of the box.
ACT
Action Chunking Transformer — ideal for bimanual pick-and-place. Predicts action sequences from camera observations.
View model →Diffusion Policy
Best for contact-rich bimanual manipulation. Generates smooth trajectories using denoising diffusion over joint space.
View model →OpenVLA
Language-conditioned bimanual tasks. Combines vision-language understanding with robot action prediction.
View model →Technical Guides
Detailed documentation covering every layer of the DK1 software and hardware stack.