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
Complete BOM Breakdown
The DK1 ships fully assembled. Here is everything included in the $8,500 kit.
Assembly time estimate: ~30 minutes for tabletop mounting and cable routing. Arms arrive pre-assembled.
DK1 vs. ALOHA — Bimanual Kit Comparison
Data Collection Throughput
Real-world benchmarks from SVRC data collection sessions using the DK1.
~15 Demos / Hour
Pick-and-place tasks (grab object, move to bin). Each demo takes ~2 minutes including reset. An experienced operator collects 15-20 demonstrations per hour.
~8 Demos / Hour
Multi-step manipulation (open drawer, pick object, close drawer). Longer episodes (~4 min each) with more complex reset procedures.
~50 GB / Day
At 30 Hz with 3 cameras (640x480 JPEG), a full day of collection produces ~50 GB of JSONL + image data. The SVRC platform auto-compresses and indexes.
Services for DK1
Data Collection Service
SVRC operators collect bimanual demonstrations at our Mountain View or Allston labs. You receive platform-ready episodes.
Hardware Leasing
Lease the DK1 from $499/mo. Includes cameras, mounts, and priority support. Return anytime.
Repair & Calibration
Servo replacement, gripper repair, and recalibration. Ship to our Mountain View service center.
Related Guides
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.