salik/dex-arm-01-sim

DEX ARM 01 — Dexterous Manipulator Grasp Demonstrations

Synthetic teleoperation demonstration episodes for DEX ARM 01 (20-DoF biomimetic dexterous hand and 7-axis robotic arm), formatted for Hugging Face LeRobot imitation learning pipelines.

• Trained ACT Model: salik/dex-arm-01-act
• Live 3D Simulation: salikshah.com/work/dex-arm-01/

Dataset Summary

• Total Episodes: 37 teleoperated grasping runs
• Total Frames: 1,722 frames @ 30 Hz
• Observation Space: 27-dim continuous joint angles (20 hand DoF + 7 arm axes)
• Action Space: 27-dim target position commands
• Format: Parquet chunk tables compatible with LeRobotDataset

Usage with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("salik/dex-arm-01-sim")
print(f"Loaded {len(dataset)} frames across {dataset.num_episodes} episodes.")

Attribution

• Mechanical Concept Reference: @crystalsssup on X
• AI Reasoning & Kinematics: Kimi 3.1 Pro
• Physics Simulation: DeepMind MuJoCo 3.x WASM
• Creator: Salik Shah (salikshah.com)