XenseRobotics-AI

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1. lerobot-xense lerobot-xense Public

   Xense robot-learning platform — a LeRobot v5.1 fork adding Flexiv Rizon4, Elite CS66, ARX5 and tactile grippers (single-arm and bimanual) with VR, SpaceMouse and gamepad teleoperation.

   Python 19 5

2. xense-openpi xense-openpi Public

   π₀ / π₀-FAST / π₀.₅ vision-language-action models adapted to Xense platforms — fine-tuning and real-world deployment on BiARX5, BiFlexiv and XTac-UMI dual-arm rigs.

   Python 16 7

3. xense-taccap-lerobot xense-taccap-lerobot Public

   Tactile data collection with the XTac-UMI G1 handheld gripper — a LeRobot v5.1 fork with Pico4 teleoperation, visuotactile cameras and a ready-to-pull Docker image.

   Python 14 6

4. xense-lerobot-viewer xense-lerobot-viewer Public

   Browser-based viewer for local LeRobot datasets — synchronized video and telemetry, 3D URDF replay, language annotation, and dataset health diagnostics.

   TypeScript 6 4

5. TacCap-Gripper TacCap-Gripper Public

   C++17 / Python SDK for the XTac-UMI G1 tactile data-collection gripper — IMU and encoder readout, motor control, and zero-config leader/follower discovery.

   C++ 4 3

6. XTac-UMI-G1-Docs XTac-UMI-G1-Docs Public

   Documentation for XTac-UMI G1, a handheld tactile data-collection gripper for robot learning.

   4