dexsuite 0.1.1rc1

Dexterous manipulation. Simulated, teleoperated, benchmarked.
All in one framework.

Website · Documentation · Datasets

DexSuite brings the robot, the tasks, teleoperation, tactile sensing, the data and the evaluation into one stack, on the Genesis simulator. A task is written once and runs with any arm and any hand, from a parallel-jaw gripper to a 24-joint hand.

Install

pip install dexsuite                # every arm, hand and task
pip install "dexsuite[all]"         # plus SpaceMouse, Vive and Manus teleoperation and the LeRobot dataset tools

Python 3.10 or newer and a CUDA GPU (the CPU works for a quick look). The first environment on a machine compiles the Genesis kernels, which takes about a minute. On a machine without a display, export PYOPENGL_PLATFORM=egl.

Quickstart

import dexsuite as ds

env = ds.make("lift", manipulator="franka", gripper="allegro")
obs, info = env.reset(seed=0)

for _ in range(300):
    action = env.action_space.sample()       # 6 values move the hand, 16 set the Allegro joints
    obs, reward, terminated, truncated, info = env.step(action)

Every environment is a Gymnasium environment with batched PyTorch tensors: n_envs=64 builds 64 copies in one simulator. The documentation covers the tasks, the robots, the actions and observations, teleoperation and the benchmark datasets on Hugging Face.

Citation

@article{houssaini2026dexsuite,
  title   = {DexSuite: An All-in-One Framework for Dexterous Manipulation Across Arms, Hands, and Tasks},
  author  = {Houssaini, Anas and He, Hugo and Shi, Junming and Abyaneh, Amin and Chahine, Ricardo and Wen, Shuo and
             Danesh, Mohamad H. and Fr{\'e}chette, Charles-{\'E}tienne and Sosa Guzman, Mariana and Desrochers, Mathias and
             Houssaini, Rayan and Landa, Adam and Soulie, Theophile and Morissette, Charlotte and Tims, Annie and
             Russi, Martino and Lussier, Jonathan and Dudek, Gregory and Precup, Doina and Urain, Julen and Lin, Hsiu-Chin and
             Meger, David},
  journal = {arXiv preprint arXiv:2610.37799},
  year    = {2026}
}

License

The DexSuite code is released under the MIT License. The robot, hand and object models keep their own licences, listed in THIRD_PARTY_LICENSES.md. Some objects (the PartNet-Mobility models) are for non-commercial research and education only.