Preprint
Sep 2026
FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving
Manipulating a Rubik's Cube with a single dexterous hand is a challenging test of sustained, contact-rich control: the hand must execute successive layer turns while keeping the cube secure. Each turn requires some fingers to support the cube while others push a moving layer, release contact, and reset for the next mov...
Yutong Liang, Quanquan Peng, Matthew Kim et al.
· 0 citations