FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving

arXiv:2609.33973 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-29

Terminology

• Transformer — 13× in this paper · explained in 2 episodes
• Alignment — 11× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• World Model — 4× in this paper · explained in 7 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Action Decoder — 2× in this paper · explained in 1 episode
• Flow Matching — 2× in this paper · explained in 8 episodes
• Reconstruction Error — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Distillation — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent World Models — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• WorldVLA: Towards Autoregressive Action World Model
• RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning
• GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
• SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
• Learning to Solve a Rubik's Cube with a Dexterous Hand
• Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning
• ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
• Flow Matching for Generative Modeling
• DexRepNet: Learning Dexterous Robotic Grasping Network with Geometric and Spatial Hand-Object Representations
• Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
• Solving Rubik's Cube with a Robot Hand
• FACT: Failure-Aware Causal Training for World-Action Models
• Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Control
• Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
• Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
• World Action Models are Zero-shot Policies
• DexterityGen: Foundation Controller for Unprecedented Dexterity

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