← Back to Videos

Assembling Two Parts in One Hand

Loading video

In-hand assembly mates two rigid parts inside a single 22-DoF dexterous hand, with one group of fingers holding and stabilizing while another aligns and inserts. Trained purely in simulation with RL, the policies transfer zero-shot to hardware using one camera; closed-loop assembly reaches 15/20 (bottle), 17/20 (syringe) and 16/20 (marker) against 2/20, 0/20 and 0/20 for open-loop replay.

In-Hand Manipulation Dexterous Assembly Reinforcement Learning Sim-to-Real Single-Camera Policy CoRL 2026 Dexterous Manipulation

Category: arm

Author: @heetezition

Date: 2026-09-11T00:00:00

Duration: 19.56s

Source: https://x.com/heetezition/status/2098316865722286536

Reference: https://arxiv.org/abs/2609.10137

Play2Perfect: Play Pretraining for Precise Assembly

Play2Perfect: Play Pretraining for Precise Assembly

@tylerlum23 · 747 views · 2026-07-01

Dexterous ManipulationRobot Assembly

Blind Tight-Clearance Assembly from Proprioception Alone, Zero-Shot to Real Robots

Blind Tight-Clearance Assembly from Proprioception Alone, Zero-Shot to Real Robots

@younghyo_park · 139 views · 2026-10-19

ManipulationSim-to-Real

Robot Hand Learns In-Hand Pen Writing in 18 Seconds

Robot Hand Learns In-Hand Pen Writing in 18 Seconds

@heetezition · 795 views · 2026-09-12

Dexterous ManipulationIn-Hand Manipulation

DemoMimic: One Demo, Many Unseen Objects

DemoMimic: One Demo, Many Unseen Objects

@heetezition · 1.2k views · 2026-09-03

DemoMimicDexterous Manipulation

sudo Grasping Robot: Sim-Only Training, Camera-Only Grasping

sudo Grasping Robot: Sim-Only Training, Camera-Only Grasping

@takechi0209 · 548 views · 2026-08-24

GraspingSim-to-Real

GPT-6 Astra Reconstructs Human Sphere Play with a Sharpa Hand

GPT-6 Astra Reconstructs Human Sphere Play with a Sharpa Hand

@memmelma · 112 views · 2026-10-23

Dexterous ManipulationMotion retargeting

As an Amazon Associate, we earn from qualifying purchases.