Assembling Two Parts in One Hand
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Loading videoIn-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 ManipulationDexterous AssemblyReinforcement LearningSim-to-RealSingle-Camera PolicyCoRL 2026Dexterous Manipulation
Category: arm
Author: @heetezition
Date: 2026-09-11T00:00:00
Duration: 19.56s
Reference: https://arxiv.org/abs/2609.10137
