{"work":{"id":"81bf9cee-6de8-49f6-b967-3cb853e5ba67","openalex_id":null,"doi":null,"arxiv_id":"1910.07113","raw_key":null,"title":"Solving Rubik's Cube with a Robot Hand","authors":null,"authors_text":"OpenAI, Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew","year":2019,"venue":"cs.LG","abstract":"We demonstrate that models trained only in simulation can be used to solve a manipulation problem of unprecedented complexity on a real robot. This is made possible by two key components: a novel algorithm, which we call automatic domain randomization (ADR) and a robot platform built for machine learning. ADR automatically generates a distribution over randomized environments of ever-increasing difficulty. Control policies and vision state estimators trained with ADR exhibit vastly improved sim2real transfer. For control policies, memory-augmented models trained on an ADR-generated distribution of environments show clear signs of emergent meta-learning at test time. The combination of ADR with our custom robot platform allows us to solve a Rubik's cube with a humanoid robot hand, which involves both control and state estimation problems. Videos summarizing our results are available: https://openai.com/blog/solving-rubiks-cube/","external_url":"https://arxiv.org/abs/1910.07113","cited_by_count":null,"metadata_source":"pith","metadata_fetched_at":"2026-06-29T11:33:22.672846+00:00","pith_arxiv_id":"1910.07113","created_at":"2026-05-09T06:00:35.926642+00:00","updated_at":"2026-06-29T11:33:22.672846+00:00","title_quality_ok":true,"display_title":"Solving Rubik's Cube with a Robot Hand","render_title":"Solving Rubik's Cube with a Robot Hand"},"hub":{"state":{"work_id":"81bf9cee-6de8-49f6-b967-3cb853e5ba67","tier":"hub","tier_reason":"10+ Pith inbound or 1,000+ external citations","pith_inbound_count":47,"external_cited_by_count":null,"distinct_field_count":6,"first_pith_cited_at":"2019-12-13T19:56:40+00:00","last_pith_cited_at":"2026-05-30T20:31:25+00:00","author_build_status":"not_needed","summary_status":"needed","contexts_status":"needed","graph_status":"needed","ask_index_status":"not_needed","reader_status":"not_needed","recognition_status":"not_needed","updated_at":"2026-06-29T19:39:10.194827+00:00","tier_text":"hub"},"tier":"hub","role_counts":[{"context_role":"background","n":8},{"context_role":"baseline","n":1}],"polarity_counts":[{"context_polarity":"background","n":7},{"context_polarity":"baseline","n":1},{"context_polarity":"unclear","n":1}],"runs":{},"summary":{},"graph":{},"authors":[]}}