Pith Number

pith:4AMK3ARX

pith:2019:4AMK3ARX5LB2I4PTWPWQA24N33

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Solving Rubik's Cube with a Robot Hand

Alex Paino, Arthur Petron, Bob McGrew, Glenn Powell, Ilge Akkaya, Jerry Tworek, Jonas Schneider, Lei Zhang, Lilian Weng, Maciek Chociej, Marcin Andrychowicz, Mateusz Litwin, Matthias Plappert, Nikolas Tezak, OpenAI, Peter Welinder, Qiming Yuan, Raphael Ribas, Wojciech Zaremba

Models trained only in simulation solve Rubik's cube with a real robot hand

arxiv:1910.07113 v1 · 2019-10-16 · cs.LG · cs.AI · cs.CV · cs.RO · stat.ML

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We demonstrate that models trained only in simulation can be used to solve a manipulation problem of unprecedented complexity on a real robot.

C2weakest assumption

That the physics simulator, even when randomized over a wide distribution via ADR, captures enough of the real robot's dynamics, friction, and sensor characteristics for the policy to transfer successfully without real-world fine-tuning or additional data.

C3one line summary

Reinforcement learning models trained only in simulation using automatic domain randomization solve Rubik's cube with a real robot hand.

References

123 extracted · 123 resolved · 44 Pith anchors

[1] T. Abell and M. A. Erdmann. Stably supported rotations of a planar polygon with two frictionless contacts. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1 1995

[2] Y . Aiyama, M. Inaba, and H. Inoue. Pivoting: A new method of graspless manipulation of object by robot ﬁngers. In Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Syste 1993

[3] Reinforcement Learning for Pivoting Task 2017 · arXiv:1703.00472

[4] Task-Oriented Hand Motion Retargeting for Dexterous Manipulation Imitation 2018 · arXiv:1810.01845

[5] T. Asfour, J. Schill, H. Peters, C. Klas, J. Bücker, C. Sander, S. Schulz, A. Kargov, T. Werner, and V . Bartenbach. Armar-4: A 63 dof torque controlled humanoid robot. In 2013 13th IEEE-RAS Internati 2013

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Cited by

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HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies

Receipt and verification

First computed	2026-05-17T23:38:52.879730Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e018ad8237eac3a471f3b3ed006b8dded26fe0e3a574bbf9010e87e67771ab1f

Aliases

arxiv: 1910.07113 · arxiv_version: 1910.07113v1 · doi: 10.48550/arxiv.1910.07113 · pith_short_12: 4AMK3ARX5LB2 · pith_short_16: 4AMK3ARX5LB2I4PT · pith_short_8: 4AMK3ARX

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/4AMK3ARX5LB2I4PTWPWQA24N33 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e018ad8237eac3a471f3b3ed006b8dded26fe0e3a574bbf9010e87e67771ab1f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "eeac08547f78310ddd26cc3f2bdad3357474e66415eac5b34bafff58cf684458",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV",
      "cs.RO",
      "stat.ML"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.LG",
    "submitted_at": "2019-10-16T00:59:05Z",
    "title_canon_sha256": "38993c8ea71777b31231b14848cf409b3a16488a22b97efdab9f1f8b22df5b8b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1910.07113",
    "kind": "arxiv",
    "version": 1
  }
}