Pith Number

pith:UB2Y5OL3

pith:2026:UB2Y5OL3ENRWYSKIJFAOO7DSQC

not attested not anchored not stored refs pending

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

Amber Xie, Dorsa Sadigh, Haozhi Qi

HandelBot adapts a simulation policy in two stages to let a dexterous robot play piano accurately after 30 minutes of real data.

arxiv:2603.12243 v4 · 2026-03-12 · cs.RO

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\usepackage{pith}
\pithnumber{UB2Y5OL3ENRWYSKIJFAOO7DSQC}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

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

Through extensive hardware experiments across five recognized songs, we demonstrate that HandelBot can successfully perform precise bimanual piano playing. Our system outperforms direct simulation deployment by a factor of 1.8x and requires only 30 minutes of physical interaction data.

C2weakest assumption

That a simulation-trained policy provides a sufficiently close starting point for the structured refinement stage to correct spatial misalignments to millimeter precision using only limited physical rollouts without introducing new instabilities in bimanual coordination.

C3one line summary

HandelBot achieves precise bimanual piano playing by refining a simulation policy through lateral finger adjustments and residual RL, outperforming direct sim deployment by 1.8x with only 30 minutes of physical data across five songs.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:02:10.502441Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a0758eb97b23636c49484940e77c728096b310df0c17b773aa38cda4122e7f1a

Aliases

arxiv: 2603.12243 · arxiv_version: 2603.12243v4 · doi: 10.48550/arxiv.2603.12243 · pith_short_12: UB2Y5OL3ENRW · pith_short_16: UB2Y5OL3ENRWYSKI · pith_short_8: UB2Y5OL3

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/UB2Y5OL3ENRWYSKIJFAOO7DSQC \
  | 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: a0758eb97b23636c49484940e77c728096b310df0c17b773aa38cda4122e7f1a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "87dbc93e30dbef1b78a49e3035a4825cb3edd6fceeb58804cfa0b3aa8f6dc0ed",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-12T17:56:29Z",
    "title_canon_sha256": "d43d5cf8b40f1cb80969e69ffacd50a77b984f229d5a5e9f012443e282536e28"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.12243",
    "kind": "arxiv",
    "version": 4
  }
}