{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-to-solve-a-rubiks-cube-with-a","title":"Learning to Solve a Rubik's Cube with a Dexterous Hand","arxiv_id":"1907.11388","date":"2019-07-26","proceeding":null,"authors":["Tingguang Li","Weitao Xi","Meng Fang","Jia Xu","Max Qing-Hu Meng"],"abstract":"We present a learning-based approach to solving a Rubik's cube with a multi-fingered dexterous hand. Despite the promising performance of dexterous in-hand manipulation, solving complex tasks which involve multiple steps and diverse internal object structure has remained an important, yet challenging task. In this paper, we tackle this challenge with a hierarchical deep reinforcement learning method, which separates planning and manipulation. A model-based cube solver finds an optimal move sequence for restoring the cube and a model-free cube operator controls all five fingers to execute each move step by step. To train our models, we build a high-fidelity simulator which manipulates a Rubik's Cube, an object containing high-dimensional state space, with a 24-DoF robot hand. Extensive experiments on 1400 randomly scrambled Rubik's cubes demonstrate the effectiveness of our method, achieving an average success rate of 90.3%.","url_abs":"https://arxiv.org/abs/1907.11388v1","url_pdf":"https://arxiv.org/pdf/1907.11388v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"learning-to-solve-a-rubiks-cube-with-a","repo_url":"https://github.com/TeaganLi/RubikCube-InHandManipulation","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1907.11388","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}