Dactyl

Solving Rubik's Cube with a Robot Hand via Reinforcement Learning and Automatic Domain Randomization

OpenAI trained neural networks to solve a Rubik's Cube using a dexterous robot hand, with training conducted entirely in simulation via reinforcement learning. A new technique called Automatic Domain Randomization (ADR) enables the system to generalize to real-world physical perturbations not seen during training. The work demonstrates that sim-to-real transfer can achieve unprecedented dexterity in manipulation tasks.