Open-Source Dexterous Astra: Zero-Shot Pen Spinning and One-Handed Rubik's Cube in Sim
ZeYanjie · x · 2026-09-18
- jianglongye open-sourced Dexterous Astra, demonstrating zero-shot dexterous pen spinning and Rubik's cube tasks.
- Pen spinning uses a Sharpa Wave hand in Isaac Lab (keyframe planner zero-shot, PPO policy for 3 turns + hold); the cube uses Wuji hands in MuJoCo, with one-handed learned turns solving U F L.
- The repo ships sim environments, zero-shot scripts and checkpoints; the author notes the real goal is evolving such dexterity in the real world.
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