Reinforcement Learning for Robot Dexity
Introduction to RL for Robot Dexity
Learning Dexity
Dexterous Gym
DexPilot
Paper: DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
TriFinger
Paper: TriFinger: An Open-Source Robot for Learning Dexterity
Code: TriFinger Robot Simulation
Multi-Task Reset-Free (MTRF) Learning
Dexterous Anthropomorphic Robotic Hand
Blog: Robotic hand can crush beer cans and hold eggs without breaking them
Paper: Integrated linkage-driven dexterous anthropomorphic robotic hand
Robotic Telekinesis
Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube
Fixed-Finger Gripper
Paper: F1 Hand: A Versatile Fixed-Finger Gripper for Delicate Teleoperation and Autonomous Grasping
Learning Diverse Dexterous Grasps
ViLa
Blog: https://bangqu.com/9Fa2ra.html
Mobile ALOHA
Paper: Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Github: https://github.com/MarkFzp/mobile-aloha
Code: https://github.com/MarkFzp/act-plus-plus
ALOHA 2
Paper: ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
ALOHA unleashed
Paper: ALOHA Unleashed: A Simple Recipe for Robot Dexterity
![](<iframe width="942" height="530" src="https://www.youtube.com/embed/1EAsn71O9yA" title="ALOHA Unleashed: Autonomous Policies" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>)
DemoStart
Paper: DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
Blog: Our latest advances in robot dexterity
ReKep
Paper: ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation
Code: https://github.com/huangwl18/ReKep
This site was last updated October 02, 2025.