| language: en | |
| pretty_name: FINGR | |
| tags: | |
| - robotics | |
| - imitation-learning | |
| - lerobot | |
| # FINGR | |
| Demonstrations for **FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving**. | |
| 36 teleoperated sequences, 576 turns, and 25,520 frames at 10 Hz, collected with an xArm7 and a Sharpa Wave hand. LeRobot v3 format includes joint states and commands, five-finger tactile forces and videos, tracked cube geometry, and turn annotations. | |
| The paper uses 435 turns (18,113 frames) for action training and 24,943 frames for future prediction. The code applies both selections to this complete dataset. | |
| [Paper](https://arxiv.org/abs/2609.33973) · [Code and usage](https://github.com/EmptyBlueBox/FINGR) | |