Dexterous Astra

Note

This repository contains the final artifacts from my Astra experiments, rather than a task-specific harness or benchmark provided to Astra. This repo also provides the zero-shot prompt used for pen spinning for reproducibility.

Task	Robot, simulator	Zero-shot	Trained
Pen spinning	Sharpa Wave hand, Isaac Lab	sampled finger-keyframe planner	PPO policy: 3 turns and a hold
Rubik's cube	Wuji hands, MuJoCo	two-hand scripted controller: two moves	one-hand learned turns and rolls: solves U F L

Each task has sim/ (environment), zero_shot/ (script), policy/ (runs the checkpoints) and checkpoints/.

ISAAC_PY=... PY=... pen/run_zero_shot.sh runs/pen-zero
ISAAC_PY=... PY=... pen/run_policy.sh    runs/pen-policy
PY=... cube/run_zero_shot.sh runs/cube-zero
PY=... cube/run_policy.sh    runs/cube-policy

ISAAC_PY: Python 3.11 with Isaac Lab 2.3.2 and rsl-rl-lib==3.0.1. PY: pen/requirements.txt or cube/requirements.txt.

Zero-shot prompt (pen spinning):

There's a pen simulator here. A robot hand lies palm-up with a pen on its fingers.
Spin it one full turn without dropping it, ending steady. No training.