In-Hand Cube Reconfiguation: Simplified

Robotics and Biology Laboratory (RBO), TU Berlin
IROS 2023

Hand's perspective: Mysterious and ghostly force at work


We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand cube reconfiguration. We also demonstrate the effectiveness of combining GOFAI-based planning with the exploitation of environmental constraints and inherently compliant end-effectors in the context of dexterous manipu- lation. The proposed system outperforms a substantially more complex system for cube reconfiguration based on deep learning and accurate physical simulation, contributing arguments to the discussion about what the most promising approach to general manipulation might be.

Demo Videos

BibTeX Citation

      title={In-Hand Cube Reconfiguration: Simplified}, 
      author={Sumit Patidar and Adrian Sieler and Oliver Brock},


  1. Robotics and Biology Laboratory, Technische Universität Berlin
  2. Science of Intelligence, Research Cluster of Excellence, Berlin We gratefully acknowledge funding provided by the Deutsche Forschungs- gemeinschaft (DFG, German Research Foundation) under Germany’s Ex- cellence Strategy – EXC 2002/1 “Science of Intelligence” – project number 390523135.