ResearchBenchmarksIn-hand cube reorientation on Allegro Hand Real-world Setup (10 independent trials)Follow0Trial 1 Reorientation MetricUHAS-0.160.9223.08Jul 3, 2026Evaluation ResultsMethodMethodLinksTrial 1 Reorientation MetricTrial 2 Reorientation MetricTrial 3 Reorientation MetricTrial 4 Reorientation MetricTrial 5 Reorientation MetricTrial 6 Reorientation MetricTrial 7 Reorientation MetricTrial 8 Reorientation MetricTrial 9 Reorientation MetricTrial 10 Reorientation MetricMean Reorientation MetricUHASTraining Protocol=Zero...Training Protocol=Zero-Shot2026.0701110100220.8UHASTraining Protocol=Trai...Training Protocol=Trained on Multi-Hand2026.0730812112122.1UHASTraining Protocol=Trai...Training Protocol=Trained on Allegro Hand2026.0740222341032.1