ResearchBenchmarksIn-hand cube reorientation on Physical LEAP Hand Real-worldFollow3Metric 1UHAS-0.120.691.52.31Jul 3, 2026Evaluation ResultsMethodMethodLinksMetric 1Metric 2Metric 3Metric 4Metric 5Metric 6Metric 7Metric 8Metric 9Metric 10Mean Performance ScoreUHASTraining Environment=M...Training Environment=Multi-Hand2026.0730100500021.1UHASZero-shot protocol=trueZero-shot protocol=true2026.0724201000000.9BaselineControl Strategy=Joint...Control Strategy=Joint Control2026.0700120001200.6UHASTraining Environment=L...Training Environment=LEAP Hand2026.0702101621252