# Evolved Dexterity

Venue: arXiv 2026

Authors: Zihan Guo\*, Shuzhe Zhang\*, Muhan Li\*, Peiyang Li, Sam Kriegman (* equal contribution)

Robots evolved from scratch learn to rotate, flip, pick and hold objects and to hang on them; the winners are printed and work in the real world without retraining.

My part: I built the distributed training and large-scale evaluation pipeline; the largest multitask run trained 11,200 policies from scratch on 16 GPUs in 3 days. I guided the paper.

- [Paper](https://arxiv.org/abs/2609.33101): Evolving Dexterous Robots from Scratch
- [Interactive page](https://www.beyond-infinity.top/research/dexterous/)

## Steps

### 1. EVOLVED FROM SCRATCH

Evolution invented this body from scratch, as voxels, to rotate objects in its grip. It is didactyl: two functional appendages, and a third so short that it is vestigial.

- BODY: VOXELS
- VOXELS: 18 795

![The evolved body grows out from its palm as white wireframe cubes, segment by segment, into two long curled appendages and a very short third one.](https://www.beyond-infinity.top/agent/shots/dexterous_step1.jpg)

### 2. SMOOTHED INTO A MESH

To become a machine, the body first leaves the voxel grid, and its voxels melt into one continuous surface with the same shape.

- BODY: MESH

![Segment by segment from the palm out, the cubes shrink away and a smooth wireframe surface of the same body takes their place.](https://www.beyond-infinity.top/agent/shots/dexterous_step2.jpg)

### 3. PRINTED, TESTED IN THE REAL WORLD

Then the smooth body becomes printed shells with a motor at every joint, and the robot works in the real world. It rotates objects it has never seen almost twice as fast as the best prior design.

- BODY: PRINTED
- MOTORS: 15
- ROTATION: 1.39 RAD/S
- PREVIOUS BEST: 0.74 RAD/S

![A sheet of light passes over the smooth body and leaves the printed robot, pale shells with a dark motor at every joint, as the view moves in close.](https://www.beyond-infinity.top/agent/shots/dexterous_step3.jpg)