Blog
ENNonstandard F2L: Classification, Algorithms, and IdeasNonstandard F2L by corner and edge position, with mirror algorithms and notes on extraction, edge orientation, block moves, keyhole, and multislotting.
8 min read
ENFTO: Bencisco and the Pyraminx ConnectionThe Bencisco method for FTO, with step-by-step diagrams and last-three-triples algorithms.
13 min read
ENActions Beyond Words: Why LLM Agents Struggle with Contact-Rich ManipulationLLM agents handle many quasi-static tasks with semantics and geometry. Dexterous actions lack clear semantics and must be learned from physical feedback.
6 min read
ENHuman Demonstration in Dexterous Manipulation: Semantics and Motion PriorsHumanoids track human motion well; for dexterous hands, contact, embodiment gaps and scale break tracking. Human demos give semantics and coarse motion priors.
7 min read
EN3×3 Blindfold: Lettering, 3-Cycles, and a Complete SolveLettering, tracing, setups, and special cases for 3×3 blindfold solving, with algorithms and a case study.
9 min read
ENHand Motion RetargetingInteraction-aware hand motion retargeting spanning geometry, force, and self-supervision.
6 min read
ENRunning Into Doctor Who in Balboa ParkThe plan was just to visit the San Diego Museum of Art, then a glance up while passing the Comic-Con Museum changed the day.
4 min read
ENReal-World RL: From Single-Task Learning to Last-Mile Training for General PoliciesReal-world RL has moved from proving robots can learn on hardware, to reliable single-task systems, to fixing long-tail failures of general VLA policies.
11 min read