# Survey: Dexterous hands, simulators, training, and evaluation in 113 learning-based manipulation methods

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/jw4tjls7pjntv36e1ed5horq2
- Original: https://arxiv.org/abs/2610.33486

## Summary

A survey reviews 113 learning-based dexterous manipulation methods, covering the dexterous hands used, the training simulators, and how results are reported. The authors note that nearly half of the works use the same recipe: reinforcement learning on privileged state in a GPU simulator, then distillation into a vision-only student model transferred to hardware, and nearly all of them concentrate on the same simulator.