Zhao-Heng Yin

“Mana achieves zero-shot sim-to-real transfer — no real-world demonstration data was collected. The full pipeline generates training data in simulation, trains a visuomotor policy, and deploys directly on a physical Allegro hand.”

“Mana achieves zero-shot sim-to-real transfer — no real-world demonstration data was collected... achieves roughly 70% success rates across grasping and in-hand manipulation on four distinct tool categories.”

“The paper lists Amazon FAR (Fundamental AI Research) as a co-affiliation of all four authors (title page). This is an Amazon-affiliated research output, signaling Amazon's investment in dexterous physical AI capabilities.”