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These tasks are contact-rich, making data collection for imitation learning difficult, and sparse-reward, making direct exploration with reinforcement learning (RL) intractable. Consequently, prior work has made progress by structuring the problem with specialized grippers, tool attachments, and environment fixtures. In this work, we argue that before a robot can perfect precise assembly, it must first learn to play. We further ask the question: what factors in the process of learning to play matter for precise assembly? We propose Play2Perfect, an RL framework for task-agnostic pretraining through play on diverse objects and goals, which is then perfected on precise assembly. The goal of play is to acquire reusable manipulation priors, such as grasping, in-hand reorientation and po","title":"Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?","url":"https://arxiv.org/abs/2606.26428","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.26428v2 Announce Type: replace-cross \nAbstract: Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise assembly have remained out of reach. These tasks are contact-rich, making data collection for imitation learning difficult, and sparse-reward, making direct exploration with reinforcement learning (RL) intractable. Consequently, prior work has made progress by structuring the problem with specialized grippers, tool attachments, and environment fixtures. In this work, we argue that before a robot can perfect precise assembly, it must first learn to play. We further ask the question: what factors in the process of learning to play matter for precise assembly? We propose Play2Perfect, an RL framework for task-agnostic pretraining through play on diverse objects and goals, which is then perfected on precise assembly. The goal of play is to acquire reusable manipulation priors, such as grasping, in-hand reorientation and po","title":"Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-10T04:43:53Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.26428"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:77f320703265d5739c7ab0abec99ecc867184707707eb8e3366e4da7198748e9f75a47aeb1dd341224f1ac16dd8e0f8cb61c71ab916ab9d3f4094148febac802","signer":"crovia.substrate","subject":{"observed_at":"2026-07-10T04:43:53Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.26428"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"491734a5ef859ce1ef82ee9dfce74a7b61f1cfffadae8a54ce170b90b8a49295","leaf_index":299590,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"3ea991b3c59713c12b5ef34a95d8eb8e9bbfe9338d317802f32378c0cb702ec2","side":"right"},{"sibling":"1ef9d991e322da23a38f801015a7aea5d13447d7ab557f5b66f79823de31a49e","side":"left"},{"sibling":"0b6f5578972ff6eb4056cb0bb954c0c857cfcb4bb834beeaee216f321770f8b2","side":"left"},{"sibling":"ce87b63def8594d0e13cfba1824a3088245b093c4de380b60ac1d0b91c7487a9","side":"right"},{"sibling":"bd45948ff774316b0b33d029c3bd0a3450db9f7fa33424629b5286a580ee977e","side":"right"},{"sibling":"481632bb1011e0d761f946bcf2e046943f938cb715dd34f84de03052a497908c","side":"right"},{"sibling":"2217aef8a90470dfdf837472065ed287a605d555300ec0385e01b203c52762f8","side":"left"},{"sibling":"81caca35f4fef3b5f8e889f7c59fae5c0d4d1710c9d35739fc37260996545e89","side":"right"},{"sibling":"2ca25a5e8823f400322cb0217ea4ad63fb3f05e17cb64a507a02c6bca2008beb","side":"right"},{"sibling":"8200c85c25a948eae071916caaa22b35b677accd5950f58babc0d7656c5f33dc","side":"left"},{"sibling":"f80e8d47e0860527b906fc2dba9a52609f7f623f2772479ae922cc019bab36d9","side":"right"},{"sibling":"cae83500ab2c25555aa6b5eaf9232696d15a868d91b34f7531dd955daadf70f7","side":"right"},{"sibling":"64dab64d51bdcb909e2a5e37efb8909d6704ecf824be484b5d2b60ee6e518890","side":"left"},{"sibling":"576f134a23c19a758ae5efd53016092a74b9900e878cf6eb4f3dab6be682b395","side":"right"},{"sibling":"3c65f53d7c3e4feba7c745e8df1327760ffa768eec84336db14d515a31731532","side":"right"},{"sibling":"d8b9143917b539c543cf4448cec00131f8b807bd8004979c54ebe09798748c66","side":"left"},{"sibling":"8728642cdb98496d916cc653f0d919d7eb2e89d0c529927c9e89091074ad584c","side":"right"},{"sibling":"8025674cb002a22ae243ca0c295c18c1d0ee119189ea88e08ac14a3a1468b8e3","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":299721,"merkle_root":"f7115d63193d3285ca28cb9f741ecea2513f9b3e492e785f97076f3cf8f9bb98","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260710T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-10T05:38:19Z","sig_algorithm":"ed25519","signature":"4eeedeb744885bff6523d66b1cb86bde62b36917696367addfd980d90b31011daece2e01b20608e4c0870ec31dd0bcb57d297447f01f153bf0716ad527142b00","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_13362a2ca868e82c582676d75812daa3f9addd72e36b7202ab399dfd93f127e1"}}