I wish more of these were shown at 1x (last one is). Sure, a bit slower, but if you watch the OP link at 1/2 speed it is still impressive.

Here's a shoe tying at 1x: https://twitter.com/ayzwah/status/1780263776694182311

Interesting here how it ties the knot. The first knot is already in place and they just do the bow. I don't think how most people would tie their shoes would work well for a robot (bunny around tree method[0]) but I actually tie my shoes like this[1]. This is the same way the robot ties.

So I gotta ask, was this a purely learned policy or was this taught or pushed in that direction[^]? I suspect the latter.

[0] https://www.youtube.com/watch?v=YwqQvKtmefE

[1] https://www.youtube.com/watch?v=XPIgR89jv3Q

[^] by pushed in that way, would include watching that video or any other videos like it.