Cuba hasn't achieved anything more radical than Sweden at a foundational level. Enterprises are still not owned by the workers, they have instituted (great) stop-gap social programs, they both have high degrees of representation, but no direct control.

I know this is hard to hear, but it's the truth of the matter. This really represents the terrible failure of Leninism. It ultimately achieved nothing better for the countries in question than to put in place social democracies achieved elsewhere through electoralism.