DexMachina: Functional Retargeting for Bimaual Dexterous Manipulation

Mandi Zhao, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar*, Shuran Song*

*Equal Advising arXiv | Project Website

Teaser

Table of Contents

Citation

This codebase is released with the following preprint:

Zhao Mandi, Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar*, Shuran Song*. DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation. arXiV, 2025.

*Equal Advising

If you find this codebase useful, please consider citing:

@misc{mandi2025dexmachinafunctionalretargetingbimanual,
      title={DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation}, 
      author={Zhao Mandi and Yifan Hou and Dieter Fox and Yashraj Narang and Ajay Mandlekar and Shuran Song},
      year={2025},
      eprint={2505.24853},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2505.24853}, 
}