# DexMachina: Functional Retargeting for Bimaual Dexterous Manipulation 

[Mandi Zhao](https://mandizhao.github.io), Yifan Hou, Dieter Fox, Yashraj Narang, Ajay Mandlekar*, Shuran Song*

*Equal Advising
[arXiv](http://arxiv.org/abs/2505.24853) | [Project Website](https://project-dexmachina.github.io) 


![Teaser](media/dexmachina-teaser-website.png)

## Table of Contents

```{toctree}
:maxdepth: 2 

0_install
0_examples
1_process_hands
2_process_demo
3_retargeting
4_rl_training
5_rendering
```

## 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}, 
}
```

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