DexMachina

MandiZhao

Physics-based retargeting of human demonstrations into coordinated robot-hand manipulation of articulated objects.

What you can explore

Explore the functional-retargeting pipeline, Genesis simulation setup and released training examples.

Before you use it

The README still lists evaluation and advanced rendering work to release. It uses a customized simulator; physical deployment is a separate step.

Original contributors

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

License / access: Code: MIT · data, models and dependencies may have separate terms

Original code & documentation

Editorial reference · checked 2026-09-22