CoDex combines VLMs, constrained optimization, and RL to autonomously discover grasp-move-actuate policies for functional manipulation of unseen objects with internal mechanisms.
Multi-finger manipulation via trajectory optimization with differentiable rolling and geometric constraints,
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CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations
CoDex combines VLMs, constrained optimization, and RL to autonomously discover grasp-move-actuate policies for functional manipulation of unseen objects with internal mechanisms.