University of Texas at Austin

“We introduce CoDex, a zero-demonstration framework that autonomously discovers CD-FOM manipulation strategies”

“This work was supported in part by a Meta research gift”

“VLM outputs are typically abstract and lack the geometric precision required for dexterous manipulation”

“achieve a 73% success rate on six complex tasks using a 7-DoF arm and 16-DoF hand”

“The segmented functional object's 3D mesh is then constructed using a shape reconstruction and completion method (Tripo)”

“matching 2D to 3D mesh points... using an image-based tracker (FoundationPose)”

“LEAP Hand: A low-cost, 16-DoF multi-fingered robotic hand”