DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation

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

*Equal Advising

arXiv | Project Website | Code Documentation

Code Release Status

• 06/11/2025: Released all dexterous hand assets and ARCTIC assets used in our recent arXiv preprint. Released detailed instructions for processing new hand assets: see code in dexmachina/hand_proc and hand processing doc page. Pushed a new dexmachina.yaml file for conda env install. RL training example in examples/train_rl.sh
• 06/03/2025: Initial Release

TODOs

• Advanced rendering code
• RL eval code
• Instructions for processing new hands and demonstrations

Installation

1. We recommend using conda environment with Python=3.10

conda create -n dexmachina python=3.10
conda activate dexmachina

2. Clone and install the below custom forks of Genesis and rl-games:

pip install torch==2.5.1
git clone https://github.com/MandiZhao/Genesis.git
cd Genesis
pip install -e .
pip install libigl==2.5.1 # NOTE: this is a temporary fix specifically for my fork of Genesis

git clone https://github.com/MandiZhao/rl_games.git
cd rl_games
pip install -e .

Additional packages needed for RL training:

pip install gymnasium ray seaborn wandb trimesh
# an old version of moviepy
pip install moviepy==1.0.3

If you'd like to install the full conda environment that includes all the packages, use the below yaml file:

# this is obtained from: conda export -f dexmachina.yaml
conda env create -f dexmachina.yaml

4. Local install the dexmachina package:

cd dexmachina
pip install -e .

See the full documentation for additional installation instructions for dexterous hand and demonstration data processing, kinematic retargeting, raytracer rendering, etc.

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}, 
}