CoorDex

CoorDex: Learning pipeline for continuous dexterous humanoid loco-manipulation with high-DoF hands

CoorDex is a reinforcement learning pipeline that enables humanoid robots to perform dexterous manipulation while walking, eliminating the stop-and-go pattern common in prior work. The approach trains separate privileged motion tracking teachers for body and hand, distills them into latent priors, and uses coordinated residual RL to compose them for downstream tasks. Demonstrated on a Unitree G1 humanoid with a 20-DoF WUJI hand, the system achieves non-stop bottle grasping, fridge door opening, and cube manipulation in motion. Ablations show that naive joint-space or monolithic approaches fail under the same reward budget, validating the latent-prior architecture.