@article{codexlearningcompositionaldexterousfunct,
  title = {CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations},
  author = {Bowen Jiang and William Painter Reger and Roberto Martin-Martin},
  year = {2026},
  eprint = {2606.31909},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.31909},
}