# CoDA Supplementary Page

## Object Motion Control

A person uses the waffleiron.
(1 / 1)

## Generalization to Different Object Geometry

(1 / 3)

## Simultaneous Locomotion and Manipulation

Walk forward
(1 / 4)

## Text-based Control on the ARCTIC Dataset

A person grabs the microwave.
(1 / 2)

## Text-based Control on the GRAB Dataset

A person grabs the laptop.
(1 / 2)

## Diverse Results

A person uses the laptop.
(1 / 2)

## Deployment on Simulated Humanoids

(1 / 1)

## Generating Whole-body Motion from Hand-only Dataset

(1 / 1)

## More Results on the ARCTIC Dataset

(1 / 18)

## More Results on the GRAB Dataset

(1 / 8)