arxivcs.RO2026-07-07
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
Xinye Yang, Zhiyuan Ma, Hongze Yu, Yuanpei Chen, Yaodong Yang, Xiaojie Chai, et al.
Real-world learning for dexterous hands remains brittle because high-dimensional hand actions amplify imitation errors and make reinforcement-learning exploration prone to contact-breaking motion. While combining imitation learning (IL) with online reinforcement learning (RL) can…