Yuanpei Chen

2 papers indexed

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…

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arxivcs.RO2026-07-02

One Demonstration Is Enough for Real-World Robotic Reinforcement Learning

Yuwan Liu, Hongze Yu, Song Liu, Yuhan Wang, Junge Zhang, Yaodong Yang, et al.

Learning effective robot control policies on physical hardware is challenging due to costly data collection and the difficulty of reward specification. Prior work has incorporated demonstrations into reinforcement learning (RL), yet existing approaches either require large number…

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