Preprint
Jul 2026
LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation
A latent motion prior module (\prior{}) is introduced that maps recent hand-action histories to a compact, history-conditioned latent prior and decodes continuous latent commands into executable high-dimensional hand targets and improves the policy with online residual RL in the same latent hand-action space.
Xinye Yang, Zhiyuan Ma, Hongze Yu et al.
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