{"id":"https://openalex.org/W7167740255","doi":"https://doi.org/10.48550/arxiv.2607.06323","title":"LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation","display_name":"LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation","publication_year":2026,"publication_date":"2026-07-07","ids":{"openalex":"https://openalex.org/W7167740255","doi":"https://doi.org/10.48550/arxiv.2607.06323"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.06323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.06323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089550556","display_name":"Xinye Yang","orcid":"https://orcid.org/0000-0002-0288-7034"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Xinye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140292687","display_name":"Zhiyuan Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Zhiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140233039","display_name":"Hongze Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Hongze","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140276200","display_name":"Yuanpei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuanpei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140245077","display_name":"Yaodong Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yaodong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102987644","display_name":"Xiaojie Chai","orcid":"https://orcid.org/0000-0001-8541-3872"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chai, Xiaojie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140249875","display_name":"Xinlei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xinlei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5043761995","display_name":"C Shijia Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5821999907493591,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5821999907493591,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.16689999401569366,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.04540000110864639,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5117999911308289},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4675999879837036},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42260000109672546},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4178999960422516},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.39800000190734863},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.3831999897956848},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.34850001335144043},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.334199994802475}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.691100001335144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6448000073432922},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47999998927116394},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4675999879837036},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42260000109672546},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4178999960422516},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39800000190734863},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3831999897956848},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36469998955726624},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.34850001335144043},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.334199994802475},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.33000001311302185},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.32989999651908875},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.31769999861717224},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3100999891757965},{"id":"https://openalex.org/C2777379011","wikidata":"https://www.wikidata.org/wiki/Q938545","display_name":"Implicit learning","level":3,"score":0.29820001125335693},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C3261483","wikidata":"https://www.wikidata.org/wiki/Q119565","display_name":"Frame rate","level":2,"score":0.26429998874664307}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.06323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.06323","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.06323","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4327561855316162}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Real-world":[0],"learning":[1,25,30,88],"for":[2,46],"dexterous":[3,87,150],"hands":[4],"remains":[5],"brittle":[6],"because":[7],"high-dimensional":[8,75],"hand":[9,76,135],"actions":[10],"amplify":[11],"imitation":[12,24],"errors":[13],"and":[14,44,68,104,108,156,174,189],"make":[15,129],"reinforcement-learning":[16],"exploration":[17,37,128],"prone":[18],"to":[19,62,177],"contact-breaking":[20],"motion.":[21],"While":[22],"combining":[23],"(IL)":[26],"with":[27,112],"online":[28,113,180],"reinforcement":[29],"(RL)":[31],"can":[32],"reduce":[33],"manual":[34],"supervision,":[35],"unconstrained":[36],"in":[38,116],"raw":[39],"hand-action":[40,60,106,120,158],"spaces":[41],"is":[42,83],"sample-inefficient":[43],"risky":[45],"physical":[47],"hardware.":[48],"We":[49,144],"introduce":[50],"a":[51,63,84,96,168],"latent":[52,66,71,105,119],"motion":[53],"prior":[54,67],"module":[55],"(\\prior{})":[56],"that":[57,99],"maps":[58],"recent":[59],"histories":[61],"compact,":[64],"history-conditioned":[65],"decodes":[69],"continuous":[70],"commands":[72,103],"into":[73],"executable":[74],"targets.":[77],"Built":[78],"on":[79,147,186,191],"this":[80],"prior,":[81],"\\method{}":[82,146,166],"three-stage":[85],"real-world":[86],"framework:":[89],"it":[90,176],"pretrains":[91],"\\prior{}":[92],"from":[93,161],"demonstrations,":[94],"trains":[95],"visuomotor":[97],"policy":[98,111],"predicts":[100],"native":[101],"arm":[102],"offsets,":[107],"improves":[109],"the":[110,117,192],"residual":[114,127],"RL":[115],"same":[118],"space.":[121],"This":[122],"shared,":[123],"decodable":[124],"interface":[125],"lets":[126],"local":[130],"corrections":[131],"near":[132],"demonstrated,":[133],"contact-consistent":[134],"motions":[136],"rather":[137],"than":[138],"perturbing":[139],"every":[140],"finger":[141],"joint":[142],"independently.":[143],"evaluate":[145],"four":[148],"real-robot":[149],"manipulation":[151],"tasks":[152,188],"against":[153],"raw,":[154],"linear,":[155],"discrete":[157],"interfaces.":[159],"Starting":[160],"small":[162],"task-specific":[163],"demonstration":[164],"sets,":[165],"achieves":[167],"56.25\\%":[169],"average":[170],"IL":[171],"success":[172,185],"rate":[173],"raises":[175],"98.75\\%":[178],"after":[179],"RL,":[181],"reaching":[182],"100\\%":[183],"final":[184],"three":[187],"95\\%":[190],"remaining":[193],"task.":[194]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-09T00:00:00"}