DexLatent official implementation of the paper XL-VLA (CVPR 2026)

Run with our pretrained checkpoint:

uv run -m HandLatent.infer

By default, inference reads Dataset/demo.npz and visualizes:

• source trajectory (origin)
• four decoded trajectories (xhand, ability, inspire, paxini)

Run the training script with:

uv run -m HandLatent.train

Checkpoints are written to:

• Checkpoints/<timestamp>/checkpoint_epoch_XXXX.pt