HandITL enables seamless human intervention in VLA policies for bimanual dexterous manipulation, cutting jitter by 99.8% and improving refined policies by 19% over standard teleoperation.
Takead: Preference-based post-optimization for end-to-end autonomous driving with expert takeover data.IEEE Robotics and Automation Letters, 11(2):1738–1745
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Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention
HandITL enables seamless human intervention in VLA policies for bimanual dexterous manipulation, cutting jitter by 99.8% and improving refined policies by 19% over standard teleoperation.