HandITL blends human intent with policy execution to eliminate gesture jumps in dexterous VLA interventions, cutting jitter by 99.8%, grasp failures by 87.5%, and yielding 19% better refined policies.
Gr-dexter technical report.arXiv preprint arXiv:2512.24210, 2025
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Hand-in-the-Loop: Improving Dexterous VLA via Seamless Interventional Correction
HandITL blends human intent with policy execution to eliminate gesture jumps in dexterous VLA interventions, cutting jitter by 99.8%, grasp failures by 87.5%, and yielding 19% better refined policies.