Paper Citation Record · LEDGER

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention

As of 19 August 2026, this Paper Citation Record lists 34 of 34 outbound references and 1 inbound Pith citation observation for arXiv:2605.15157.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2605.15157 v2

Coverage vector

measured 34 of 34 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-21T08:31:57.077346Z

measured 35 of 35 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-14T17:30:54.988498Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

34 of 34 outbound references displayed

verified exact16
verified fuzzy16
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch2

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation c92eddd2-0db9-4100-9ef6-eab717b840ca · outbound

This paper cites Sample efficient interactive end-to-end deep learning for self-driving cars with selective multi-class safe dataset aggregation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Sample efficient interactive end-to-end deep learning for self-driving cars with selective multi-class safe dataset aggregation

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.399491Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9d1eb007-dfb5-4171-b2a9-50cd8016011d · outbound

This paper cites GR00T N1: An Open Foundation Model for Generalist Humanoid Robots.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 2

Resolution: verified exact; local_arxiv, observed 2026-05-21T08:34:05.613116Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation d543af15-28c1-4108-a2f1-95280204f43e · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 3

Resolution: metadata mismatch; local_arxiv, observed 2026-05-21T08:34:05.602287Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation bab83dfa-78d1-41c4-b2c0-5a4cbb26b670 · outbound

This paper cites GR-3 Technical Report.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention GR-3 Technical Report

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-05-21T08:34:05.610163Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 76f9674d-285e-4202-9315-66b05c4ca6e4 · outbound

This paper cites ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy

Reference 5

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.621325Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5795dba2-75f0-4f49-8e02-c21656d176be · outbound

This paper cites A tactile lightweight exoskeleton for teleoperation: Design and control performance.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention A tactile lightweight exoskeleton for teleoperation: Design and control performance

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.390237Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 0e7a0afb-078e-4c25-ae9f-9e5d5b7a475e · outbound

This paper cites Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.385709Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 099ed665-a245-46ea-805a-c2bd297fa5a8 · outbound

This paper cites RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.625609Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 547d1aa1-9442-4d13-adb5-101ebdf8b4ec · outbound

This paper cites $\pi^{*}_{0.6}$: a VLA That Learns From Experience.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention $\pi^{*}_{0.6}$: a VLA That Learns From Experience

Reference 9

Resolution: verified exact; local_arxiv, observed 2026-05-21T08:34:05.577883Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation a486ef0d-d942-40ce-95d0-aa783b3d95fd · outbound

This paper cites $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 10

Resolution: metadata mismatch; local_arxiv, observed 2026-05-21T08:34:05.569035Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation d0d25581-a491-43f3-8f5d-4b2b7ced6806 · outbound

This paper cites Hg-dagger: Interactive imitation learning with human experts.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Hg-dagger: Interactive imitation learning with human experts

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.383554Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1c114fa7-9e41-4ab1-b47f-382e74518a4c · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention OpenVLA: An Open-Source Vision-Language-Action Model

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-05-21T08:34:05.581758Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4be3ce11-4ca5-44bc-9e8a-6e57902ee821 · outbound

This paper cites Diff-dagger: Uncertainty estimation with diffusion policy for robotic manipulation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Diff-dagger: Uncertainty estimation with diffusion policy for robotic manipulation

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.387929Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6c50b54e-535e-4959-9da5-96067fb3f8e9 · outbound

This paper cites A dexterous hand-arm teleoperation system based on hand pose estimation and active vision.IEEE Transactions on Cybernetics, 54(3):1417–1428.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention A dexterous hand-arm teleoperation system based on hand pose estimation and active vision.IEEE Transactions on Cybernetics, 54(3):1417–1428

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.396973Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation dfdd8e12-6e6e-4136-8801-c6faec2bee92 · outbound

This paper cites Gr-rl: Going dexterous and precise for long-horizon robotic manipulation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Gr-rl: Going dexterous and precise for long-horizon robotic manipulation

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.573747Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 8dd95ba5-e72d-49ed-b763-6e82d4b93d6f · outbound

This paper cites Takead: Preference-based post-optimization for end-to-end autonomous driving with expert takeover data.IEEE Robotics and Automation Letters, 11(2):1738–1745.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Takead: Preference-based post-optimization for end-to-end autonomous driving with expert takeover data.IEEE Robotics and Automation Letters, 11(2):1738–1745

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.392618Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 51ee9ed2-a371-49ed-b5cc-a6fd44d4c33b · outbound

This paper cites Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.565221Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9c4d257f-5fe9-4b5a-a56e-f2923914d911 · outbound

This paper cites Precise and dexterous robotic manipulation via human-in-the-loop reinforcement learning.Science Robotics, 10(105):eads5033.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Precise and dexterous robotic manipulation via human-in-the-loop reinforcement learning.Science Robotics, 10(105):eads5033

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.394800Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 20f973f3-2de7-4a09-a9ef-507767866afa · outbound

This paper cites Human-in-the-Loop Imitation Learning using Remote Teleoperation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Human-in-the-Loop Imitation Learning using Remote Teleoperation

Reference 19

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.629692Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 0437b175-f8d3-42dd-b9b9-08c3596f46b6 · outbound

This paper cites Dexskills: Skill segmentation using haptic data for learning autonomous long-horizon robotic manipulation tasks.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Dexskills: Skill segmentation using haptic data for learning autonomous long-horizon robotic manipulation tasks

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.406310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4fd40c8f-a812-41b0-8b49-29592c613303 · outbound

This paper cites A reduction of imitation learning and structured prediction to no-regret online learning.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention A reduction of imitation learning and structured prediction to no-regret online learning

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.415946Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 95fdf8dc-5848-4e5a-9ce1-57046f57acfb · outbound

This paper cites Learning from interventions.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Learning from interventions

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.401495Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ffd12abe-c7d4-448b-84fb-61ed0cb49d13 · outbound

This paper cites DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.561105Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation bdbfdca1-cfb5-4e55-a792-8e5ac6600eee · outbound

This paper cites A wearable robotic hand for hand-over-hand imitation learning.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention A wearable robotic hand for hand-over-hand imitation learning

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.403832Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 97403790-122c-4fbd-b4f9-b28bce6ec88c · outbound

This paper cites Interactive imitation learning for dexterous robotic manipulation: challenges and perspectives—a survey.Frontiersin Robotics and AI, 12:1682437.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Interactive imitation learning for dexterous robotic manipulation: challenges and perspectives—a survey.Frontiersin Robotics and AI, 12:1682437

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.418077Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ee2ee313-f6e1-488a-a6b7-a61a88177d3f · outbound

This paper cites Gr-dexter technical report.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Gr-dexter technical report

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.606320Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e5c1b5c1-ca4b-4f9b-af98-3fb38229048a · outbound

This paper cites Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Dexterous Teleoperation of 20-DoF ByteDexter Hand via Human Motion Retargeting

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.617062Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5e550b5f-024c-4668-aa18-93170e080c75 · outbound

This paper cites RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.590141Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation fdfe1e58-4e1d-4299-80c5-fa5ac6f60fa7 · outbound

This paper cites Compliant residual dagger: Improving real-world contact-rich manipulation with human corrections.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Compliant residual dagger: Improving real-world contact-rich manipulation with human corrections

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.598638Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 811998e2-e489-4635-bfdc-8d1228a0b532 · outbound

This paper cites Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.594431Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 3d3d0b03-8f21-4c3d-a2db-5d2ebb6fdc20 · outbound

This paper cites DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-21T08:34:05.586435Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 7580fad2-b65a-4d26-a5fe-9e1b3abf2653 · outbound

This paper cites Nuexo: A wearable exoskeleton covering all upper limb rom for outdoor data collection and teleoperation of humanoid robots.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Nuexo: A wearable exoskeleton covering all upper limb rom for outdoor data collection and teleoperation of humanoid robots

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.413594Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 982e2140-2692-479d-912f-fe67ad8ca8db · outbound

This paper cites Dexgraspvla: A vision-language-action framework towards general dexterous grasping.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Dexgraspvla: A vision-language-action framework towards general dexterous grasping

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.408712Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b29395e5-ebc2-4e42-8b0e-59d60b20954b · outbound

This paper cites Rt-2: Vision-language-action models transfer web knowledge to robotic control.

Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention Rt-2: Vision-language-action models transfer web knowledge to robotic control

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-21T08:34:06.411121Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Pith citing papers

Observation 60393e1a-afb3-489f-b7e7-c5f21038b9e2 · inbound

EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos cites this paper.

EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention

Reference 44

Resolution: unresolved; no resolver link, observed 2026-07-14T17:30:54.988498Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.