{"id":"https://openalex.org/W7161261522","doi":"https://doi.org/10.48550/arxiv.2605.15157","title":"Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention","display_name":"Hand-in-the-Loop: Improving VLA Policies for Dexterous Manipulation via Seamless Hand-Arm Intervention","publication_year":2026,"publication_date":"2026-05-14","ids":{"openalex":"https://openalex.org/W7161261522","doi":"https://doi.org/10.48550/arxiv.2605.15157"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15157","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15157","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"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.2605.15157","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063107365","display_name":"Zhuohang Li","orcid":"https://orcid.org/0000-0001-5559-4094"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhuohang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136229161","display_name":"Liqun Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Liqun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136190962","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-7048-7972"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121755621","display_name":"Zhengming Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Zhengming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136248834","display_name":"Nie Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Nie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136265110","display_name":"Xiao Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136257600","display_name":"Xinjun Sheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sheng, Xinjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5017005508","display_name":"Ruoshi Wen","orcid":"https://orcid.org/0000-0001-7717-4584"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen, Ruoshi","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":0.73580002784729,"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":0.73580002784729,"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/T10982","display_name":"Motor Control and Adaptation","score":0.12229999899864197,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.01640000008046627,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9473000168800354},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7044000029563904},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.41929998993873596},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4131999909877777},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41019999980926514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39149999618530273},{"id":"https://openalex.org/keywords/jitter","display_name":"Jitter","score":0.38769999146461487},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.3856000006198883},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.3549000024795532}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9473000168800354},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7044000029563904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6212999820709229},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4131999909877777},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41019999980926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C134652429","wikidata":"https://www.wikidata.org/wiki/Q1052698","display_name":"Jitter","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37070000171661377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3549000024795532},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3433000147342682},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3400999903678894},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3188999891281128},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3075999915599823},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2935999929904938},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2883000075817108},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C2780665704","wikidata":"https://www.wikidata.org/wiki/Q959298","display_name":"Intervention (counseling)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2624000012874603},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15157","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15157","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15157","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15157","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7192566990852356,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"are":[3],"prone":[4],"to":[5,39,47,88,142],"compounding":[6],"errors":[7],"in":[8],"dexterous":[9,94,167],"manipulation,":[10,114],"where":[11],"high-dimensional":[12],"action":[13],"spaces":[14],"and":[15,54,110,120,136],"contact-rich":[16],"dynamics":[17],"amplify":[18],"small":[19],"policy":[20,55,86,147],"deviations":[21],"over":[22,99],"long":[23],"horizons.":[24],"While":[25],"Interactive":[26],"Imitation":[27],"Learning":[28],"(IIL)":[29],"can":[30],"refine":[31],"policies":[32,151],"through":[33],"human":[34,52,81],"correction":[35,144],"data,":[36],"applying":[37],"it":[38],"high-degree-of-freedom":[40],"(DoF)":[41],"robotic":[42],"hands":[43],"remains":[44],"challenging":[45],"due":[46],"a":[48,74],"command":[49],"mismatch":[50],"between":[51],"teleoperation":[53,158],"execution":[56,87],"at":[57],"the":[58],"intervention":[59,77,106],"moment,":[60],"which":[61],"causes":[62],"abrupt":[63],"robot-hand":[64],"configuration":[65],"changes,":[66],"or":[67],"\"gesture":[68],"jumps\".":[69],"We":[70,126],"present":[71],"Hand-in-the-Loop":[72],"(HandITL),":[73],"seamless":[75],"human-in-the-loop":[76],"method":[78],"that":[79,152],"blends":[80],"corrective":[82],"intent":[83],"with":[84,97,156],"autonomous":[85],"avoid":[89],"gesture":[90],"jumps":[91],"during":[92],"bimanual":[93,132],"manipulation.":[95,139],"Compared":[96],"taking":[98],"control":[100],"using":[101],"direct":[102],"teleoperation,":[103],"HandITL":[104,128,149],"reduces":[105],"jitter":[107],"by":[108,118,124,160],"99.8%":[109],"preserves":[111],"robust":[112],"post-intervention":[113],"reducing":[115],"grasp":[116],"failures":[117],"87.5%":[119],"mean":[121],"completion":[122],"time":[123],"19.1%.":[125],"validate":[127],"on":[129,162],"tasks":[130],"requiring":[131],"coordination,":[133],"tool":[134],"use,":[135],"fine-grained":[137],"long-horizon":[138,166],"When":[140],"used":[141],"collect":[143],"data":[145,159],"for":[146],"refinement,":[148],"yields":[150],"outperform":[153],"those":[154],"trained":[155],"standard":[157],"19%":[161],"average":[163],"across":[164],"three":[165],"tasks.":[168]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-16T00:00:00"}