{"id":"https://openalex.org/W7164493122","doi":"https://doi.org/10.48550/arxiv.2606.13435","title":"GIVE: Grounding Human Gestures in Vision-Language-Action Models","display_name":"GIVE: Grounding Human Gestures in Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164493122","doi":"https://doi.org/10.48550/arxiv.2606.13435"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13435","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.2606.13435","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138521956","display_name":"Pengfei Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Pengfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138506693","display_name":"Gen Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Gen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101110932","display_name":"Junqiao Fan","orcid":"https://orcid.org/0000-0002-8465-5447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Junqiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138498734","display_name":"Boyu Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Boyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004534196","display_name":"Jindou Jia","orcid":"https://orcid.org/0000-0002-1866-6180"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Jindou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133363812","display_name":"Y H Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404947","display_name":"Jie Yang","orcid":"https://orcid.org/0000-0003-4801-7162"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jianfei","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8047999739646912,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8047999739646912,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.061000000685453415,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.04780000075697899,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.9379000067710876},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6051999926567078},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5601000189781189},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.477400004863739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4544000029563904},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4341999888420105},{"id":"https://openalex.org/keywords/gesture-recognition","display_name":"Gesture recognition","score":0.4124000072479248}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.9379000067710876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7595000267028809},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6051999926567078},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5670999884605408},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5601000189781189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5009999871253967},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.477400004863739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.4124000072479248},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.38679999113082886},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.34950000047683716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3197000026702881},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.27239999175071716},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.2678000032901764},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C2780878386","wikidata":"https://www.wikidata.org/wiki/Q1659648","display_name":"Visual language","level":2,"score":0.2574000060558319},{"id":"https://openalex.org/C30539005","wikidata":"https://www.wikidata.org/wiki/Q1066689","display_name":"Human communication","level":2,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13435","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.2606.13435","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13435","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Human":[0],"communication":[1],"is":[2,7],"inherently":[3],"multimodal,":[4],"where":[5],"language":[6,53],"often":[8,43],"accompanied":[9],"by":[10,168,175],"non-verbal":[11],"cues":[12],"such":[13],"as":[14,27],"gestures":[15,37,122,144],"to":[16,45,141,150,183],"convey":[17],"intentions.":[18],"However,":[19],"current":[20],"Vision-Language-Action":[21],"(VLA)":[22],"models":[23,78],"treat":[24],"robotic":[25],"manipulation":[26,51,146],"a":[28,95,113],"pure":[29],"text-driven":[30],"task,":[31],"overlooking":[32],"the":[33,161],"important":[34],"role":[35],"of":[36,120],"in":[38],"Human-Robot":[39],"Interaction":[40],"(HRI).":[41],"This":[42],"leads":[44],"inaccurate":[46],"intent":[47,128],"grounding":[48],"and":[49,102,112,123,134,148,170,181,187],"unreliable":[50],"when":[52],"instructions":[54,125],"are":[55],"ambiguous":[56],"or":[57],"underspecified.":[58],"To":[59],"address":[60],"this":[61],"challenge,":[62],"we":[63],"propose":[64],"GIVE":[65,87,137,158],"(Gesture":[66],"Intent":[67],"via":[68],"Visual-Semantic":[69],"Enhancement),":[70],"an":[71],"effective":[72],"approach":[73],"that":[74,98,116],"enhances":[75],"pre-trained":[76],"VLA":[77,139],"with":[79,145],"human":[80,121],"gesture":[81,89],"understanding":[82],"without":[83],"architectural":[84],"modifications.":[85],"Specifically,":[86],"incorporates":[88],"information":[90],"through":[91],"two":[92],"complementary":[93],"pathways:":[94],"visual":[96,133],"pathway":[97,115],"overlays":[99],"hand":[100],"skeletons":[101],"fingertip":[103],"rays":[104],"onto":[105],"robot":[106],"observations":[107],"for":[108,126],"explicit":[109],"object":[110,165],"grounding,":[111],"semantic":[114,135],"generates":[117],"high-level":[118],"descriptions":[119],"task":[124,172],"robust":[127],"grounding.":[129],"By":[130],"jointly":[131],"leveraging":[132],"guidance,":[136],"enables":[138],"policies":[140],"better":[142],"associate":[143],"behaviors":[147],"adapt":[149],"dynamic":[151],"interaction":[152],"intents.":[153],"In":[154],"real-world":[155],"HRI":[156],"experiments,":[157],"substantially":[159],"outperforms":[160],"baseline,":[162],"improving":[163],"target":[164],"recognition":[166],"accuracy":[167],"40%":[169],"overall":[171],"success":[173],"rate":[174],"80%,":[176],"while":[177],"demonstrating":[178],"strong":[179],"robustness":[180],"generalization":[182],"unseen":[184],"spatial":[185],"layouts":[186],"diverse":[188],"participants.":[189]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-13T00:00:00"}
