HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface.

arXiv:2609.20659v2 Announce Type: replace-cross Abstract: Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuning (SFT) on task-speci