Preprint Open access
HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface
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-specific demonstrations provides a step toward deployment, but faces two persistent limitations: static data provide limite …