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InDex

technology1 mentionslast seen Nov 5, 2026

An intent-conditioned framework for adapting VLA models to dexterous manipulation with multi-finger contact coordination.

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InDexdepends onvision-language-action model

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preprintarXivNov 4, 2026Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning
InDex, an intent-conditioned framework that connects these two requirements. A normalized aperture signal, derived from retargeted demonstrations, supervises a scalar grasp intent while preserving full hand-action supervision. Stage 1 learns synchronized end-effector-intent chunks; Stage 2 conditions a diffusion hand decoder on these predictions, visual-language context, and proprioception.