AINeutralarXiv – CS AI · 7h ago6/10
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Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning
Researchers introduce InDex, a framework that adapts Vision-Language-Action (VLA) models from simple parallel grippers to complex dexterous robotic hands through intent-conditioned fine-tuning. The approach uses a two-stage architecture that preserves spatial reasoning capabilities while efficiently learning fine-grained multi-finger control with minimal training data.