InDex: Empowering VLA Models with Intent-Conditioned Arm-Hand Coordination for Dexterous Manipulation
Pre-trained Vision-Language-Action (VLA) models provide useful semantic and spatial priors, yet their parallel-gripper action interfaces do not specify how those priors should be realized by a dexterous hand. Directly appending finger joints conflates two decisions with different structure: when contact should be established and how a morphology-specific hand trajectory should establish it. We introduce InDex, an intent-conditioned adaptation framework that separates these decisions without discarding full hand supervision. InDex derives a normalized grasp intent from retargeted demonstrations. A first stage predicts synchronized end-effector--intent chunks; conditioned on these predictio...
| Authors | Chuanke Pang, Junyi Huang, Zhijun Zhao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 June 2026 |
| Last updated at source | 28 July 2026 |
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