Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning

원문 초록

Pretrained vision-language-action (VLA) models offer semantic and spatial priors for robot manipulation, but their parallel-gripper interfaces leave multi-finger contact coordination implicit. Adapting these models requires both timely grasp transitions and embodiment-specific hand trajectories. We introduce 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. Sequential optimization establishes the upstream interface before learning dexterous control with low-rate co-adaptation. Across four simulated tasks, InDex with $\pi_{0.5}$ achieves 85.8% mean task success, improving the native policy by 35.5 percentage points, and reaches 69.0% on held-out objects with similar geometry without fine-tuning or recalibration. Improvements also hold across three VLA backbones and separately trained real-world policies, where mean success increases from 71.0% to 83.0%. Component ablations and timing interventions support the value of explicit grasp-intent conditioning and expressive hand generation. These results identify arm-hand coordination as an actionable bottleneck in adapting parallel-gripper priors to dexterous manipulation.