--T eleoperation is essential for autonomous robot learning, especially in manipulation tasks that require human demonstrations or corrections. However, most existing systems only offer unilateral robot control and lack the ability to synchronize the robot's status with the teleoperation hardware, preventing real-time, flexible intervention. In this work, we introduce HACTS (Human-As-Copilot T eleoperation System), a novel system that establishes bilateral, real-time joint synchronization between a robot arm and teleoperation hardware. This simple yet effective feedback mechanism, akin to a steering wheel in autonomous vehicles, enables the human copilot to intervene seamlessly while collecting action-correction data for future learning. Implemented using 3D-printed components and low-cost, off-the-shelf motors, HACTS is both accessible and scalable. Our experiments show that HACTS significantly enhances performance in imitation learning (IL) and reinforcement learning (RL) tasks, boosting IL recovery capabilities and data efficiency, and facilitating human-in-the-loop RL. HACTS paves the way for more effective and interactive human-robot collaboration and data-collection, advancing the capabilities of robot manipulation. Teleoperation plays a vital role in the development of robot learning, particularly in manipulation algorithms that rely on human demonstration, such as Vision-Language-Action (VLA) and Human-in-the-Loop Reinforcement Learning (HITL RL).

We propose a simple, efficient, and accurate method for detecting out-of-distribution (OOD) data for trained neural networks. We propose a novel descriptor, HAct - activation histograms, for OOD detection, that is, probability distributions (approximated by histograms) of output values of neural network layers under the influence of incoming data. We formulate an OOD detector based on HAct descriptors. We demonstrate that HAct is significantly more accurate than state-of-the-art in OOD detection on multiple image classification benchmarks. For instance, our approach achieves a true positive rate (TPR) of 95% with only 0.03% false-positives using Resnet-50 on standard OOD benchmarks, outperforming previous state-of-the-art by 20.67% in the false positive rate (at the same TPR of 95%). The computational efficiency and the ease of implementation makes HAct suitable for online implementation in monitoring deployed neural networks in practice at scale.