BLaDA: Bridging Language to Functional Dexterous Actions within 3DGS Fields
In unstructured environments, functional dexterous grasping calls for the tight integration of semantic understanding, precise 3D functional localization, and physically interpretable execution. Modular hierarchical methods are more controllable and interpretable than end-to-end VLA approaches, but existing ones still rely on predefined affordance labels and lack the tight semantic--pose coupling needed for functional dexterous manipulation. To address this, we propose BLaDA (Bridging Language to Dexterous Actions in 3DGS fields), an interpretable zero-shot framework that grounds open-vocabulary instructions as perceptual and control constraints for functional dexterous manipulation. BLaD...
| Authors | Fan Yang, Wenrui Chen, Guorun Yan et al. |
|---|---|
| Primary category | cs.CV |
| Published | 9 April 2026 |
| Last updated at source | 14 April 2026 |
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