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3D Gaussian Splatting-Based Precise Reaching for Wrist-Camera VLA

This work proposes a 3D Gaussian Splatting (3DGS)-based data generation pipeline for adapting wrist-camera VLA policies to fine reaching tasks. The method reconstructs the real workspace and renders wrist-camera observations from robot-aligned poses, pairing them with smooth, structured reaching trajectories for VLA fine-tuning, and adds an instruction-conditioned reach verifier that judges termination before physical contact.

Part of the event: 3DGS-Generated Wrist-Camera VLA Training Data

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