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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fei87w285l54qqi2c3tmcdno3
- Original: https://arxiv.org/abs/2610.35626

## Summary

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.