BLaFA: Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping in Tool Use
Overview
This research paper presents BLaFA, a structured framework designed to enable dexterous robotic grasping in tool-use scenarios by bridging natural language instructions with 3D functional contact structures. The system utilizes a Knowledge-guided Language Parsing module to convert instructions into manipulation constraints, employs 3D Gaussian Splatting for hierarchical semantic representation and a Triangular Functional Point Localization module to identify contact keypoints, and finally uses a 3D Keypoint Grasp Matrix Transformation to generate executable wrist poses and joint commands. Evaluations across 100 open-vocabulary language instructions, 14 task-tool combinations, and real-world experiments demonstrate the framework's ability to translate language into task-aligned grasps for diverse tools. The source code will be made publicly available.
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Event evidence and corrections
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Reported quantity · instructions: 100 other · reported trials
“ints to executable wrist poses and finger-level joint and force commands. Evaluations on 100 open-vocabulary language instructions, 14 task-tool combinations covering four functional intents, and real-world robotic experiments in representative scenes demonstrate that BLaFA can effectively translate natural-language instructions into task-aligned 3D functional contact structures and corresponding dexterous grasps, th”
Exact source · revision 1Source owner not reported
Reported quantity · task-tool combinations: 14 other · reported trials
“ints to executable wrist poses and finger-level joint and force commands. Evaluations on 100 open-vocabulary language instructions, 14 task-tool combinations covering four functional intents, and real-world robotic experiments in representative scenes demonstrate that BLaFA can effectively translate natural-language instructions into task-aligned 3D functional contact structures and corresponding dexterous grasps, th”
Exact source · revision 1Source owner not reported
Reported quantity · functional intents: 4 other · reported trials
“ints to executable wrist poses and finger-level joint and force commands. Evaluations on 100 open-vocabulary language instructions, 14 task-tool combinations covering four functional intents, and real-world robotic experiments in representative scenes demonstrate that BLaFA can effectively translate natural-language instructions into task-aligned 3D functional contact structures and corresponding dexterous grasps, th”
Exact source · revision 1Source owner not reported
Artifact availability · code: reported pending
“ereby enabling language-driven robotic tool use across diverse tasks. The source code will be made publicly available. Code will be publicly available at https://github.com/PopeyePxx/BLaFA.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalBLaFA: Bridging Language to 3D Functional Affordances for Dexterous Robotic Grasping in Tool Use
This research paper presents BLaFA, a structured framework designed to enable dexterous robotic grasping in tool-use scenarios by bridging natural language instructions with 3D functional contact structures. The system utilizes a Knowledge-guided Language Parsing module to convert instructions into manipulation constraints, employs 3D Gaussian Splatting for hierarchical semantic representation and a Triangular Functional Point Localization module to identify contact keypoints, and finally uses a 3D Keypoint Grasp Matrix Transformation to generate executable wrist poses and joint commands. Evaluations across 100 open-vocabulary language instructions, 14 task-tool combinations, and real-world experiments demonstrate the framework's ability to translate language into task-aligned grasps for diverse tools. The source code will be made publicly available.
Event coverage history
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