Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning (opens in new tab)

We present a zero-shot framework for long-horizon dexterous manipulation that grounds language instructions into executable 3D task plans from calibrated multi-view RGB images. Rather than training an end-to-end policy, our system uses a vision-language model (VLM) to produce reference-frame task grounding and primitive-level 2D keypoints, then lifts them into 3D via multi-view fusion. This lifting combines triangulation of view-wise VLM groundi...