LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation
This addresses the problem of efficient few-shot dexterous manipulation for advanced robotic systems, representing an incremental improvement over existing methods.
The paper tackles the challenge of learning dexterous manipulation from few-shot demonstrations by proposing LensDFF, which uses language-enhanced sparse feature distillation to enable single-view generalization, achieving competitive grasping performance and outperforming state-of-the-art approaches in simulation and real-world experiments.
Learning dexterous manipulation from few-shot demonstrations is a significant yet challenging problem for advanced, human-like robotic systems. Dense distilled feature fields have addressed this challenge by distilling rich semantic features from 2D visual foundation models into the 3D domain. However, their reliance on neural rendering models such as Neural Radiance Fields (NeRF) or Gaussian Splatting results in high computational costs. In contrast, previous approaches based on sparse feature fields either suffer from inefficiencies due to multi-view dependencies and extensive training or lack sufficient grasp dexterity. To overcome these limitations, we propose Language-ENhanced Sparse Distilled Feature Field (LensDFF), which efficiently distills view-consistent 2D features onto 3D points using our novel language-enhanced feature fusion strategy, thereby enabling single-view few-shot generalization. Based on LensDFF, we further introduce a few-shot dexterous manipulation framework that integrates grasp primitives into the demonstrations to generate stable and highly dexterous grasps. Moreover, we present a real2sim grasp evaluation pipeline for efficient grasp assessment and hyperparameter tuning. Through extensive simulation experiments based on the real2sim pipeline and real-world experiments, our approach achieves competitive grasping performance, outperforming state-of-the-art approaches.