World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation
Vision-language-action (VLA) models often treat main-view and wrist-view observations as parallel visual inputs, overlooking their distinct roles in robot manipulation. Fine-grained manipulation, however, benefits from anticipating how wrist-local interactions may evolve under the global task context. To address this limitation, we present World-to-Wrist VLA (W2-VLA), a VLA model for fine-grained robot manipulation with task-conditioned future wrist modeling. Given current multi-view observations and a task instruction, W2-VLA contextualizes a set of latent modeling tokens as a compact interface between the vision-language model and the wrist predictor. Conditioned on this interface and t...
| Authors | Yuhao Pan, Haosong Peng, Zhengshen Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 August 2026 |
| Last updated at source | 2 October 2026 |
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