WARP-VLA: Wrist-Camera Adaptation for View-Robust Policy Execution in Vision-Language-Action Models
Despite recent advances in Vision-Language-Action models (VLAs) for robotic manipulation, their performance remains sensitive to changes in camera configuration. The problem becomes more evident in cross-setup deployment, as reproducing the exact camera pose used for training is nearly impossible. Unlike fixed external views, wrist views are more challenging because the camera moves with the robot, causing even small mounting variations to alter fine-grained geometric cues. To address this, we propose WARP-VLA, a camera-view robust VLA for diverse wrist camera configurations. WARP-VLA adopts a Mixture-of-Experts (MoE) architecture where individual experts learn view-specific feature trans...
| Authors | Junmyeong Lee, Dongmin Shin, Min-Gyu Park et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 October 2026 |
| Last updated at source | 13 October 2026 |
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