FoveaVLA: Foveation Actions Replace the Wrist Camera in VLAs
We present FoveaVLA, a Vision-Language-Action (VLA) model that replaces the wrist camera with learned foveation actions. Wrist cameras provide close-up detail but restrict the view to the end-effector's surroundings. External cameras see the whole scene, but the policy receives them at low resolution, so the fine detail needed for manipulation is lost. FoveaVLA recovers this detail by predicting, alongside each action chunk, the interaction region to observe at the next policy query. The policy then receives crops of these regions, taken from the original-resolution images, together with the full views. We build FoveaVLA on $π_{0.5}$ in two configurations, Single and Dual, using one or tw...
| Authors | Bingao Chen, Lihan Zha, C. Karen Liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 October 2026 |
| Last updated at source | 14 October 2026 |
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