Preprint Open access
ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation
Current Vision-Language-Action (VLA) models often struggle with high-precision robotic manipulation. We attribute this limitation primarily to their visual attention being dispersed across task-irrelevant regions. To address this issue, we propose ActGaze, a training approach that guides VLA policies to gaze on task-re …