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Yi-Wen Gao

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Preprint Sep 2026

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...

Jin-Xuan Zhu, Jia-Heng Wang, Chao Tang et al. · 0 citations

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