FocusVLA: Future-Intent Guided Dynamic View Routing for Vision-Language-Action Models

Huixin Xu, Ziya Yu, Peng Li · 2026 · arXiv

DOI: 10.48550/arXiv.2610.31423 · open-access PDF

Abstract

Vision-language-action (VLA) models have become an important paradigm for robotic manipulation by unifying visual perception, language understanding, and action generation. Since reliable manipulation requires sufficient observation of objects, end-effectors, and their spatial relationships, multi-view inputs are widely used to provide complementary spatial information. However, our experiments show that existing VLA models do not fully exploit such multi-view complementarity. The policy tends to persistently rely on the wrist view, lacking the ability to dynamically adjust global-local view d

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