{"id":"https://openalex.org/W7140204988","doi":"https://doi.org/10.48550/arxiv.2603.20668","title":"ROI-Driven Foveated Attention for Unified Egocentric Representations in Vision-Language-Action Systems","display_name":"ROI-Driven Foveated Attention for Unified Egocentric Representations in Vision-Language-Action Systems","publication_year":2026,"publication_date":"2026-03-21","ids":{"openalex":"https://openalex.org/W7140204988","doi":"https://doi.org/10.48550/arxiv.2603.20668"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.20668","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20668","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.20668","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sun, Xinhai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Xinhai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Shi, Xiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Xiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zou, Menglin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Menglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Huang, Wenlong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Wenlong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5257999897003174,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5257999897003174,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.19140000641345978,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.08730000257492065,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/upsampling","display_name":"Upsampling","score":0.6535999774932861},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5859000086784363},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5479000210762024},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5199000239372253},{"id":"https://openalex.org/keywords/metadata","display_name":"Metadata","score":0.49399998784065247},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4690000116825104},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.41819998621940613},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4000999927520752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39579999446868896}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7692999839782715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6590999960899353},{"id":"https://openalex.org/C110384440","wikidata":"https://www.wikidata.org/wiki/Q1143270","display_name":"Upsampling","level":3,"score":0.6535999774932861},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6276999711990356},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5859000086784363},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5479000210762024},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5199000239372253},{"id":"https://openalex.org/C93518851","wikidata":"https://www.wikidata.org/wiki/Q180160","display_name":"Metadata","level":2,"score":0.49399998784065247},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.41819998621940613},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4000999927520752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.391400009393692},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.39089998602867126},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38850000500679016},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.3700999915599823},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.3190999925136566},{"id":"https://openalex.org/C172367668","wikidata":"https://www.wikidata.org/wiki/Q6504956","display_name":"Data visualization","level":3,"score":0.2888000011444092},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.2578999996185303},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C19609008","wikidata":"https://www.wikidata.org/wiki/Q2138203","display_name":"Region of interest","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.20668","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20668","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.20668","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.20668","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5742244124412537,"display_name":"No poverty","id":"https://metadata.un.org/sdg/1"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,129],"development":[1],"of":[2,14],"embodied":[3],"AI":[4],"systems":[5],"is":[6,93,132],"increasingly":[7],"constrained":[8],"by":[9],"the":[10,89,96],"availability":[11],"and":[12,36,126,134,156,162],"structure":[13],"physical":[15],"interaction":[16],"data.":[17],"Despite":[18],"recent":[19],"advances":[20],"in":[21],"vision-language-action":[22],"(VLA)":[23],"models,":[24],"current":[25],"pipelines":[26],"suffer":[27],"from":[28,39,95],"high":[29,102],"data":[30,42,59,137,151],"collection":[31,155],"cost,":[32],"limited":[33],"cross-embodiment":[34,157],"alignment,":[35],"poor":[37],"transfer":[38],"internet-scale":[40,160],"visual":[41],"to":[43],"robot":[44],"control.":[45,164],"We":[46,113,142],"propose":[47],"a":[48,70,115,149],"region-of-interest":[49],"(ROI)":[50],"driven":[51],"engineering":[52],"workflow":[53],"that":[54,144],"introduces":[55],"an":[56],"egocentric,":[57],"geometry-grounded":[58],"representation.":[60],"By":[61],"projecting":[62],"end-effector":[63],"poses":[64],"via":[65],"forward":[66],"kinematics":[67],"(FK)":[68],"into":[69],"single":[71],"external":[72],"camera,":[73],"we":[74],"derive":[75],"movement-aligned":[76],"hand-centric":[77],"ROIs":[78],"without":[79],"requiring":[80],"wrist-mounted":[81],"cameras":[82],"or":[83],"multi-view":[84],"systems.":[85],"Unlike":[86],"directly":[87],"downsampling":[88],"full":[90],"frame,":[91],"ROI":[92,121,146],"cropped":[94],"original":[97],"image":[98],"before":[99],"resizing,":[100],"preserving":[101],"local":[103],"information":[104],"density":[105],"for":[106,153],"contact-critical":[107],"regions":[108],"while":[109],"retaining":[110],"global":[111],"context.":[112],"present":[114],"reproducible":[116],"pipeline":[117],"covering":[118],"calibration,":[119],"synchronization,":[120],"generation,":[122],"deterministic":[123],"boundary":[124],"handling,":[125],"metadata":[127],"governance.":[128],"resulting":[130],"representation":[131],"embodiment-aligned":[133],"viewpoint-normalized,":[135],"enabling":[136],"reuse":[138],"across":[139],"heterogeneous":[140],"robots.":[141],"argue":[143],"egocentric":[145],"serves":[147],"as":[148],"practical":[150],"abstraction":[152],"scalable":[154],"learning,":[158],"bridging":[159],"perception":[161],"robot-specific":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-25T00:00:00"}
