{"id":"https://openalex.org/W7147380790","doi":"https://doi.org/10.48550/arxiv.2603.28740","title":"FocusVLA: Focused Visual Utilization for Vision-Language-Action Models","display_name":"FocusVLA: Focused Visual Utilization for Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147380790","doi":"https://doi.org/10.48550/arxiv.2603.28740"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.28740","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28740","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2603.28740","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132693031","display_name":"Yichi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yichi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132672918","display_name":"Weihao Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Weihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132652041","display_name":"Yizhuo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yizhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132593483","display_name":"Xidong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xidong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132594986","display_name":"Jia Wan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan, Jia","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":0.8910999894142151,"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":0.8910999894142151,"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":0.02070000022649765,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.016899999231100082,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6536999940872192},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5580000281333923},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5455999970436096},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5091000199317932},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4115000069141388},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.3991999924182892},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.384799987077713},{"id":"https://openalex.org/keywords/visual-attention","display_name":"Visual attention","score":0.3714999854564667}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7857999801635742},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6536999940872192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5852000117301941},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5580000281333923},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5455999970436096},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5091000199317932},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4115000069141388},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4101000130176544},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.3991999924182892},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.384799987077713},{"id":"https://openalex.org/C2986089797","wikidata":"https://www.wikidata.org/wiki/Q6501338","display_name":"Visual attention","level":3,"score":0.3714999854564667},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3375000059604645},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.326200008392334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3239000141620636},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3046000003814697},{"id":"https://openalex.org/C160086991","wikidata":"https://www.wikidata.org/wiki/Q5939193","display_name":"Human visual system model","level":3,"score":0.28540000319480896},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.28740","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28740","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.28740","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28740","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2,26,149],"improve":[3],"action":[4,76,157],"generation":[5],"by":[6,19,96,104],"conditioning":[7],"policies":[8,16],"on":[9,43,111,152,185],"rich":[10],"vision-language":[11],"information.":[12],"However,":[13],"current":[14],"auto-regressive":[15],"are":[17],"constrained":[18],"three":[20],"bottlenecks:":[21],"(1)":[22],"architectural":[23],"bias":[24],"drives":[25],"to":[27,41,69,125,129,133,142,150,170,179,201],"overlook":[28],"visual":[29,36,50,73,98,108,127,154,168,199],"details,":[30],"(2)":[31],"an":[32],"excessive":[33],"number":[34],"of":[35,61,107,216],"tokens":[37],"makes":[38],"attention":[39,124],"difficult":[40],"focus":[42],"the":[44,59,85,105,122],"correct":[45],"regions,":[46],"and":[47,88,188,210],"(3)":[48],"task-irrelevant":[49,181],"information":[51,99,172],"introduces":[52],"substantial":[53],"noise":[54],"-":[55],"together":[56],"severely":[57],"impairing":[58],"quality":[60,106],"action.":[62,134],"In":[63],"this":[64,79],"paper,":[65],"we":[66,81,114,136,160],"investigate":[67],"how":[68,97],"effectively":[70,130,197],"utilize":[71],"different":[72],"representations":[74],"for":[75,156],"generation.":[77,158],"To":[78],"end,":[80],"first":[82,137],"empirically":[83],"validate":[84],"above":[86],"issues":[87],"show":[89],"that":[90,120,193],"VLA":[91,148],"performance":[92,209],"is":[93,100],"primarily":[94],"limited":[95],"utilized,":[101],"rather":[102],"than":[103],"representations.":[109],"Based":[110],"these":[112],"insights,":[113],"introduce":[115],"FocusVLA,":[116],"a":[117,214],"novel":[118],"paradigm":[119],"directs":[121],"model's":[123],"task-relevant":[126,153,167],"regions":[128],"bridge":[131],"vision":[132],"Specifically,":[135],"propose":[138,161],"Modality":[139],"Cascaded":[140],"Attention":[141],"eliminate":[143],"shortcut":[144],"pathways,":[145],"thereby":[146],"compelling":[147],"rely":[151],"details":[155,200],"Furthermore,":[159],"Focus":[162],"Attention,":[163],"which":[164],"dynamically":[165],"selects":[166],"patches":[169],"control":[171],"quantity":[173],"while":[174],"explicitly":[175],"modulating":[176],"their":[177],"influence":[178],"suppress":[180],"noise.":[182],"Extensive":[183],"experiments":[184],"both":[186],"simulated":[187],"real-world":[189],"robotic":[190],"benchmarks":[191],"demonstrate":[192],"FocusVLA":[194],"not":[195],"only":[196],"leverages":[198],"perform":[202],"dexterous":[203],"manipulations,":[204],"but":[205],"also":[206],"substantially":[207],"improves":[208],"accelerates":[211],"convergence":[212],"across":[213],"variety":[215],"tasks.":[217]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-02T00:00:00"}