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Fisheye-VLA: Decoupling Coverage and Acuity for Manipulation with a Single Fisheye Camera

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Manipulation requires both broad scene awareness and detailed local feedback, yet conventional camera rigs provide them through separate front and wrist cameras. We present Fisheye-VLA, a visual interface that brings these capabilities together using a single passive fisheye. A global view preserves the workspace, while local perspective crops direct detail toward the interaction. The key design question is where this local visual budget should go. We answer it through a controlled re-rendering study, comparing alternative crop directions on the same recorded observations. The study finds that

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