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arXiv · 2509.18183

VLA-LPAF: Lightweight Perspective-Adaptive Fusion for Vision-Language-Action to Enable More Unconstrained Robotic Manipulation

Jinyue Bian·Zhaoxing Zhang·Zhengyu Liang·Shiwei Zheng·Shengtao Zhang·Rong Shen·Chen Yang·Anzhou Hou
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Abstract

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on extensive standard demonstrations. These visual observations captured by third-personal global and in-wrist local cameras are inevitably varied in number and perspective across different environments, resulting in significant differences in the visual features. This perspective heterogeneity constrains the generality of VLA models. In light of this, we first propose the lightweight module VLA-LPAF to foster the perspective adaptivity of VLA models using only 2D data. VLA-LPAF is finetuned using images from a single view and fuses other multiview observations in the latent space, which effectively and efficiently bridge the gap caused by perspective inconsistency. We instantiate our VLA-LPAF framework with the VLA model RoboFlamingo to construct RoboFlamingo-LPAF. Experiments show that RoboFlamingo-LPAF averagely achieves around 8% task success rate improvement on CALVIN, 15% on LIBERO, and 30% on a customized simulation benchmark. We also demonstrate the developed viewadaptive characteristics of the proposed RoboFlamingo-LPAF through real-world tasks.

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Jinyue Bian, Zhaoxing Zhang, Zhengyu Liang, Shiwei Zheng, Shengtao Zhang, Rong Shen, Chen Yang, Anzhou Hou. 2025-09-18. VLA-LPAF: Lightweight Perspective-Adaptive Fusion for Vision-Language-Action to Enable More Unconstrained Robotic Manipulation. https://arxiv.org/abs/2509.18183

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