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arXiv · 2610.14075

Assessing the Marginal Utility of Exocentric Head Views in UMI-Style Large-FoV Wrist-Camera Manipulation

Yuhui Duan·Shi Jin·Yuntian Wang·Jin Wang·Siao Liu·Wenchang Gao·Zhaxizhuoma·Yan Ding
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Abstract

Multi-view perception is often treated as a safe design choice for robot manipulation: if one camera is useful, more cameras should be better. We revisit that assumption in tabletop bimanual manipulation by comparing policies trained with two large-field-of-view (FoV) wrist cameras against policies that additionally receive a head view, using controlled-variable experiments on a real bimanual platform. Across three tabletop tasks, adding a head view does not consistently improve task completion or execution quality: when the wrist cameras already observe the objects, grippers, and goal regions, wrist-only policies form a strong baseline. Restricting the wrist-camera FoV increases the potential value of a head view, but performance improves most reliably when the added view supplies concentrated, task-relevant information: region-of-interest (ROI) cropping yields more consistent head-view gains than the uncropped image, which is dominated by background and task-irrelevant regions. The data-scaling results further suggest an interaction between FoV and demonstration count: wide observations improve coverage but may require more data to stabilize, and they may reach a higher performance ceiling once enough demonstrations are available. These results suggest that camera design should be framed as a task-relevance and information-density problem rather than as a simple count of input views.

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Yuhui Duan, Shi Jin, Yuntian Wang, Jin Wang, Siao Liu, Wenchang Gao, Zhaxizhuoma, Yan Ding. 2026-10-08. Assessing the Marginal Utility of Exocentric Head Views in UMI-Style Large-FoV Wrist-Camera Manipulation. https://arxiv.org/abs/2610.14075

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