ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation

Jinxuan Zhu; Jiaheng Wang; Chao Tang; Mengfan Wang; Hao Wei; Shengbao Li; Hong Yin; Yiwen Gao; Chenrui Tie; Tingguang Li

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arXiv · 2609.28955

ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation

Jinxuan Zhu·Jiaheng Wang·Chao Tang·Mengfan Wang·Hao Wei·Shengbao Li·Hong Yin·Yiwen Gao·Chenrui Tie·Tingguang Li

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Abstract

Current Vision-Language-Action (VLA) models often struggle with high-precision robotic manipulation. We attribute this limitation primarily to their visual attention being dispersed across task-irrelevant regions. To address this issue, we propose ActGaze, a training approach that guides VLA policies to gaze on task-relevant regions, much like humans gaze on critical visual cues while executing precise movements. Unlike prior methods that rely on external labels for gaze supervision, ActGaze derives spatial supervision directly from the VLA's own action objective by using counterfactual visual interventions to identify regions that are critical for action prediction. Extensive real-robot experiments on four high-precision robotic manipulation tasks demonstrate that ActGaze induces more focused visual attention on task-relevant regions and consistently outperforms the base VLA policy and other visual-grounding approaches.

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Jinxuan Zhu, Jiaheng Wang, Chao Tang, Mengfan Wang, Hao Wei, Shengbao Li, Hong Yin, Yiwen Gao, Chenrui Tie, Tingguang Li. 2026-09-24. ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation. https://arxiv.org/abs/2609.28955

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