Abstract
Robots manipulating objects in clutter must decide not only how to act, but also where to look. Although active camera motion can expose an occluded target, it may move the robot into an initial observation-state distribution that differs from the manipulation policy's training distribution. We identify this problem as first-frame distribution sensitivity: under perturbed starts in LIBERO, naively prepending camera repositioning to pi_0.5 reduces success from 46.3% to 11.5%. We introduce ActiveAlign, a data-adaptation framework that trains a Vision-Language-Action (VLA) policy from the states at which active perception terminates. A learned viewpoint module first generates a camera trajectory. Offline, ActiveAlign uses closed-loop alignment to connect the trajectory endpoint to an existing demonstration, replays the remaining manipulation trajectory, and retains successful continuations for fine-tuning. At deployment, the same viewpoint module precedes the adapted VLA without modifying its architecture. Across 40 LIBERO tasks, ActiveAlign achieves 70.7% success with pi_0 and 72.7% with pi_0.5, outperforming their standard-training baselines by 40.0% and 26.4% respectively. Matched-state and data-matched controls support gains beyond prefix shortening and generic viewpoint augmentation; OpenVLA and GR00T N1 also show the same trend. Success rate under physical occlusion in real world increases from 35/90 to 83/90. These results show that active perception benefits manipulation when policy training is aligned with the observation and robot-state distribution induced by viewpoint selection.
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URL
https://arxiv.org/abs/2610.23378
