# Gaze Servoing Policy

The work introduces EyeRobot 2.0, a framework in which active gaze physically swivels two eye viewpoints to center on a 3D fixation point and processes the resulting images foveally by allocating more visual tokens to image centers, enabling fine-grained bimanual manipulation with only a single stereo camera; across 7 real-world and 6 simulated tasks and over 1000 physical and 1800 simulated robot trials, it outperforms passive stereo policies by 40% in real and 20% in sim, matches ego + wrist policies when wrist views are clear (69% vs. 64%), and more than doubles their success when grasped objects occlude the wrist cameras (48% vs. 22%).

The work introduces EyeRobot 2.0, a framework in which active gaze physically swivels two eye viewpoints to center on a 3D fixation point and processes the resulting images foveally by allocating more visual tokens to image centers, enabling fine-grained bimanual manipulation with only a single stereo camera; across 7 real-world and 6 simulated tasks and over 1000 physical and 1800 simulated robot trials, it outperforms passive stereo policies by 40% in real and 20% in sim, matches ego + wrist policies when wrist views are clear (69% vs. 64%), and more than doubles their success when grasped objects occlude the wrist cameras (48% vs. 22%).