diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8c4c0185e1d..71a79f0ebf5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -65,6 +65,10 @@ Docs: https://docs.openclaw.ai
 - Agents/subagents: keep queued subagent announces session-only when the
   requester has no external channel target, avoiding ambiguous multi-channel
   delivery failures. Fixes #59201. Thanks @larrylhollan.
+- Image understanding: preserve configured provider-prefixed vision model
+  metadata when callers request the model without the provider prefix, so custom
+  image models keep their `input: ["text", "image"]` capability. Fixes #33185.
+  Thanks @Kobe9312 and @vincentkoc.
 - Gateway/subagents: keep direct-loopback backend RPCs authenticated with the
   shared gateway token/password off stale CLI paired-device scope baselines, so
   internal calls no longer hit `scope-upgrade` pairing prompts while remote,
diff --git a/src/agents/pi-embedded-runner/model.test.ts b/src/agents/pi-embedded-runner/model.test.ts
index f4377edd46e..b8fef65e0ff 100644
--- a/src/agents/pi-embedded-runner/model.test.ts
+++ b/src/agents/pi-embedded-runner/model.test.ts
@@ -421,6 +421,122 @@ describe("resolveModel", () => {
     expect(result.model?.input).toEqual(["text", "image"]);
   });
 
+  it("propagates image input when configured model ids include the provider prefix", () => {
+    const cfg = {
+      models: {
+        providers: {
+          custom: {
+            baseUrl: "http://localhost:9000",
+            api: "openai-completions",
+            models: [
+              {
+                ...makeModel("custom/vision-model"),
+                input: ["text", "image"],
+              },
+            ],
+          },
+        },
+      },
+    } as unknown as OpenClawConfig;
+
+    const result = resolveModelForTest("custom", "vision-model", "/tmp/agent", cfg);
+
+    expect(result.error).toBeUndefined();
+    expect(result.model).toMatchObject({
+      provider: "custom",
+      id: "custom/vision-model",
+      input: ["text", "image"],
+    });
+  });
+
+  it("matches provider-prefixed configured model ids through provider aliases", () => {
+    const cfg = {
+      models: {
+        providers: {
+          volcengine: {
+            baseUrl: "http://localhost:9000",
+            api: "openai-completions",
+            models: [
+              {
+                ...makeModel("volcengine/vision-model"),
+                input: ["text", "image"],
+              },
+            ],
+          },
+        },
+      },
+    } as unknown as OpenClawConfig;
+
+    const result = resolveModelForTest("bytedance", "vision-model", "/tmp/agent", cfg);
+
+    expect(result.error).toBeUndefined();
+    expect(result.model).toMatchObject({
+      id: "volcengine/vision-model",
+      input: ["text", "image"],
+    });
+  });
+
+  it("does not treat arbitrary namespaced model ids as provider prefixes", () => {
+    const cfg = {
+      models: {
+        providers: {
+          custom: {
+            baseUrl: "http://localhost:9000",
+            api: "openai-completions",
+            models: [
+              {
+                ...makeModel("meta/vision-model"),
+                input: ["text", "image"],
+              },
+            ],
+          },
+        },
+      },
+    } as unknown as OpenClawConfig;
+
+    const result = resolveModelForTest("custom", "vision-model", "/tmp/agent", cfg);
+
+    expect(result.model?.id).toBe("vision-model");
+    expect(result.model?.input).toEqual(["text"]);
+  });
+
+  it("prefers provider-prefixed configured metadata over discovered text-only models", () => {
+    mockDiscoveredModel(discoverModels, {
+      provider: "custom",
+      modelId: "vision-model",
+      templateModel: {
+        ...makeModel("vision-model"),
+        provider: "custom",
+        input: ["text"],
+      },
+    });
+    const cfg = {
+      models: {
+        providers: {
+          custom: {
+            baseUrl: "http://localhost:9000",
+            api: "openai-completions",
+            models: [
+              {
+                ...makeModel("custom/vision-model"),
+                input: ["text", "image"],
+              },
+            ],
+          },
+        },
+      },
+    } as unknown as OpenClawConfig;
+
+    const result = resolveModelForTest("custom", "vision-model", "/tmp/agent", cfg);
+
+    expect(result.error).toBeUndefined();
+    expect(result.model).toMatchObject({
+      provider: "custom",
+      id: "custom/vision-model",
+      input: ["text", "image"],
+    });
+  });
+
   it("keeps unknown fallback models text-only instead of borrowing image input from another configured model", () => {
     const cfg = {
       models: {
diff --git a/src/agents/pi-embedded-runner/model.ts b/src/agents/pi-embedded-runner/model.ts
index 6521430fb1d..c8791fd9b91 100644
--- a/src/agents/pi-embedded-runner/model.ts
+++ b/src/agents/pi-embedded-runner/model.ts
@@ -260,22 +260,48 @@ function resolveProviderTransport(params: {
   };
 }
 
+function matchesProviderScopedModelId(params: {
+  candidateId?: string;
+  provider: string;
+  modelId: string;
+}): boolean {
+  const { candidateId, provider, modelId } = params;
+  if (candidateId === modelId) {
+    return true;
+  }
+  const slashIndex = candidateId?.indexOf("/") ?? -1;
+  if (!candidateId || slashIndex <= 0) {
+    return false;
+  }
+  const candidateProvider = candidateId.slice(0, slashIndex);
+  const candidateModelId = candidateId.slice(slashIndex + 1);
+  return (
+    candidateModelId === modelId &&
+    normalizeProviderId(candidateProvider) === normalizeProviderId(provider)
+  );
+}
+
 function findInlineModelMatch(params: {
   providers: Record<string, InlineProviderConfig>;
   provider: string;
   modelId: string;
 }) {
+  const matchesModelId = (entry: { provider: string; id?: string }) =>
+    matchesProviderScopedModelId({
+      candidateId: entry.id,
+      provider: entry.provider,
+      modelId: params.modelId,
+    });
   const inlineModels = buildInlineProviderModels(params.providers);
   const exact = inlineModels.find(
-    (entry) => entry.provider === params.provider && entry.id === params.modelId,
+    (entry) => entry.provider === params.provider && matchesModelId(entry),
   );
   if (exact) {
     return exact;
   }
   const normalizedProvider = normalizeProviderId(params.provider);
   return inlineModels.find(
-    (entry) =>
-      normalizeProviderId(entry.provider) === normalizedProvider && entry.id === params.modelId,
+    (entry) => normalizeProviderId(entry.provider) === normalizedProvider && matchesModelId(entry),
   );
 }
 
@@ -306,6 +332,20 @@ function isModelsAddMetadataModel(params: {
   );
 }
 
+function findConfiguredProviderModel(
+  providerConfig: InlineProviderConfig | undefined,
+  provider: string,
+  modelId: string,
+) {
+  return providerConfig?.models?.find((candidate) =>
+    matchesProviderScopedModelId({
+      candidateId: candidate.id,
+      provider,
+      modelId,
+    }),
+  );
+}
+
 function applyConfiguredProviderOverrides(params: {
   provider: string;
   discoveredModel: ProviderRuntimeModel;
@@ -324,9 +364,9 @@ function applyConfiguredProviderOverrides(params: {
     };
   }
   const configuredModel =
-    providerConfig.models?.find((candidate) => candidate.id === modelId) ??
+    findConfiguredProviderModel(providerConfig, params.provider, modelId) ??
     (discoveredModel.id !== modelId
-      ? providerConfig.models?.find((candidate) => candidate.id === discoveredModel.id)
+      ? findConfiguredProviderModel(providerConfig, params.provider, discoveredModel.id)
       : undefined);
   const metadataOverrideModel =
     params.preferDiscoveredModelMetadata &&
@@ -546,7 +586,7 @@ function resolveConfiguredFallbackModel(params: {
 }): Model<Api> | undefined {
   const { provider, modelId, cfg, agentDir, runtimeHooks } = params;
   const providerConfig = resolveConfiguredProviderConfig(cfg, provider);
-  const configuredModel = providerConfig?.models?.find((candidate) => candidate.id === modelId);
+  const configuredModel = findConfiguredProviderModel(providerConfig, provider, modelId);
   const providerHeaders = sanitizeModelHeaders(providerConfig?.headers, {
     stripSecretRefMarkers: true,
   });